CN213924572U - Detonator transfer molding machine - Google Patents

Abstract

The utility model discloses a detonator transfer machine, include frame, first carrier assembly, second carrier assembly, get a tub device and put a tub device, get a tub device and be used for pressing from both sides the detonator that is located the first mould box on the first carrier assembly, put a tub device and be used for the centre gripping to get the detonator of centre gripping on the tub device to insert the detonator in the second mould box. The utility model discloses a detonator rotary die machine can realize the transfer of detonator, avoids people direct operation contact detonator, can improve the security and the transportation efficiency that the detonator was transported.

Description

Detonator transfer molding machine

Technical Field

The utility model relates to an explosion equipment production field especially relates to detonator transfer machine.

Background

In the related art, the transfer of the detonator between different molds is usually realized manually, and people directly contact the detonator, so that great potential safety hazards exist.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a detonator transfer machine can realize the automatic transfer of detonator.

According to utility model discloses a detonator transfer machine, include:

a frame;

the first bearing assembly is connected with the rack and used for bearing the first mold box;

the second bearing assembly is connected with the rack and is used for bearing a second mold box;

the pipe taking device is positioned above the first bearing assembly and used for clamping the detonator in the first die box;

and the tube placing device is positioned above the second bearing component and used for clamping the detonator clamped on the tube taking device and inserting the detonator into the second die box.

According to the utility model discloses detonator transfer machine has following beneficial effect at least: can realize the rotary die operation of detonator through getting a tub device and putting the cooperation of tub device, avoid people direct contact detonator, improve the security of production, and can improve production efficiency.

According to some embodiments of the utility model, get a tub device and include

A tube taking manipulator;

the pipe taking end effector is arranged at the tail end of the pipe taking manipulator, and the pipe taking manipulator is used for driving the pipe taking end effector to move;

the tube taking end effector comprises a tube taking device,

the first detonator taking pipe column is used for inserting a first detonator;

the second pipe taking column is used for inserting a second detonator;

the first power assembly is used for driving the first pipe taking column and the second pipe taking column to move oppositely or far away from each other so as to clamp and release the first detonator and the second detonator.

According to some embodiments of the utility model, put the pipe device and include

A pipe placing manipulator;

the pipe placing end effector is arranged at the tail end of the pipe placing mechanical hand, and the pipe placing mechanical hand is used for driving the pipe placing end effector to move;

the pipe-placing end effector comprises a pipe-placing end effector,

the first clamping jaw is used for clamping a first detonator at the first pipe taking column;

the second clamping jaw is used for clamping a second detonator at the second pipe taking column;

the second power assembly is used for driving one of the first clamping jaw and the second clamping jaw to move close to or away from the other clamping jaw, so that the distance between the first clamping jaw and the second clamping jaw is a first set value or a second set value.

According to some embodiments of the utility model, first carrier assembly still includes first plummer and first driving piece, be provided with the first chamber that holds on the first plummer, the first chamber that holds is used for holding first mould box, first driving piece is used for the drive first plummer for the frame is rotatory to the first settlement position, so that first get the tubular column with the tubular column perpendicular to is got to the second first plummer.

According to some embodiments of the utility model, the first side that holds the chamber has the opening, detonator rotary die machine still includes first mould box pan feeding device, first mould box pan feeding device is including rotatory feeding plate and first material loading subassembly, rotatory feeding plate is used for setting for the position with first mould box operation to the second, first material loading subassembly is used for the drive to be located the second sets for the first mould box warp of position the opening removes extremely first chamber that holds.

According to some embodiments of the utility model, the first side that holds the chamber has the opening, detonator transfer molding machine still includes first material returned subassembly, first material returned subassembly includes first material returned track, first material returned driving piece and second material returned driving piece, and wherein, first material returned driving piece can drive first carrier assembly moves extremely first material returned track, second material returned driving piece is used for the drive to be located the first mould box warp of first plummer the opening moves extremely first material returned track.

According to some embodiments of the utility model, the second carrier assembly still includes second plummer and second driving piece, the second plummer includes the flange, the flange is used for the location second mould box on the second plummer, the second driving piece is used for the drive the second plummer is rotatory to the third and is set for the position, so that first clamping jaw centre gripping first detonator with second clamping jaw centre gripping second detonator perpendicular to second mould box on the second plummer.

According to some embodiments of the utility model, the second carrier assembly still includes the butt module, the butt module includes butt piece and third driving piece, the butt piece includes first butt limit and second butt limit, the drive of third driving piece the motion of butt piece, so that first butt limit with second butt limit butt in two adjacent limits of the second mould box on the second plummer.

According to some embodiments of the utility model, still include second mould box pan feeding device, second mould box pan feeding device includes feeding track, transfer platform and second mould box material loading subassembly, the lift platform that the transfer platform is for can going up and down between first height and second height, the transfer platform is in during first height, the transfer platform with the butt joint of feeding track, second mould box can follow feeding track operation extremely the transfer platform, the transfer platform is in during the second height, the transfer platform with the second plummer butt joint, second mould box material loading subassembly is used for the drive to be located second mould box on the transfer platform removes extremely the second plummer.

According to some embodiments of the utility model, still include second mould box ejection of compact subassembly, second mould box ejection of compact subassembly includes second mould box ejection of compact track and second mould box material returned driving piece, second mould box material returned driving piece is used for the drive second mould box on the second plummer removes extremely second mould box ejection of compact track.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention will be further described with reference to the following drawings and examples, in which:

fig. 1 is a schematic structural diagram of a detonator transfer molding machine according to an embodiment of the present invention;

FIG. 2 is a schematic view of the tube drawing device of FIG. 1;

FIG. 3 is a schematic structural view of the tube placing device in FIG. 1;

FIG. 4 is a side view of FIG. 3;

FIG. 5 is a cross-sectional view of section A-A of FIG. 4;

FIG. 6 is a schematic structural view of a detonator transfer molding machine according to another embodiment of the present invention;

FIG. 7 is a schematic structural view of a first mold feeding device and a first material returning assembly in the detonator transfer molding machine;

FIG. 8 is another schematic view of FIG. 7;

FIG. 9 is a schematic structural diagram of a first bearing assembly part in the detonator transfer molding machine;

FIG. 10 is a schematic structural view of a second mold box feeding device and a second mold box discharging device in the detonator transfer molding machine;

fig. 11 is a structural schematic diagram of a second bearing assembly in the detonator transfer molding machine.

Reference numerals:

the pipe taking device 100 pipe taking manipulator 110 pipe taking end effector 120 first pipe taking column 121 and second pipe taking column 122

Circular groove 1211 first power assembly 123 flexible sleeve 124

Tube placing device 200 tube placing manipulator 210 tube placing end effector 220

First jaw 221 first limit recess 2211 second jaw 222 second limit recess 2221

Second Power Assembly 223 third Power Assembly 224 fourth Power Assembly 225

First bearing assembly 300 first bearing table 310 first accommodation cavity 311 first driving member 320 first bearing frame 330

First abutment 340 second abutment 350 third abutment 360

Second bearing Assembly 400 second bearing stage 410 rib 411 second driving member 420

Abutment module 430 abuts against block 431 and third driver 432

Rack 500

The first mold feeding device 600 rotates the feeding tray 610, the first feeding assembly 620, the fourth driving member 621, the acting portion 622

First material returning assembly 700 first material returning track 710 first material returning driving member 720 second material returning driving member 730

Second mold box feeding device 800 feeding track 810 transfer platform 820 second mold box feeding assembly 830

Second die cartridge discharge assembly 900 second die cartridge discharge track 910 second die cartridge material ejection drive 920

First mold box A and second mold box B

First detonator C and second detonator D

Position E.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means is one or more, a plurality of means is two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The detonator transfer molding machine of the present invention will be described with reference to fig. 1.

The detonator transfer machine comprises a rack 500, a first bearing component 300, a second bearing component 400, a tube taking device 100 and a tube placing device 200, wherein the first bearing component 300 and the second bearing component 400 are both connected with the rack, the first bearing component 300 is used for bearing a first mold box A, the second bearing component is used for bearing a second mold box B, the tube taking device 100 is located above the first bearing component 300 and used for clamping detonators in the first mold box A, and the tube placing device 200 is located above the second bearing component 400 and used for clamping detonators clamped on the tube taking device 100 and inserting the detonators into the second mold box B.

Specifically, first mould box a is the hollow box (as the box body structure of placing on rotatory charging tray 610 in fig. 6), and a plurality of detonators are close together and place in first mould box a (as shown in fig. 8 first mould box a filled with the detonator), and in this embodiment, first mould box a can place 100 detonators, is provided with a plurality of patchholes (a detonator has been inserted in the second mould box B that shows in fig. 11) on the second mould box B, and the patchhole interval sets up and is matrix distribution. In the transfer process, the detonators in the first mould box a need to be transferred to the second mould box B. The first carrier assembly 300 and the second carrier assembly 400 are both connected to the frame 500, a first mold box a filled with detonators is placed on the first carrier assembly 300, and an empty second mold box B is placed on the second carrier assembly 400. The pipe taking device 100 is located above the first bearing assembly 300, the pipe taking device 100 moves downwards to grab the detonator in the first mold box a to a position E (not shown in the figure) away from the first mold box a, the pipe placing device 200 is located above the second bearing assembly 400, the pipe placing device 200 moves towards the position E to grab the detonator clamped on the pipe taking device 100, and then the detonator is inserted into the second mold box B. It will be appreciated that the position E may be any position where the pipe taking device 100 grips the detonator and leaves the first mold box a, but in order to shorten the mold turning time, it is preferable to move to an intermediate position between the pipe taking device 100 and the pipe placing device 200, and when the pipe taking device 100 moves to the position E, the pipe placing device 200 can reach the position E at the same time. In addition, for the rotary die of more accurate realization detonator, all set up the vision locating component on getting a device 100 and putting a device 200, get a device 100 and press from both sides when getting the detonator, cooperate with the vision locating component, make get a device 100 and wait to press from both sides the detonator of getting and aim at, equally, when putting a device 200 and placing the detonator, also cooperate with the vision recognition technology, make put a device 200 with the accurate placing of detonator in second mould box B. Through the setting mode, the mold transferring operation of the detonator can be realized through the mechanical device, people can be effectively prevented from directly contacting with the detonator, the safety in the production process can be effectively improved, the mold transferring efficiency can be improved, and the labor cost is reduced.

In some embodiments of the present invention, the tube taking device 100 includes a tube taking manipulator 110 and a tube taking end effector 120, the tube taking end effector 120 is disposed at an end of the tube taking manipulator 110, the tube taking manipulator 110 is used for driving the tube taking end effector 120 to move, the tube taking end effector 120 includes a first power assembly 123, a first tube taking column 121 and a second tube taking column 122, wherein the first tube taking column is used for inserting a first detonator C, the second tube taking column 122 is used for inserting a second detonator D, and the first power assembly 123 is used for driving the first tube taking column 121 and the second tube taking column 122 to move towards each other or away from each other, so as to achieve clamping and releasing of the first detonator C and the second detonator D.

Specifically, as shown in fig. 1 and 2, the tube taking robot 110 may be an XYZ three-axis linear module robot as shown in fig. 1, the tube taking end effector 120 is disposed at an end of the XYZ three-axis linear module robot, and the XYZ three-axis linear module robot drives the tube taking end effector 120 to move. The XYZ three-axis linear module manipulator drives the tube taking end effector 120 to move to a position above the first mold box A (at the moment, detonators are placed in the first mold box A), the tube taking end effector 120 is moved to a position where the first tube taking column 121 and the second tube taking column 122 are respectively aligned with two adjacent detonators in the first mold box A, then the XYZ three-axis linear module manipulator drives the tube taking end effector 120 to move downwards until the first tube taking column 121 and the second tube taking column 122 are respectively inserted into the first detonators C and the second detonators D, then the first power assembly 123 drives the first tube taking column 121 and the second tube taking column 122 to move oppositely, so that the distance between the first tube taking column 121 and the second tube taking column 122 is reduced, and therefore enough clamping force is provided for clamping the first detonators C and the second detonators D (clamping means that in the process that the tube taking device 100 carries the first detonators C and the second detonators D to move away from the first mold box A to a position E, the first detonator C and the second detonator D cannot slip or fall off relative to the first detonator taking column 121 and the second detonator taking column 122), the XYZ three-axis linear module manipulator drives the detonator taking end effector 120 clamping the first detonator C and the second detonator D to move away from the first mold box C to the position E, the first detonator C and the second detonator D are clamped after the pipe placing device 200 moves to the position E, the first power assembly 123 drives the first detonator taking column 121 and the second detonator taking column 122 to move away at the moment, the distance between the first detonator taking column 121 and the second detonator taking column 122 is increased, and therefore the first detonator C and the second detonator D are released. The first taking column 121 and the second taking column 122 move away from each other until the first taking column 121 and the second taking column 122 can be drawn out of the detonators, however, in order to shorten the mold transfer time as much as possible, the distance between the axes of the first taking column 121 and the second taking column 122 is equal to the diameter of the detonators, when the XYZ three-axis linear module manipulator drives the taking tube end effector 120 to return to the upper part of the first mold box A to clamp the detonators again, only the first taking column 121 and the second taking column 122 need to be aligned with two adjacent detonators in the first mold box A, and the distance between the first taking column 121 and the second taking column 122 does not need to be finely adjusted again. The first power assembly 123 may be a translational finger cylinder, the first fetching column 121 and the second fetching column 122 are respectively and fixedly mounted on two fingers of the finger cylinder, and the first fetching column 121 and the second fetching column 122 move in the opposite direction or away from each other through the extension and contraction of the finger cylinder. It will be appreciated that the first power assembly 123 may also be a bi-directional lead screw and nut mechanism and that the tube withdrawal robot 110 may also be another type of multi-degree of freedom robot, such as a 5-axis robot or the like. Through the setting mode, a plurality of detonators can be transferred at one time, the die transferring time is shortened, and the transferring efficiency of the detonators is improved.

In addition, in order to avoid hard contact in the process of clamping the first detonator C and the first detonator D by the first fetching string 121 and the second fetching string 122 and to generate sparks to cause detonator explosion, the first fetching string 121 and the second fetching string 122 are respectively sleeved with a flexible sleeve 124, and the flexible sleeve 124 can be a silica gel sleeve, a rubber sleeve or a sponge sleeve and the like. In addition, in order to avoid the falling of the flexible sleeve 124, the annular groove 1211 is formed in the circumferential direction of each of the first tubular taking column 121 and the second tubular taking column 122, the flexible sleeve 124 is sleeved on the annular groove 1211, the thickness of the flexible sleeve 124 is larger than the depth of the annular groove 1211, namely, the outer wall of the flexible sleeve 124 protrudes out of the first tubular taking column 121 and the second tubular taking column 122, and when the first tubular taking column 121 and the second tubular taking column 122 are close to and clamp the first detonator C and the first detonator D, the flexible sleeve 124 can be made to contact with the tube walls of the first detonator C and the first detonator D first. When the first detonator C and the first detonator D are clamped by the first taking pipe column 121 and the second taking pipe column 122, the first taking pipe column 121 is preferably not in contact with the inner wall of the first detonator C, and the second taking pipe column 122 is preferably not in contact with the inner wall of the first detonator D. The number of the circular ring grooves 1211 on each fetching pipe column can be 3 as shown in fig. 2, and the 3 circular ring grooves 1211 are uniformly arranged along the length direction of the fetching pipe column, so that the stress of the detonator is uniform in the clamping process. It is understood that the number of annular grooves 1211 can also be other numbers, such as 2, 4, etc. Through the setting mode, the inner wall direct contact of the tubular column and the detonator can be effectively avoided, sparks are generated, the detonator is caused to explode, the friction force between the detonator and the tubular column can be increased through the flexible sleeve, and the clamping process is more reliable.

In some embodiments of the present invention, the pipe placing device 200 includes a pipe placing manipulator 210 and a pipe placing end effector 220, the pipe placing end effector 220 is disposed at the end of the pipe placing manipulator 210, the pipe placing manipulator 210 is used for driving the pipe placing end effector 220 to move, the pipe placing end effector 220 includes a first clamping jaw 221, a second clamping jaw 222 and a second power assembly 223, the first clamping jaw 221 is used for clamping a first detonator C at the first pipe taking column 121, the second clamping jaw 222 is used for clamping a second detonator D at the second pipe taking column 122, and the second power assembly 223 is used for driving one of the first clamping jaw 221 and the second clamping jaw 222 to approach or separate from the other, so that the distance between the first clamping jaw 221 and the second clamping jaw 222 is a first set value or a second set value.

Specifically, the tube placing manipulator 210 may be an XYZ three-axis linear module manipulator as shown in fig. 3, the tube placing end effector 220 is disposed at the end of the XYZ three-axis linear module manipulator, and the XYZ three-axis linear module manipulator moves to drive the tube placing end effector 220 to move. The XYZ three-axis linear module manipulator drives the tube placing end effector 220 to move to a position E, at this time, the distance between the first clamping jaw 221 and the second clamping jaw 222 of the tube placing end effector 220 is a first set value, the first set value meets the condition that the distance between the axes of the first clamping jaw 221 and the second clamping jaw 222 is equal to the diameter of a detonator, at this time, the tube placing end effector 220 can directly clamp the first detonator C and the second detonator D on the first tube taking column 121 and the second tube taking column 122, after the first detonator C and the second detonator D are clamped by the tube placing end effector 220, the XYZ three-axis linear module manipulator drives the tube placing end effector 220 to move to the position above the second die box B, because the insertion holes in the second die box B are array holes, the central distance of adjacent holes in each row of holes is the same value L, at this time, the first detonator C and the second detonator D on the tube placing end effector 220 are tightly close together, the first detonator C and the second detonator D need to be separated to make the distance between the first detonator C and the second detonator D equal to L, the second power assembly 223 drives the second clamping jaw 222 to move in the direction away from the first clamping jaw 221 to make the distance between the first clamping jaw 221 and the second clamping jaw 222 be a second set value, namely the second set value meets the condition that the distance between the centers of the first clamping jaw 221 and the second clamping jaw 222 is L, the distance between the center axes of the first detonator C on the first clamping jaw 221 and the second detonator D on the second clamping jaw 222 is L, the placing manipulator 210 drives the placing end effector 220 to align the first detonator C and the second detonator D with the insertion hole in the second mould box B, and then the first detonator C and the second detonator D are inserted into the insertion hole in the second mould box B. The adjustment of the spacing between the first jaw 221 and the second jaw 222 may be adjusted during movement of the tube placing end effector 220 between the second die box B and the position E to reduce the die change time and improve the die change efficiency. It will be appreciated that the adjustment of the spacing between the first jaw 221 and the second jaw 222 may also be achieved by the second power assembly 223 driving the first jaw 221 towards or away from the second jaw 222. The second power assembly 223 may be a one-way cylinder or a one-way oil cylinder, and may also be other linear motion structures, such as a screw nut structure, a synchronous belt guide structure, and the like. The put-tube robot 210 may also be another type of multi-degree-of-freedom robot, such as a 5-axis robot, for example. The first jaw 221 is driven by a fourth power assembly 225, the second jaw 222 is driven by a third power assembly 224, and the third power assembly 224 and the fourth power assembly 225 are the same type of drive, such as a translating pneumatic finger or a Y-type pneumatic finger.

As shown in fig. 5, in order to enable the clamping jaw to clamp the detonator more stably, a first limiting groove 2211 is arranged on the first clamping jaw 221, a second limiting groove 2221 is arranged on the second clamping jaw 222, the cross sections of the first limiting groove 2211 and the second limiting groove 2221 can be triangular or arc-shaped, and the side wall of the detonator is attached to the limiting grooves, so that the contact area between the clamping jaw and the detonator is increased, and the safety in the transfer process is improved.

In some embodiments of the present invention, the first bearing assembly 300 includes a first bearing platform 310 and a first driving member 320, the first bearing platform 310 is provided with a first accommodating cavity 311, the first accommodating cavity 311 is used for accommodating the first mold box a, and the first driving member 320 is used for driving the first bearing platform 310 to rotate to a first setting position relative to the frame 500, so that the first taking column 121 and the second taking column 122 are perpendicular to the first bearing platform 310.

Specifically, as shown in fig. 8 and 9, the first bearing assembly 300 includes a first bearing frame 330, a first bearing platform 310 and a first driving member 320, a first side of the first bearing platform 310 is rotatably connected to the first bearing frame 330, one end of the first driving member 320 is connected to the first bearing frame 330, and the other end of the first driving member 320 is connected to a position of the first bearing platform 310 away from the first side. The first driving member 320 extends to drive the first loading platform 310 to rotate to a first setting position relative to the first loading frame 330, and fig. 8 shows that the first loading frame 330 is located at the first setting position, and the first loading frame 330 forms an angle with the horizontal plane. In order to prevent the first mold box a from moving on the first carrying platform 310 during the rotation of the first carrying platform 310, a first accommodating cavity 311 is provided on the first carrying platform 310, the first mold box a is placed in the first accommodating cavity 311, and the first mold box a can be fixed in the first accommodating cavity 311 during the rotation of the first carrying platform 310. Along with the detonator in the first mold box A is continuously drawn away by the detonator taking device 100, the detonator in the first mold box A is continuously reduced, if the first bearing platform 310 is in a horizontal state, the rest detonators in the first mold box A can topple over, which is not beneficial to the detonator taking device 100 to draw out the detonators, in order to ensure that the detonator in the first mold box A is always in a state perpendicular to the first mold box A, in a detonator taking stage, the first bearing platform 310 is driven by the first driving piece 320 to rotate to a first set position, at the moment, the first mold box has a higher side and a lower side, the detonator taking device 100 starts to draw out from the higher side, the rest detonators can gather towards the lower side under the action of gravity, so that the detonators are always in a state perpendicular to the first mold box A, and the detonator taking device 100 can draw out the detonators conveniently. In addition, for the purpose that the detonator is stably gathered to the lower side of the position A of the first die box, a second abutting portion 350 and a third abutting portion 360 are arranged, the second abutting portion 350 and the third abutting portion 360 are all parallel to the first bearing platform 310 at the first set position, the second abutting portion 350 is arranged on the lower side of the position of the first bearing platform 310 in a V shape, the third abutting portion 360 is a plane and is arranged on the high side of the position of the first bearing platform 310, the third abutting portion 360 moves towards the second abutting portion 350 to gather the detonator in a V-shaped acting portion of the second abutting portion 350, so that the detonator is always in the lower position and is not prone to toppling, and the detonator taking device 100 can take out the detonator conveniently. The first driving member 320 is required to set the X-axis of the tube taking manipulator 110 to be parallel to the first loading platform at the first setting position when the tube taking manipulator 110 is an XYZ three-axis linear module manipulator, so that the first tube taking column 121 and the second tube taking column 122 are perpendicular to the first loading platform, which is convenient for taking the tube taking columns to extract the detonators.

In some embodiments of the present invention, the first side of the accommodating cavity 311 has an opening, the detonator molding machine further includes a first mold box feeding device 600, the first mold box feeding device 600 includes a rotary feeding tray 610 and a first feeding assembly 620, the rotary feeding tray 610 is used for moving the first mold box to the second setting position F, and the first feeding assembly 620 is used for driving the first mold box located at the second setting position F to move to the first accommodating cavity through the opening.

Specifically, as shown in fig. 7 to 9, the rotary charging tray 610 rotates the first mold box a filled with detonators (in fig. 7, the first mold box a in the rotary charging tray 610 only represents the placement manner of the first mold box a, and does not serve as a basis for the first mold box a being an empty box) to a second set position F, the second set position F is a position corresponding to the opening of the first accommodating cavity 311, the first feeding assembly 620 has a fourth driving member 621 and an acting portion 622, and the fourth driving member 621 drives the acting portion 622 to act on the first mold box a and push the first mold box a to enter the first accommodating cavity 311 through the opening of the first accommodating cavity 311. The action portion 622 is V-shaped, the opening degree of the V-shaped opening is consistent with the angles of two adjacent surfaces of the first die box A, the shape of the side surface of the first accommodating cavity 311 is also matched with the shape of the first die box A, the action portion 622 and the first accommodating cavity 311 act together to correct the position of the first die box A, and the angles of the first die box A entering the first accommodating cavity 311 are consistent, so that the consistency of the tube taking device 100 in tube taking operation can be ensured. This is provided with location portion on revolving into charging tray 610 outward, location portion also is the setting of V type, with two looks proximal surface looks butt of first mould box A, make first mould box A place on rotatory pan feeding dish 610 with fixed angle, when revolving into charging tray 610 and move first mould box A to second settlement position F, first mould box A's double-phase proximal surface just can laminate with effect portion 622, it is even to ensure that effect portion 622 acts on the power of first mould box A, make the removal that first mould box A can stabilize more to first chamber 311 that holds, improve the security of first mould box A in the transportation. Through the setting mode, the automatic feeding function of the first die box A can be realized. Because the side of the first accommodating cavity 311 is provided with an opening, when the first mold box a is placed in the first accommodating cavity 311, one side of the first mold box a is not constrained, and a first abutting portion 340 is provided, the acting portion of which is matched with the side of the first mold box a and is used for abutting against the side of the first mold box a located on the opening side.

In some embodiments of the present invention, the side of the first accommodating cavity 311 has an opening, the detonator molding machine further includes a first material returning assembly 700, the first material returning assembly 700 includes a first material returning track 710, a first material returning driving member 720 and a second material returning driving member 730, wherein the first material returning driving member 720 can drive the first carrying assembly 300 to move to the first material returning track 710, and the second material returning driving member 730 is used for driving the first mold box a located on the first carrying platform 310 to move to the first material returning track 710 through the opening.

Specifically, as shown in fig. 8 and 9, the side surface of the first receiving cavity 311 is provided with an opening, the opening is disposed at a side facing the first material returning track 710, and the first bearing assembly 300 is fixed on the slider and can move along the guide rail. After all the detonators in the first mold box a on the first carrier platform 310 are extracted, the empty first mold box a needs to be removed from the first carrier platform 310, the first driving member 320 drives the first carrier platform 310 to return to the horizontal position, then the first material returning driving member 720 drives the first carrier assembly 300 to move to the first material returning track 710 along the guide rail, so that the opening of the first accommodating cavity 311 faces the first material returning track 710, and the second material returning driving member 730 drives the empty first mold box a to leave the first carrier platform 310 through the opening and move to the first material returning track 710. When the empty first mold box a leaves the first loading platform 310, the first material returning driving member 720 drives the first loading assembly 300 to return, so as to place the first mold box a filled with the detonator on the first loading platform 310. Through the arrangement, the function of automatic material returning of the empty first die box A can be realized. In some embodiments, the first material returning driving member 720 drives the first carrying member 300 to a position corresponding to the second setting position F of the rotary material feeding tray 610, that is, the second setting position F where the opening of the first receiving cavity 311 faces the rotary material feeding tray 610, so that the first feeding member 620 pushes the first mold box a filled with the detonators into the first receiving cavity 311. Through the arrangement, the function of automatic feeding of the full first mold box A can be realized.

In some embodiments of the present invention, the second bearing assembly 400 further includes a second bearing platform 410 and a second driving member 420, the second bearing platform 410 includes a rib 411, the rib 411 is used for positioning a second mold box B on the second bearing platform 410, the second driving member 420 is used for driving the second bearing platform 410 to rotate to a third setting position, so that the first detonator C and the second detonator D clamped by the first clamping jaw 221 and the second clamping jaw 222 can be perpendicular to the second mold box B on the second bearing platform 410.

Specifically, referring to fig. 10 to 11, the second driving element 420 drives the second bearing table 410 to rotate, when the second bearing table 410 rotates to a third setting position, the first detonator C and the second detonator D held by the tube placing device 200 are perpendicular to the second mold box of the second bearing table 410, and the retaining edge 411 is disposed at one side of the second bearing table 410 to prevent the second mold box B from sliding down during the rotation of the second bearing table 410.

According to some embodiments of the present invention, the second carrier assembly 400 further comprises an abutting module 430, the abutting module 430 comprises an abutting block 431 and a third driving member 432, the abutting block 431 comprises a first abutting edge and a second abutting edge, and the third driving member 432 drives the abutting block 431 to move, so that the first abutting edge and the second abutting edge abut against two adjacent edges of the second mold box B on the second carrier 410.

Specifically, as shown in fig. 10 to 11, two adjacent sides of the second bearing table 410 are both provided with a rib 411, one side without the rib 411 is an empty feed port of the second mold box B, and the other side is a discharge port of the second mold box B filled with detonators. The abutment modules 430 are arranged on opposite sides of the corner between the two ribs 411 to abut two other adjacent sides of the second cassette B. Before the second driving member 420 drives the second bearing table 410 to rotate, the third driving member 432 drives the abutting block 431 to abut against the second mold box B, the abutting block 431 is of an approximately V-shaped structure and is a first abutting edge and a second abutting edge respectively, the abutting block 431 and the flange 411 jointly act to fix the second mold box B, and the second mold box B is prevented from being overturned in the rotating process of the second bearing table 410 and in a state of being located at a third set position, so that the production efficiency of the rotary mold is reduced. The third driver 432 and the second driver 420 are both linear driving devices, such as air cylinders.

In some embodiments of the present invention, the second mold box feeding device 800 is further included, the second mold box feeding device 800 includes a feeding track 810, a transferring platform 820 and a second mold box feeding assembly 830, wherein the transferring platform 820 is a lifting platform capable of lifting between a first height and a second height, when the transferring platform 820 is at the first height, the transferring platform 820 is docked with the feeding track 810, the second mold box B can be operated to the transferring platform 820 from the feeding track 810, when the transferring platform 820 is at the second height, the transferring platform 820 is docked with the second bearing platform 410, and the second mold box feeding assembly 830 is used for driving the second mold box B located on the transferring platform 820 to move to the second bearing platform 410.

Specifically, as shown in fig. 10 to 11, the second mold box B is transported on the second bearing table 410 in the following process, the empty second mold box B is placed on the second bearing table 410, the second bearing table 410 rotates to a third set position, the detonator is inserted into the second mold box B by the pipe placing device 200, and after the second mold box B is fully inserted with the detonator, the second bearing table 410 rotates to a horizontal position, and the second mold box B exits from the second bearing table 410. In order to realize the automatic placement of the second mold box B on the second bearing platform 410, a second mold box feeding device 800 is provided, an empty mold box is placed on the feeding track 810, the transfer platform 820 is raised to a first height at this time, the transfer platform 820 is in butt joint with the feeding track 810, the second mold box B can move from the feeding track 810 to the transfer platform 820, and the feeding track 810 can be a conveying belt or a conveying roller structure. After the second mold box B is moved to the transfer platform 820, the transfer platform 820 is lowered to a second height, and at this time, the transfer platform 820 is butted with the second bearing platform 410, and the second mold box B is transferred to the second bearing platform 410 through the second mold box feeding assembly 830. Through the arrangement, automatic feeding of the second mold box B can be realized.

In some embodiments of the present invention, the second mold box discharging assembly 900 comprises a second mold box discharging track 910 and a second mold box material returning driving member 920, the second mold box material returning driving member 920 is used for driving the second mold box B on the second bearing platform 410 to move to the second mold box discharging track 910.

Specifically, as shown in fig. 10 to 11, after the second mold box B on the second bearing table 410 is filled with the detonator, the second bearing table 410 rotates to the horizontal position, and the second mold box ejecting driving member 920 drives the second mold box B on the second bearing table 410 to move to the second mold box discharging rail 910. Second mould box material returned driving piece 920 is cylinder and push rod structure, and wherein the push rod is fixed in the one end of cylinder, and when the extension through the cylinder, the push rod acts on second mould box B to with second mould box B propelling movement to second mould box ejection of compact track 910.

In combination with the above embodiments, the utility model discloses a detonator transfer molding machine, detonator transfer molding process include following step:

(1) rotating the material tray 610 to transfer the first mold box a filled with detonators to a second set position F, and then pushing the first mold box a to the first bearing table 310 by the first feeding assembly 620;

(2) the first bearing table 310 rotates to a first set position, the second bearing table 410 rotates to a second set position F, the pipe taking device 100 grabs the first detonator C and the second detonator D and moves to a position E, meanwhile, the pipe placing device 200 also moves to the position E, the first detonator C and the second detonator D on the pipe taking device 100 are clamped, and then the pipe placing device 200 inserts the first detonator C and the second detonator D into a second mold box; the pipe taking device 100 and the pipe placing device 200 are repeatedly operated until the second mold box is fully inserted with the detonator;

(3) the second bearing table 410 rotates to a horizontal position, the second mold box material returning driving piece 920 pushes the second mold box with the inserted detonators to the second mold box material discharging rail 910, meanwhile, the transfer platform 820 is in butt joint with the material feeding rail 810, the empty second mold box runs to the transfer platform 820 from the material feeding rail 810, the transfer platform 820 descends to be in butt joint with the second bearing table 410, the second mold box material feeding assembly 830 transfers the second mold box B to the second bearing table 410, the second bearing table 410 rotates to a third set position, the pipe taking device 100 and the pipe placing device 200 continue to cooperate to transfer the detonators into the second mold box B;

(4) after the transfer of the detonators in the first mold box a is completed, the first carrying platform 310 rotates to a horizontal position, the first material returning driving member 720 drives the first carrying assembly 300 to move to the first material returning track 710, the second material returning driving member 730 drives the empty first mold box a to leave the first carrying platform 310 through the opening and move to the first material returning track 710, then the first material returning driving member 720 drives the first carrying assembly 300 to return to a position corresponding to the second set position F of the rotary material feeding disc 610, and the step (1) is repeated.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art. Furthermore, the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.

Claims (10)

1. Detonator transfer molding machine, characterized by comprising:

a frame;

the first bearing assembly is connected with the rack and used for bearing the first mold box;

the second bearing assembly is connected with the rack and is used for bearing a second mold box;

the pipe taking device is positioned above the first bearing assembly and used for clamping the detonator in the first die box;

and the tube placing device is positioned above the second bearing component and used for clamping the detonator clamped on the tube taking device and inserting the detonator into the second die box.

2. The detonator transfer molding machine of claim 1,

the tube taking device comprises

A tube taking manipulator;

the pipe taking end effector is arranged at the tail end of the pipe taking manipulator, and the pipe taking manipulator is used for driving the pipe taking end effector to move;

the tube taking end effector comprises a tube taking device,

the first detonator taking pipe column is used for inserting a first detonator;

the second pipe taking column is used for inserting a second detonator;

the first power assembly is used for driving the first pipe taking column and the second pipe taking column to move oppositely or far away from each other so as to clamp and release the first detonator and the second detonator.

3. The detonator transfer molding machine of claim 2,

the pipe placing device comprises

A pipe placing manipulator;

the pipe placing end effector is arranged at the tail end of the pipe placing mechanical hand, and the pipe placing mechanical hand is used for driving the pipe placing end effector to move;

the pipe-placing end effector comprises a pipe-placing end effector,

the first clamping jaw is used for clamping a first detonator at the first pipe taking column;

the second clamping jaw is used for clamping a second detonator at the second pipe taking column;

the second power assembly is used for driving one of the first clamping jaw and the second clamping jaw to move close to or away from the other clamping jaw, so that the distance between the first clamping jaw and the second clamping jaw is a first set value or a second set value.

4. The detonator transfer molding machine of claim 2, wherein the first carrier assembly further comprises a first carrier table having a first receiving cavity disposed therein for receiving the first mold box, and a first driving member for driving the first carrier table to rotate to a first set position relative to the frame such that the first and second retrieval columns are perpendicular to the first carrier table.

5. The detonator transfer machine of claim 4, wherein the first receiving chamber has an opening in a side surface thereof, the detonator transfer machine further comprising a first mold box feeding device comprising a rotary feeding tray for moving the first mold box to a second set position and a first feeding assembly for driving the first mold box in the second set position to move to the first receiving chamber through the opening.

6. The detonator transfer molding machine of claim 4, wherein the side surface of the first receiving chamber has an opening, the detonator transfer molding machine further comprising a first material returning assembly, the first material returning assembly comprising a first material returning track, a first material returning driving member and a second material returning driving member, wherein the first material returning driving member is capable of driving the first carrier assembly to move to the first material returning track, and the second material returning driving member is used for driving a first mold box located on the first carrier table to move to the first material returning track through the opening.

7. The detonator transfer molding machine of claim 3, wherein the second carrier assembly further comprises a second carrier table and a second driving member, the second carrier table comprises a rib, the rib is used for positioning a second mold box on the second carrier table, and the second driving member is used for driving the second carrier table to rotate to a third set position, so that the first detonator clamped by the first clamping jaw and the second detonator clamped by the second clamping jaw are perpendicular to the second mold box on the second carrier table.

8. The detonator transfer molding machine of claim 7, wherein the second carrier assembly further comprises an abutment module comprising an abutment block comprising a first abutment edge and a second abutment edge and a third drive member that drives the movement of the abutment block to abut the first abutment edge and the second abutment edge against two adjacent edges of a second mold box on the second carrier table.

9. The detonator transfer molding machine of claim 7, further comprising a second mold box feeding device, wherein the second mold box feeding device comprises a feeding track, a transfer platform and a second mold box feeding assembly, the transfer platform is a lifting platform capable of lifting between a first height and a second height, the transfer platform is in butt joint with the feeding track when the transfer platform is at the first height, the second mold box can be operated to the transfer platform from the feeding track, the transfer platform is in butt joint with the second bearing platform when the transfer platform is at the second height, and the second mold box feeding assembly is used for driving a second mold box on the transfer platform to move to the second bearing platform.

10. The detonator transfer machine of claim 9 further comprising a second mold box ejection assembly comprising a second mold box ejection track and a second mold box ejection drive for driving a second mold box on the second carriage to move to the second mold box ejection track.

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