CN214055253U - Detonator reverse mould manipulator - Google Patents

Abstract

The utility model discloses a detonator reverse mould manipulator relates to civilian blasting equipment technical field, include: a frame; robotic arm, robotic arm includes: the X-axis assembly comprises an X-axis driving assembly, and an X-axis sliding block connecting plate is arranged on the X-axis driving assembly; the Y-axis assembly is arranged on the rack and comprises a Y-axis driving assembly, a Y-axis sliding block connecting plate is arranged on the Y-axis driving assembly, and the Y-axis sliding block connecting plate is fixedly connected with the X-axis assembly; the Z-axis assembly comprises a Z-axis driving assembly, a Z-axis slider connecting plate is arranged on the Z-axis driving assembly, and the X-axis slider connecting plate is fixedly connected with the Z-axis assembly; the claw assembly is arranged on the Z shaft assembly and fixedly connected with the Z shaft sliding block connecting plate. The utility model discloses a manipulator has not only realized that the automation of detonator is got and is put, has effectively avoided having improved the operation security because of operating personnel's direct contact has very big potential safety hazard, and has improved production efficiency.

Description

Detonator reverse mould manipulator

Technical Field

The utility model relates to a civilian blasting equipment technical field, concretely relates to detonator reverse mould manipulator.

Background

With the rapid development of civil explosion industry, the production process level of industrial detonators is greatly improved, but no detonator reverse mould device is arranged in detonator production at present, the procedure of detonator reverse mould in industrial detonator production needs to be finished manually, and the manual reverse mould mode is adopted, so that the production efficiency is low, the manual labor intensity is high, and the industrial detonators belong to initiating explosive devices, and the great potential safety hazard exists easily due to the direct contact of operators.

Disclosure of Invention

1. Technical problem to be solved by the invention

To the technical problem that can't realize automatic mode reversal in the detonator mode reversal process in the industrial detonator production, the utility model provides a detonator mode reversal manipulator, it can realize the automatic mode reversal of detonator, has improved production efficiency.

2. Technical scheme

In order to solve the above problem, the utility model provides a technical scheme does:

a detonator reverse mold manipulator comprising: a frame; robotic arm, robotic arm sets up in the frame, robotic arm includes: the X-axis assembly comprises an X-axis driving assembly, and an X-axis slider connecting plate is arranged on the X-axis driving assembly; the Y-axis assembly is arranged on the Y-axis assembly, the Y-axis assembly is arranged on the rack, the Y-axis assembly comprises a Y-axis driving assembly, a Y-axis sliding block connecting plate is arranged on the Y-axis driving assembly, and the Y-axis sliding block connecting plate is fixedly connected with the X-axis assembly; the Z shaft assembly is arranged on the X shaft assembly and comprises a Z shaft driving assembly, a Z shaft sliding block connecting plate is arranged on the Z shaft driving assembly, and the X shaft sliding block connecting plate is fixedly connected with the Z shaft assembly; the claw assembly is arranged on the Z shaft assembly and fixedly connected with the Z shaft sliding block connecting plate.

In the embodiment, an X-axis slider connecting plate in the X-axis assembly is driven by an X-axis driving assembly to reciprocate along the X-axis direction; a Y-axis sliding block connecting plate in the Y-axis component is driven by the Y-axis driving component to reciprocate along the Y-axis direction; the Z-axis sliding block connecting plate in the Z-axis assembly is driven by the Z-axis driving assembly to reciprocate up and down along the Z-axis direction, the Y-axis sliding block connecting plate is fixedly connected with the X-axis assembly, the X-axis sliding block connecting plate is fixedly connected with the Z-axis assembly, so that the X-axis assembly reciprocates along the Y-axis direction along with the movement of the Y-axis sliding block connecting plate, the Z-axis assembly horizontally reciprocates along the X-axis along with the movement of the X-axis sliding block connecting plate, and the claw assembly is fixedly connected with the Z-axis sliding block connecting plate, so that the claw assembly moves up and down along with the movement of the Z-axis sliding block connecting plate. When the detonator stored in the turnover box needs to be taken, according to the position of the detonator to be taken, the X-axis slider connecting plate in the X-axis assembly, the Y-axis slider connecting plate in the Y-axis assembly, the Z-axis slider connecting plate in the Z-axis assembly are driven by respective driving assemblies to move synchronously, the Z-axis assembly is driven by the X-axis assembly to move in a translation manner, the Z-axis slider connecting plate drives the claw assembly to move upwards under the drive of the Z-axis driving assembly, and after the Z-axis slider connecting plate moves right above the detonator to be taken, the Z-axis slider connecting plate drives the claw assembly to move downwards under the drive of the Z-axis driving assembly, and the Z-axis slider connecting plate descends to the position where the detonator is placed to carry out the clamping operation of the detonator. The arrangement realizes the automatic taking and placing of the detonator, and improves the production efficiency; meanwhile, as the industrial detonator belongs to initiating explosive devices, great potential safety hazards exist easily due to direct contact of operators, and the arrangement of the detonator reverse mould manipulator in the embodiment replaces the operation of the operators, so that the great potential safety hazards existing due to the direct contact of the operators are effectively avoided, and the operation safety is improved.

Optionally, if the claw assembly is an R-axis rotary claw, the R-axis rotary claw is fixedly connected with the Z-axis slider connecting plate; if the claw assembly is a pipe placing claw, the pipe placing claw is fixedly connected with the Z-axis sliding block connecting plate.

Optionally, the two mechanical arms are oppositely arranged on the rack, the claw assembly of one mechanical arm is an R-axis rotating claw, and the claw assembly of the other mechanical arm is a pipe placing claw.

Optionally, the R-axis rotary claw comprises an aerial stepping motor, a first finger cylinder and a first claw structure, one end of the first finger cylinder is connected with an output shaft of the aerial stepping motor, and the other end of the first finger cylinder is connected with the first claw structure.

Optionally, the pipe placing claw comprises a three-rod cylinder, a second finger cylinder, a third finger cylinder and a second claw structure, the three-rod cylinder and the second finger cylinder are fixed on the Z-axis slider connecting plate, the three-rod cylinder is connected with the third finger cylinder, and the second claw structure is connected with the second finger cylinder and the third finger cylinder respectively.

Optionally, the second claw structure includes a C claw, a D claw, an E claw and an F claw, the C claw is matched with the D claw, the C claw is connected with the D claw and the third finger cylinder, the E claw is matched with the F claw, the E claw and the F claw are connected with the second finger cylinder, and the E claw and the F claw are respectively attached to the outer side wall of the C claw and the outer side wall of the D claw.

Optionally, the rack includes two first support legs and two second support legs, the height of the first support leg is higher than that of the second support leg, the two first support legs are arranged oppositely, and a first support plate is arranged between the two first support legs; the second supporting leg has two, and two second supporting legs set up relatively, and are adjacent first supporting leg with connect through the connecting rod between the second supporting leg, first backup pad is in the position of first supporting leg is higher than the connecting rod is in the position of first supporting leg, the one end setting of Y axle subassembly is in on the first backup pad, the other end of Y axle subassembly is fixed to be set up on the connecting rod.

Optionally, Y axle drive assembly includes Y axle servo motor, ball, Y axle bottom plate sets up in the frame, and Y axle servo motor sets up the one end of Y axle bottom plate, Y axle servo motor with link to each other through the shaft coupling between the ball, keep away from Y axle servo motor the both sides of Y axle bottom plate all are equipped with Y axle linear slide rail, Y axle slider connecting plate with ball is connected, the both sides of Y axle slider connecting plate are equipped with Y axle slider, Y axle slider with Y axle linear slide rail sliding fit.

Optionally, the X-axis driving assembly comprises an X-axis base plate, an X-axis servo motor, a first driving wheel, a first driven wheel and an X-axis synchronous belt, the X-axis bottom plate is fixed on a Y-axis slide block connecting plate on the Y-axis driving component, the X-axis servo motor is arranged at one end of the X-axis bottom plate, the first driving wheel and the first driven wheel are respectively arranged at two ends of the X-axis bottom plate, the first driving wheel and the first driven wheel are connected through an X-axis synchronous belt, an output shaft of the X-axis servo motor is matched and connected with the first driving wheel, X-axis linear slide rails are arranged on two sides of the X-axis bottom plate far away from the X-axis servo motor, the X-axis slider connecting plate is connected with the X-axis synchronous belt, X-axis sliders are arranged on two sides of the X-axis slider connecting plate, and the X-axis sliders are in sliding fit with the X-axis linear slide rails.

Optionally, Z axle drive assembly includes Z axle servo motor, second action wheel, second from driving wheel, Z axle hold-in range and Z axle bottom plate, Z axle bottom plate is fixed on the lateral wall of the last X axle slider connecting plate of X axle drive assembly, Z axle servo motor sets up on the Z axle bottom plate, Z axle servo motor's output shaft with the cooperation of second action wheel is connected, the second action wheel with the second sets up respectively from the driving wheel the both ends of Z axle bottom plate, the second action wheel with the second links to each other through Z axle hold-in range between the driving wheel, Z axle slider connecting plate with Z axle hold-in range is connected, one side of Z axle slider connecting plate is equipped with Z axle slider, one side of Z axle bottom plate is equipped with Z axle linear slide, Z axle slider with Z axle linear slide sliding fit.

3. Advantageous effects

Adopt the technical scheme provided by the utility model, compare with prior art, have following beneficial effect:

(1) the detonator reverse mould manipulator provided by the embodiment of the application has a simple structure, can realize automatic detonator taking and placing, and improves the production efficiency; meanwhile, because the industrial detonator belongs to initiating explosive devices, great potential safety hazards exist due to direct contact of operators easily, the arrangement of the detonator reverse mould manipulator in the embodiment of the application replaces the operation of the operators, the great potential safety hazards existing due to the direct contact of the operators are effectively avoided, and therefore the operation safety is improved.

Drawings

Fig. 1 is the embodiment of the utility model provides a detonator mode reversing manipulator's schematic structure diagram.

Fig. 2 is the embodiment of the utility model provides a first robotic arm A's among detonator reverse mould manipulator structural schematic.

Fig. 3 is a schematic structural diagram of a second mechanical arm B in the detonator reverse mold manipulator provided by the embodiment of the utility model.

Fig. 4 is a schematic structural diagram of an X-axis driving assembly according to an embodiment of the present invention.

Fig. 5 is a schematic structural diagram of a Y-axis driving assembly according to an embodiment of the present invention.

Fig. 6 is a schematic structural diagram of a Z-axis driving assembly in a first robot arm a according to an embodiment of the present invention.

Fig. 7 is a schematic structural diagram of a Z-axis driving assembly in a second robot B according to an embodiment of the present invention.

Fig. 8 is a schematic structural view of an R-axis rotating claw in a first robot arm a according to an embodiment of the present invention.

Fig. 9 is a schematic structural view of a pipe placing claw in a second robot arm B according to an embodiment of the present invention.

Detailed Description

For a further understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The utility model discloses in words such as first, second, be for the description the utility model discloses a technical scheme is convenient and set up, and does not have specific limiting action, is general finger, right the technical scheme of the utility model does not constitute limiting action. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do 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. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; 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 invention can be understood in specific cases to those skilled in the art.

Example 1

With reference to fig. 1 to 9, the present embodiment provides a detonator reverse mold manipulator, which includes: a frame 1; robotic arm, robotic arm sets up in frame 1 is last, robotic arm includes: the X-axis assembly 2 comprises an X-axis driving assembly 3, and an X-axis slider connecting plate 4 is arranged on the X-axis driving assembly 3; the Y-axis assembly 5 is arranged on the Y-axis assembly 5, the Y-axis assembly 5 is arranged on the rack 1, the Y-axis assembly 5 comprises a Y-axis driving assembly 6, a Y-axis slider connecting plate 7 is arranged on the Y-axis driving assembly 6, and the Y-axis slider connecting plate 7 is fixedly connected with the X-axis assembly 2; the Z-axis assembly 8 is arranged on the X-axis assembly 2, the Z-axis assembly 8 comprises a Z-axis driving assembly 9, a Z-axis slider connecting plate 51 is arranged on the Z-axis driving assembly 9, and the X-axis slider connecting plate 4 is fixedly connected with the Z-axis assembly 8; and the claw assembly is arranged on the Z-axis assembly 8 and is fixedly connected with the Z-axis slider connecting plate 51.

In the embodiment, the X-axis slider connecting plate 4 in the X-axis assembly 2 is driven by the X-axis driving assembly 3 to reciprocate along the X-axis direction; a Y-axis slider connecting plate 7 in the Y-axis component 5 is driven by a Y-axis driving component 6 to reciprocate along the Y-axis direction; the Z-axis slider connecting plate 51 in the Z-axis assembly 8 is driven by the Z-axis driving assembly 9 to reciprocate up and down along the Z-axis direction, the Y-axis slider connecting plate 7 is fixedly connected with the X-axis assembly 2, the X-axis slider connecting plate 4 is fixedly connected with the Z-axis assembly 8, so that the X-axis assembly 2 reciprocates along the Y-axis direction along with the movement of the Y-axis slider connecting plate 7, the Z-axis assembly 8 horizontally reciprocates along the X-axis along with the movement of the X-axis slider connecting plate 4, and the claw assembly is fixedly connected with the Z-axis slider connecting plate 51, so that the claw assembly moves up and down along with the movement of the Z-axis slider connecting plate 51. When the detonators stored in the turnover box 54 need to be taken, according to the positions of the detonators to be taken, the X-axis slider connecting plate 4 in the X-axis assembly 2, the Y-axis slider connecting plate 7 in the Y-axis assembly 5 and the Z-axis slider connecting plate 51 in the Z-axis assembly 8 synchronously move under the driving of respective driving assemblies, the Z-axis assembly 8 moves in a translation mode along with the X-axis assembly 2, the Z-axis slider connecting plate 51 drives the claw assemblies to move upwards under the driving of the Z-axis driving assemblies 9, and after the detonators are moved to the position right above the detonators to be taken, the Z-axis slider connecting plate 51 drives the claw assemblies to move downwards under the driving of the Z-axis driving assemblies 9 and descends to the position where the detonators are placed to carry out clamping operation on the detonators. The arrangement realizes the automatic taking and placing of the detonator, and improves the production efficiency; meanwhile, as the industrial detonator belongs to initiating explosive devices, great potential safety hazards exist easily due to direct contact of operators, and the arrangement of the detonator reverse mould manipulator in the embodiment replaces the operation of the operators, so that the great potential safety hazards existing due to the direct contact of the operators are effectively avoided, and the operation safety is improved.

Example 2

With reference to fig. 1-3, in the detonator reverse mold manipulator of the present embodiment, compared with the technical solution of embodiment 1, if the claw assembly is an R-axis rotating claw 12, the R-axis rotating claw 12 is fixedly connected to the Z-axis slider connecting plate 51; if the claw assembly is a pipe placing claw 13, the pipe placing claw 13 is fixedly connected with the Z-axis slider connecting plate 51. The R-axis rotary claw 12 is used for gripping the detonator from the turnover box 54, and the tube placing claw 13 is used for placing the detonator at a designated position in the combined die 55.

When the detonators stored in the turnover box 54 need to be taken, according to the positions of the detonators to be taken, the X-axis slide block connecting plate 4 in the X-axis component 2 of the mechanical arm, the Y-axis slide block connecting plate 7 in the Y-axis component 5 and the Z-axis slide block connecting plate 51 in the Z-axis component 8 are driven by respective driving components to move synchronously, the Z-axis component 8 moves in translation along with the X-axis component 2, the Z-axis slide block connecting plate 51 drives the R-axis rotary claw 12 to move upwards under the driving of the Z-axis driving component 9, after the Z-axis slide block connecting plate moves to the position right above the detonators to be taken, the Z-axis slide block connecting plate 51 drives the R-axis rotary claw 12 to move downwards under the driving of the Z-axis driving component 9, the R-axis rotary claw 12 descends to the position where the detonators are placed to carry out the clamping operation of the detonators, and after the detonators are clamped, the R-axis rotary claw 12 moves upwards under the driving of the Z-axis driving component 9, the detonator is driven to rotate to a preset angle and reaches the detonator air transfer designated position, and the detonator is taken out from the turnover box 54;

when the detonator at the designated position needs to be placed in the combined die 55, the X-axis slide block connecting plate 4 in the X-axis component 2, the Y-axis slide block connecting plate 7 in the Y-axis component 5 and the Z-axis slide block connecting plate 51 in the Z-axis component 8 move synchronously under the drive of respective drive components, the Z-axis component 8 moves in translation along with the X-axis component 2, meanwhile, the Z-axis slide block connecting plate 51 drives the pipe placing claw 13 to move upwards under the drive of the Z-axis drive component 9, moves to the detonator air transfer designated position, and clamps the detonator at the designated position by using the pipe placing claw 13, then, the tube placing claw 13 of the manipulator is driven by the X-axis assembly 2 and the Y-axis assembly 5 to move right above the detonator hole of the combined die 55, at the moment, the Z-group sliding block connecting plate is driven by the Z-axis driving assembly 9 to descend, and the tube placing claw 13 descends to place the detonator into the combined die 55; then the Z-axis driving component 9 drives the tube placing claw 13 to ascend, and the detonator at the designated position is placed in the combined die 55.

Therefore, the mechanical arm in the embodiment can realize automatic detonator taking and placing, and the production efficiency is improved; meanwhile, as the industrial detonator belongs to initiating explosive devices, great potential safety hazards exist easily due to direct contact of operators, and the arrangement of the detonator reverse mould manipulator in the embodiment replaces the operation of the operators, so that the great potential safety hazards existing due to the direct contact of the operators are effectively avoided, and the operation safety is improved.

Example 3

With reference to fig. 1-3, compared with the technical solution of embodiment 1, the detonator reverse mold manipulator of this embodiment has two mechanical arms, the two mechanical arms are oppositely disposed on the rack 1, wherein the claw assembly of one mechanical arm is an R-axis rotating claw 12, and the claw assembly of the other mechanical arm is a tube placing claw 13.

In the present embodiment, two mechanical arms are oppositely arranged on the rack 1, wherein the claw assembly of one mechanical arm is an R-axis rotating claw 12, and the mechanical arm is referred to as a first mechanical arm a, and the first mechanical arm a is used for clamping the detonator stored in the turnover box 54; the pipe placing claw 13 is a claw component of another mechanical arm, the mechanical arm is called a second mechanical arm B, and the second mechanical arm B is used for placing the detonator in the combined die 55; specifically, when a detonator stored in the turnover box 54 needs to be taken, according to the position of the detonator to be taken, the X-axis slider connecting plate 4 in the X-axis assembly 2 of the first robot arm a, the Y-axis slider connecting plate 7 in the Y-axis assembly 5, and the Z-axis slider connecting plate 51 in the Z-axis assembly 8 are driven by respective driving assemblies to move synchronously, while the Z-axis assembly 8 moves in translation along with the X-axis assembly 2, the Z-axis slider connecting plate 51 drives the R-axis rotary claw 12 to move upwards under the driving of the Z-axis driving assembly 9, after the detonator is moved to the position right above the detonator to be taken, the Z-axis slider connecting plate 51 drives the R-axis rotary claw 12 to move downwards under the driving of the Z-axis driving assembly 9, and then the detonator is lowered to the position where the detonator is placed to carry out the clamping operation of the detonator, and after the detonator is clamped, the R-axis rotary claw 12 moves upwards under the driving of the Z-axis driving assembly 9, the detonator is driven to rotate to a preset angle, the detonator reaches a detonator air transfer designated position, and the detonator is taken away by the tube placing claw 13 of the second mechanical arm B;

an X-axis slide block connecting plate 4 in an X-axis assembly 2 in a second mechanical arm B, a Y-axis slide block connecting plate 7 in the Y-axis assembly 5 and a Z-axis slide block connecting plate 51 in the Z-axis assembly 8 move synchronously under the drive of respective drive assemblies, when the Z-axis assembly 8 moves in translation along with the X-axis assembly 2, the Z-axis slide block connecting plate 51 drives a tube placing claw 13 to move upwards under the drive of the Z-axis drive assembly 9 and move to a specified position for aerial transfer of detonators, the tube placing claw 13 clamps the detonators in an R-axis rotary claw 12 of a first mechanical arm A waiting at the specified position and separates from the R-axis rotary claw 12 of the first mechanical arm A, then the tube placing claw 13 of a second mechanical arm moves right above a tube hole of a combined mold 55 under the drive of the X-axis assembly 2 and the Y-axis assembly 5, and the Z-axis slide block connecting plate is driven to descend by the Z-axis drive assembly 9, lowering the tube placing claw 13 and placing the detonator into the combined die 55; then the Z-axis driving component 9 drives the tube placing claw 13 to ascend, and the actions are repeated, so that the action of taking and placing the whole detonator is completed. The automatic detonator taking and placing can be realized through the matching of the two mechanical arms, so that the production efficiency is improved; meanwhile, as the industrial detonator belongs to initiating explosive devices, great potential safety hazards exist easily due to direct contact of operators, and the arrangement of the detonator reverse mould manipulator in the embodiment replaces the operation of the operators, so that the great potential safety hazards existing due to the direct contact of the operators are effectively avoided, and the operation safety is improved.

Example 4

With reference to fig. 8, in the detonator reverse mold manipulator of the present embodiment, compared with the technical solutions of embodiment 2 or 3, the R-axis rotary claw 12 includes an aerial stepping motor 14, a first finger cylinder 15 and a first claw structure 16, one end of the first finger cylinder 15 is connected to an output shaft of the aerial stepping motor 14, and the other end of the first finger cylinder 15 is connected to the first claw structure 16. When the R-axis rotating claw 12 is matched with the X-axis assembly 2, the Y-axis assembly 5 and the Z-axis assembly 8 in the first mechanical arm A, the R-axis rotating claw 12 moves to be right above a detonator to be taken, the R-axis rotating claw 12 moves downwards under the driving of the Z-axis assembly 8, the first claw structure 16 clamps two detonators under the action of the stepping motor and the first finger cylinder 15, then the first claw structure 16 ascends along with the ascending of the Z-axis sliding assembly to enable the detonator to leave the detonator box body, and then the first claw structure 16 rotates to a preset angle under the rotation of the aerial stepping motor 14.

In actual use, the first claw structure 16 includes an a claw 17 and a B claw 18, the a claw 17 is connected to the first finger cylinder 15, and the B claw 18 is provided at a lower end of the a claw 17. The first claw structure 16 can quickly and accurately clamp the detonator.

The outer ends of the A claw 17 and the B claw 18 are sleeved with rings 19. The arrangement of the ring 19 increases the friction force between the A claw 17 and the B claw 18 and the detonator wall, so that the detonator is prevented from slipping and falling off, and the success rate of detonator taking is ensured.

Example 5

With reference to fig. 9, compared with the technical solution of embodiment 2 or 3, the detonator reverse mold manipulator of this embodiment includes a three-rod cylinder 21, a second finger cylinder 22, a third finger cylinder 23, and a second claw structure 20, where the three-rod cylinder 21 and the second finger cylinder 22 are both fixed on the Z-axis slider connecting plate 51, the three-rod cylinder 21 is connected to the third finger cylinder 23, and the second claw structure 20 is connected to the second finger cylinder 22 and the third finger cylinder 23, respectively. The tube placing claw 13 extends or retracts outwards relative to the Z-axis component 8 under the stretching of the three-rod cylinder 21, and the second claw structure 20 realizes the functions of clamping and releasing the detonator under the closing and opening of the second finger cylinder 22 and the third finger cylinder 23.

Example 6

With reference to fig. 9, in the detonator reverse mold manipulator of this embodiment, compared with the technical solution of embodiment 5, the second claw structure 20 includes a C claw 24, a D claw 25, an E claw 26, and an F claw 27, the C claw 24 is matched with the D claw 25, the C claw 24 is connected with the D claw 25 and the third finger cylinder 23, the E claw 26 is matched with the F claw 27, the E claw 26 is connected with the second finger cylinder 15, and the E claw 26 and the F claw 27 are respectively attached to outer sidewalls of the C claw 24 and the D claw 25.

According to the interval between two adjacent detonators in the same row in the detonator box body and the interval between the detonator holes of the combined die 55, the C claw 24 and the D claw 25 realize the functions of clamping and releasing the detonators through the closing and opening of the third finger cylinder 23, and the E claw 26 and the F claw 27 realize the functions of clamping and releasing the detonators through the closing and opening of the second finger cylinder 22, so that the two detonators can be clamped and placed at the same time; because the three-rod cylinder 21 is connected with the C claw 24 and the third finger cylinder 23, the C claw 24 and the D claw 25 extend or retract outwards relative to the Z shaft assembly 8 under the action of the three-rod cylinder 21, and meanwhile, the front and back distances between the C claw 24 and the D claw 25 and the corresponding E claw 26 and F claw 27 are changed by the expansion and contraction of the three-rod cylinder 21, so that the problem of hole distance difference between every two detonators of the detonator turnover box 54 and the combined die 55 is effectively solved.

In practical application, the device further comprises a controller, and the controller is electrically connected with the X-axis driving assembly 3, the Y-axis driving assembly 6 and the Z-axis driving assembly 9. A controller is provided for controlling the synchronized movement of the X-axis drive assembly 3, the Y-axis drive assembly 6, and the Z-axis drive assembly 9.

Example 7

With reference to fig. 1, in the detonator reverse mold manipulator of the present embodiment, compared with the technical solution of embodiment 1, the rack 1 includes two first support legs 28 and two second support legs 29, the height of the first support leg 28 is higher than that of the second support leg 29, the two first support legs 28 are oppositely disposed, and a first support plate 30 is disposed between the two first support legs 28; the second supporting leg 29 has two, and two second supporting legs 29 set up relatively, and is adjacent first supporting leg 28 with connect through connecting rod 31 between the second supporting leg 29, first backup pad 30 is in the position of first supporting leg 28 is higher than connecting rod 31 is in the position of first supporting leg 28, the one end setting of Y axle subassembly 5 is in on the first backup pad 30, the other end of Y axle subassembly 5 is fixed to be set up on connecting rod 31.

Y axle subassembly 5's one end sets up on first backup pad 30, Y axle subassembly 5's the other end passes through connecting block 32 fixed the setting on connecting rod 31, because the height of first supporting leg 28 is higher than the height of second supporting leg 29, this setting makes the setting of Y axle subassembly 5 slope be in the frame, make X axle subassembly 2 do the up-and-down motion under Y axle drive assembly 6's drive, when Z axle subassembly 8 is the horizontal motion on X axle subassembly 2 under X axle drive assembly 3's drive, because X axle subassembly 2 is the up-and-down motion under Y axle drive assembly 6's drive, make Z axle subassembly 8 do translation motion about the top-and-bottom under X axle subassembly 2 and Y axle subassembly 5's cooperation, the accurate positioning of being convenient for waits to take the position of detonator.

Example 8

With reference to fig. 5, the manipulator for inverting the detonator according to the present embodiment is compared with the technical scheme of embodiment 1, the Y-axis driving assembly 6 includes a Y-axis servo motor 33, a ball screw 34 and a Y-axis bottom plate 35, the Y-axis bottom plate 35 is disposed on the frame 1, the Y-axis servo motor 33 is disposed at one end of the Y-axis bottom plate 35, the Y-axis servo motor 33 is connected with the ball screw 34 through a coupler 36, Y-axis linear slide rails 37 are disposed on two sides of the Y-axis bottom plate 35 away from the Y-axis servo motor 33, the Y-axis slider connecting plate 7 is connected with the ball screw 34, Y-axis sliders 45 are disposed on two sides of the Y-axis slider connecting plate 7, and the Y-axis sliders 45 are in sliding fit with the Y-axis linear slide rails 37.

Because the Y-axis servo motor 33 is connected with the ball screw 34 through the coupler 36, the rotary motion is converted into the linear motion through the Y-axis servo motor 33 and the ball screw 34, the Y-axis slider connecting plate 7 is connected with the ball screw 34, and Y-axis sliders 45 are fixedly connected to two sides of the Y-axis slider connecting plate 7, so that the ball screw 34 rotates the converted linear motion, the Y-axis slider connecting plate 7 performs the corresponding linear motion, and the Y-axis sliders 45 connected with the Y-axis slider connecting plate 7 are driven to slide on the Y-axis linear slide rails 37. Meanwhile, the Y-axis slider connecting plate 7 is fixedly connected with the X-axis assembly 2, and the ball screw 34 rotates for the converted linear motion, so that the Y-axis slider connecting plate 7 performs corresponding linear motion, and the X-axis assembly 2 is driven to perform linear motion along the Y-axis direction. In addition, the ball screw 34 has high efficiency, high precision, high rigidity and good stability, and meets the requirements of equipment performance.

Example 9

With reference to fig. 4, compared with the technical solution of embodiment 1, the detonator reverse mold manipulator of this embodiment includes an X-axis driving assembly 3 including an X-axis base plate 38, an X-axis servo motor 39, a first driving wheel, a first driven wheel 42 and an X-axis synchronous belt 43, the X-axis base plate 38 is fixed on a Y-axis slider connecting plate 7 on the Y-axis driving assembly 6, the X-axis servo motor 39 is disposed at one end of the X-axis base plate 38, the first driving wheel and the first driven wheel 42 are respectively disposed at two ends of the X-axis base plate 38, the first driving wheel and the first driven wheel 42 are connected through the X-axis synchronous belt 43, an output shaft of the X-axis servo motor 39 is connected with the first driving wheel in a matching manner, X-axis linear sliding rails 40 are disposed at two sides of the X-axis base plate 38 far from the X-axis servo motor 39, and the X-axis slider connecting plate 4 is connected with the X-axis synchronous belt, and X-axis sliding blocks 44 are arranged on two sides of the X-axis sliding block connecting plate 4, and the X-axis sliding blocks 44 are in sliding fit with the X-axis linear sliding rails 40.

Because the output shaft of the X-axis servo motor 39 is connected with the first driving wheel in a matching way, the rotation of the output shaft of the X-axis servo motor 39 drives the first driving wheel to rotate, since the first driving wheel is connected to the first driven wheel 42 through the X-axis timing belt 43, the first driven wheel 42 is driven by the first driving wheel to rotate synchronously, the X-axis timing belt 43 moves linearly under the rotation of the first driving wheel and the first driven wheel 42, because the X-axis slide block connecting plate 4 is arranged on the X-axis synchronous belt 43, the X-axis slide blocks 44 are arranged on two sides of the X-axis slide block connecting plate 4, the X-axis slide blocks 44 are matched with the X-axis linear slide rail 40, under the drive of the X-axis synchronous belt 43, the X-axis slide block connecting plate 4 carries out corresponding linear motion, thereby driving the X-axis slide block 44 connected with the X-axis slide block connecting plate 4 to slide on the X-axis linear slide rail 40. In this embodiment, the transmission of the X-axis synchronous belt 43 is driven by meshing, so that the transmission efficiency is high, the positioning accuracy is high, the installation and maintenance are convenient, the device is suitable for high-speed back-and-forth repeated movement, and the performance requirement of the device is met.

In practical use, the X-axis timing belt 43 is an endless belt which is wound around the first driving pulley and the first driven pulley 42.

Example 10

With reference to fig. 6-7, in the detonator reverse mold manipulator of this embodiment, compared with the technical solution of embodiment 1, the Z-axis driving assembly 9 includes a Z-axis servo motor 46, a second driving wheel 47, a second driven wheel 48, a Z-axis synchronous belt 49 and a Z-axis base plate 50, the Z-axis base plate 50 is fixed on a sidewall of an X-axis slider connecting plate 4 on the X-axis driving assembly 3, the Z-axis servo motor 46 is disposed on the Z-axis base plate 50, an output shaft of the Z-axis servo motor 46 is connected with the second driving wheel 47 in a matching manner, the second driving wheel 47 and the second driven wheel 48 are respectively disposed at two ends of the Z-axis base plate 50, the second driving wheel 47 and the second driven wheel 48 are connected through the Z-axis synchronous belt 49, the Z-axis slider connecting plate 51 is connected with the Z-axis synchronous belt 49, a Z-axis slider 52 is disposed at one side of the Z-axis slider connecting plate 51, and a Z-axis linear slide rail 53 is arranged on one side of the Z-axis bottom plate 50, and the Z-axis slide block 52 is in sliding fit with the Z-axis linear slide rail 53.

Because the output shaft of the Z-axis servo motor 46 is connected with the second driving wheel 47 in a matching manner, the rotation of the output shaft of the Z-axis servo motor 46 drives the second driving wheel 47 to rotate, since the second driving wheel 47 is connected to the second driven wheel 48 through the Z-axis timing belt 49, the second driven wheel 48 is driven by the second driving wheel 47 to rotate synchronously, the Z-axis timing belt 49 moves linearly under the rotation of the second driving wheel 47 and the second driven wheel 48, because the Z-axis slide block connecting plate 51 is arranged on the Z-axis synchronous belt 49, one side of the Z-axis slide block connecting plate 51 is provided with the Z-axis slide block 52, the Z-axis slide block 52 is matched with the Z-axis linear slide rail 53, under the drive of the Z-axis synchronous belt 49, the Z-axis slide block connecting plate 51 carries out corresponding linear motion, and further drives the Z-axis slider 52 connected with the Z-axis slider connecting plate 51 to slide on the Z-axis linear slide rail 53. In this embodiment, the transmission of the X-axis synchronous belt 43 is driven by meshing, so that the transmission efficiency is high, the positioning accuracy is high, the installation and maintenance are convenient, the device is suitable for high-speed back-and-forth repeated movement, and the performance requirement of the device is met.

In practical use, the Z-axis slider connecting plate 51 is provided with a connecting plate, and the connecting plate is provided with an R-axis rotating claw 12. The connecting plate is fixed on the Z-axis slider connecting plate 51 through the matching of the bolt and the nut, the R-axis rotary claw 12 is fixed on the Z-axis slider connecting plate 51 through the connecting plate, and the R-axis rotary claw 12 moves up and down under the driving of the Z-axis driving component 9 along with the Z-axis slider connecting plate 51 to move up and down correspondingly.

The present invention and its embodiments have been described above schematically, and the description is not limited thereto, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching of the present invention, without departing from the inventive spirit of the present invention, the person skilled in the art should also design the similar structural modes and embodiments without creativity to the technical solution, and all shall fall within the protection scope of the present invention.

Claims (10)

1. A detonator reverse mould manipulator is characterized by comprising:

a frame;

robotic arm, robotic arm sets up in the frame, robotic arm includes:

the X-axis assembly comprises an X-axis driving assembly, and an X-axis slider connecting plate is arranged on the X-axis driving assembly;

the Y-axis assembly is arranged on the Y-axis assembly, the Y-axis assembly is arranged on the rack, the Y-axis assembly comprises a Y-axis driving assembly, a Y-axis sliding block connecting plate is arranged on the Y-axis driving assembly, and the Y-axis sliding block connecting plate is fixedly connected with the X-axis assembly;

the Z shaft assembly is arranged on the X shaft assembly and comprises a Z shaft driving assembly, a Z shaft sliding block connecting plate is arranged on the Z shaft driving assembly, and the X shaft sliding block connecting plate is fixedly connected with the Z shaft assembly;

the claw assembly is arranged on the Z shaft assembly and fixedly connected with the Z shaft sliding block connecting plate.

2. The detonator reverse mold manipulator of claim 1, wherein if the claw assembly is an R-axis rotary claw, the R-axis rotary claw is fixedly connected with the Z-axis slider connecting plate; if the claw assembly is a pipe placing claw, the pipe placing claw is fixedly connected with the Z-axis sliding block connecting plate.

3. The detonator reverse mould mechanical arm as claimed in claim 1, wherein the mechanical arm is provided with two mechanical arms, the two mechanical arms are oppositely arranged on the rack, the claw component of one mechanical arm is an R-axis rotating claw, and the claw component of the other mechanical arm is a tube placing claw.

4. The detonator reverse mold manipulator of claim 2 or 3, wherein the R-axis rotary claw comprises an aerial stepping motor, a first finger cylinder and a first claw structure, wherein one end of the first finger cylinder is connected with an output shaft of the aerial stepping motor, and the other end of the first finger cylinder is connected with the first claw structure.

5. The detonator reverse mould mechanical arm of claim 2 or 3, wherein the tube placing claw comprises a three-rod cylinder, a second finger cylinder, a third finger cylinder and a second claw structure, the three-rod cylinder and the second finger cylinder are both fixed on the Z-axis slide block connecting plate, the three-rod cylinder is connected with the third finger cylinder, and the second claw structure is respectively connected with the second finger cylinder and the third finger cylinder.

6. The detonator reverse mold manipulator of claim 5, wherein the second claw structure comprises a C claw, a D claw, an E claw and an F claw, the C claw is matched with the D claw, the C claw and the D claw are connected with the third finger cylinder, the E claw and the F claw are matched, the E claw and the F claw are connected with the second finger cylinder, and the E claw and the F claw are respectively attached to the outer side walls of the C claw and the D claw.

7. The detonator reverse mould mechanical arm as claimed in claim 1, wherein the frame comprises a first supporting leg and a second supporting leg, the height of the first supporting leg is higher than that of the second supporting leg, the number of the first supporting legs is two, the two first supporting legs are oppositely arranged, and a first supporting plate is arranged between the two first supporting legs; the second supporting leg has two, and two second supporting legs set up relatively, and are adjacent first supporting leg with connect through the connecting rod between the second supporting leg, first backup pad is in the position of first supporting leg is higher than the connecting rod is in the position of first supporting leg, the one end setting of Y axle subassembly is in on the first backup pad, the other end of Y axle subassembly is fixed to be set up on the connecting rod.

8. The detonator reverse mold manipulator of claim 1, wherein the Y-axis driving assembly comprises a Y-axis servo motor, a ball screw and a Y-axis bottom plate, the Y-axis bottom plate is arranged on the rack, the Y-axis servo motor is arranged at one end of the Y-axis bottom plate, the Y-axis servo motor is connected with the ball screw through a coupler, Y-axis linear slide rails are arranged on two sides of the Y-axis bottom plate far away from the Y-axis servo motor, the Y-axis slide block connecting plate is connected with the ball screw, Y-axis slide blocks are arranged on two sides of the Y-axis slide block connecting plate, and the Y-axis slide blocks are in sliding fit with the Y-axis linear slide rails.

9. The detonator reverse mold manipulator as claimed in claim 1, wherein the X-axis driving assembly comprises an X-axis base plate, an X-axis servo motor, a first driving wheel, a first driven wheel and an X-axis synchronous belt, the X-axis base plate is fixed on a Y-axis slider connecting plate on the Y-axis driving assembly, the X-axis servo motor is arranged at one end of the X-axis base plate, the first driving wheel and the first driven wheel are respectively arranged at two ends of the X-axis base plate, the first driving wheel and the first driven wheel are connected through the X-axis synchronous belt, an output shaft of the X-axis servo motor is connected with the first driving wheel in a matching manner, X-axis linear slide rails are arranged at two sides of the X-axis base plate far away from the X-axis servo motor, the X-axis slider connecting plate is connected with the X-axis synchronous belt, and X-axis sliders are arranged at two sides of the X-axis slider connecting plate, and the X-axis sliding block is in sliding fit with the X-axis linear sliding rail.

10. The detonator reverse mold manipulator of claim 1 wherein the Z-axis drive assembly comprises a Z-axis servo motor, a second driving wheel, a second driven wheel, a Z-axis synchronous belt and a Z-axis base plate, the Z-axis bottom plate is fixed on the side wall of the X-axis slide block connecting plate on the X-axis driving component, the Z-axis servo motor is arranged on the Z-axis base plate, an output shaft of the Z-axis servo motor is matched and connected with the second driving wheel, the second driving wheel and the second driven wheel are respectively arranged at two ends of the Z-axis bottom plate, the second driving wheel and the second driven wheel are connected through a Z-axis synchronous belt, the Z-axis slide block connecting plate is connected with the Z-axis synchronous belt, a Z-axis slide block is arranged on one side of the Z-axis slide block connecting plate, and a Z-axis linear slide rail is arranged on one side of the Z-axis bottom plate, and the Z-axis slide block is in sliding fit with the Z-axis linear slide rail.

Images