CN218410907U - Bullet pulling robot - Google Patents
Bullet pulling robot Download PDFInfo
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- CN218410907U CN218410907U CN202223010366.6U CN202223010366U CN218410907U CN 218410907 U CN218410907 U CN 218410907U CN 202223010366 U CN202223010366 U CN 202223010366U CN 218410907 U CN218410907 U CN 218410907U
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Abstract
The utility model provides a draw bullet robot belongs to shell split technical field, including correctional agency, fixture, positioning mechanism and drawing mechanism, correctional agency is used for correcting the projectile body of going up along conveying mechanism, fixture is used for carrying out the centre gripping and shifting the projectile body by robot control after correcting to drawing bullet mechanism, positioning mechanism is used for right draw bullet mechanism's last projectile body to fix a position, drawing mechanism is used for becoming warhead and whisk tail two parts with the projectile body split after fixing a position. The embodiment of the utility model provides an integrated industrial robot, pull out several parts such as bullet equipment, control system, projectile body correction mechanism, loop through and correct the projectile body, the robot snatchs, places the location, the projectile body is drawn, realizes dismantling the function to the automation of projectile body, for present artifical dismantlement projectile body, degree of automation is high, has replaced artifical work, has reduced intensity of labour, very big improvement the security that the shell was dismantled.
Description
Technical Field
The utility model belongs to the technical field of the shell split, specifically a draw bullet robot.
Background
At present, the treatment of the abandoned cannonball mostly needs to be split in advance so as to split the cannonball into a bullet head and a bullet tail, and then the explosive columns in the bullet tail are taken out.
Among the prior art, the split to the shell relies on the manual work to realize mostly, carries out manual split through the manual work promptly, because connect between shell warhead and the bullet tail comparatively inseparable, the manual split of manual work is comparatively consuming time and wasting power, and split efficiency is comparatively low to there is certain potential safety hazard still.
SUMMERY OF THE UTILITY MODEL
To the not enough of above-mentioned prior art, the embodiment of the utility model provides a technical problem who solves provides a pull out bullet robot.
In order to solve the technical problem, the utility model provides a following technical scheme:
a bullet-drawing robot, which comprises a correcting mechanism, a clamping mechanism, a positioning mechanism and a drawing mechanism,
the correcting mechanism is used for correcting the projectile body running on the conveying mechanism,
the clamping mechanism is used for clamping the corrected projectile body and transferring the projectile body to the projectile pulling mechanism under the control of a robot,
the positioning mechanism is used for positioning the bullet body on the bullet pulling mechanism,
the drawing mechanism is used for splitting the positioned bullet body into a bullet and a duster tail.
As a further improvement of the utility model: the straightening mechanism comprises a mechanism body, a first straightening rod and a second straightening rod,
one end of each of the first straightening rod and the second straightening rod is connected with the mechanism body, and the first straightening rods and the second straightening rods are distributed at intervals.
As a further improvement scheme of the utility model: and the first correcting rod and the second correcting rod are provided with detection signal lamps.
As a further improvement of the utility model: the clamping mechanism comprises a clamp main body, a clamping block and a cylinder,
the cylinder is fixedly arranged on one side of the clamp main body, the cylinder and the clamping blocks are respectively provided with two groups, the two groups of clamping blocks are distributed oppositely, and the two groups of clamping blocks are respectively arranged at the output ends of the two groups of cylinders.
As the utility model discloses further improvement scheme again: the fixture body is further provided with a guide rail, and the clamping blocks are in sliding fit with the guide rail.
As a further improvement of the present invention: the positioning mechanism comprises a first jaw and a second jaw which are distributed oppositely,
the first jaw is fixedly arranged on one side of the bullet pulling mechanism,
the second jaw is controlled to move towards the first jaw via a hydraulic cylinder.
As a further improvement of the present invention: the drawing mechanism comprises a circular ring step and a power source for driving the circular ring step to move.
As a further improvement of the present invention: the power source comprises a hydraulic cylinder, and the output end of the hydraulic cylinder is connected with the circular ring step.
Compared with the prior art, the beneficial effects of the utility model are that:
the embodiment of the utility model provides an integrated industrial robot, pull out several parts such as bullet equipment, control system, projectile body correction mechanism, loop through and correct the projectile body, the robot snatchs, places the location, the projectile body is drawn, realizes dismantling the function to the automation of projectile body, dismantles the projectile body for present manual work, and degree of automation is high, has replaced artifical work, has reduced intensity of labour, very big improvement the security that the shell was dismantled.
Drawings
FIG. 1 is a schematic structural view of a middle straightening mechanism of the present invention;
FIG. 2 is a schematic structural view of the clamping mechanism of the present invention;
FIG. 3 is a schematic structural view of the present invention;
fig. 4 is a schematic structural view of the jaw of the present invention;
FIG. 5 is a schematic structural view of the ring step of the present invention;
fig. 6 is a schematic structural diagram of the projectile body 5 of the present invention.
Detailed Description
The technical solution of the present patent will be further described in detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar 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 patent and are not to be construed as limiting the present patent.
Referring to fig. 1, 2 and 3, the embodiment provides a bullet drawing robot, which includes a correcting mechanism, a clamping mechanism, a positioning mechanism and a drawing mechanism 8, wherein the correcting mechanism is used for correcting a bullet 5 running on a conveying mechanism, the clamping mechanism is used for clamping the corrected bullet 5 and transferring the bullet 5 to the bullet drawing mechanism under the control of a robot, the positioning mechanism is used for positioning the bullet 5 on the bullet drawing mechanism, and the drawing mechanism 8 is used for splitting the positioned bullet 5 into two parts, namely a bullet head and a duster tail.
Referring to fig. 1, in one embodiment, the straightening mechanism includes a mechanism body 3, a first straightening rod 1 and a second straightening rod 2, one end of each of the first straightening rod 1 and the second straightening rod 2 is connected to the mechanism body 3, and the first straightening rod 1 and the second straightening rod 2 are spaced apart.
When the projectile body 5 moves along with the conveying mechanism, the first correcting rod 1 acts on the projectile head part of the projectile body 5, the second correcting rod 2 acts on the single tail part, and at the moment, the projectile body 5 is supported by the first correcting rod 1 and the second correcting rod 2 simultaneously, so that the posture of the projectile body 5 is corrected (the posture of the projectile body 5 is perpendicular to the moving direction of the projectile body 5).
In one embodiment, the first leveling rod 1 and the second leveling rod 2 are each provided with a detection signal.
After finishing correcting projectile body 5, the detection signal lamp lights, and conveying mechanism stops operating, and robot control fixture shifts projectile body 5 after correcting to drawing on the bullet mechanism this moment, carries out the split of projectile body 5 through drawing mechanism 8.
Referring to fig. 2, in an embodiment, the clamping mechanism includes a clamp main body, two sets of clamping blocks and an air cylinder, the air cylinder is fixedly disposed at one side of the clamp main body, the two sets of clamping blocks are disposed on the air cylinder and the clamping blocks, the two sets of clamping blocks are distributed oppositely, and the two sets of clamping blocks are respectively mounted at output ends of the two sets of air cylinders.
Drive two sets of clamp splice relative movement simultaneously through two sets of cylinders to carry out the centre gripping with the body 5 after correcting, the robot drives the body 5 of centre gripping afterwards and removes to pulling out on the bullet mechanism, realizes pulling out split of body 5.
In one embodiment, the clamp main body is further provided with a guide rail, and the clamping blocks are in sliding fit with the guide rail so as to improve the moving stability of the clamping blocks.
Referring to fig. 3, fig. 4 and fig. 6, in an embodiment, the positioning mechanism includes a first jaw 6 and a second jaw 7 which are oppositely distributed, the first jaw 6 is fixedly disposed at one side of the plucking mechanism, and the second jaw 7 is controlled by a hydraulic cylinder to move toward the first jaw 6.
The robot shifts the corrected projectile body between the first jaw 6 and the second jaw 7, and the second loop 7 is controlled by the hydraulic rod to move towards the first jaw 6, so that the second jaw 7 and the first jaw 6 are clamped at two sides of the joint of the projectile body.
Referring to fig. 3 and 5, in an embodiment, the drawing mechanism 8 includes a circular step and a power source for driving the circular step to move.
After the bullet position of the bullet body is clamped tightly by the first jaw 6 and the second jaw 7, the bullet tail round table at the moment is clamped on the circular ring step, the circular ring step is driven by the power source to move towards the direction of keeping away from the first jaw 6 and the second jaw 7, and then the bullet tail is pulled away from the joint with the bullet head, so that the bullet head and the bullet tail are separated.
In one embodiment, the power source comprises a hydraulic cylinder, and an output end of the hydraulic cylinder is connected with the circular ring step.
In one embodiment, the conveying mechanism is a conveying flight.
The embodiment of the utility model provides an integrated industrial robot, pull out several parts such as bullet equipment, control system, projectile body correction mechanism, loop through and correct the projectile body, the robot snatchs, places the location, the projectile body is drawn, realizes dismantling the function to the automation of projectile body, for present artifical dismantlement projectile body, degree of automation is high, has replaced artifical work, has reduced intensity of labour, very big improvement the security that the shell was dismantled.
Although the preferred embodiments of the present patent have been described in detail, the present patent is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present patent within the knowledge of those skilled in the art.
Claims (8)
1. A bullet-drawing robot is characterized by comprising a correcting mechanism, a clamping mechanism, a positioning mechanism and a drawing mechanism,
the correcting mechanism is used for correcting the projectile body running on the conveying mechanism,
the clamping mechanism is used for clamping the corrected projectile body and transferring the projectile body to the projectile pulling mechanism under the control of a robot,
the positioning mechanism is used for positioning the projectile body on the projectile pulling mechanism,
the drawing mechanism is used for splitting the positioned bullet body into a bullet and a duster tail.
2. The projectile pulling robot according to claim 1, wherein said leveling mechanism includes a mechanism body, a first leveling rod and a second leveling rod,
one end of each of the first straightening rod and the second straightening rod is connected with the mechanism body, and the first straightening rods and the second straightening rods are distributed at intervals.
3. The projectile pulling robot as recited in claim 2, wherein each of the first and second leveling rods has a detection signal lamp.
4. The bullet drawing robot of claim 1, wherein the clamping mechanism comprises a clamp main body, a clamping block and a cylinder,
the cylinder is fixedly arranged on one side of the clamp main body, the cylinder and the clamping blocks are respectively provided with two groups, the two groups of clamping blocks are distributed oppositely, and the two groups of clamping blocks are respectively arranged at the output ends of the two groups of cylinders.
5. The bullet drawing robot according to claim 4, wherein a guide rail is further disposed on the clamp body, and the clamping blocks are slidably engaged with the guide rail.
6. The bullet drawing robot of claim 1, wherein said positioning mechanism comprises a first jaw and a second jaw which are oppositely distributed,
the first jaw is fixedly arranged on one side of the bullet pulling mechanism,
the second jaw is controlled to move towards the first jaw via a hydraulic cylinder.
7. The projectile pulling robot as recited in claim 6, wherein the pulling mechanism comprises a circular ring step and a power source for driving the circular ring step to move.
8. The projectile pulling robot of claim 7, wherein said power source comprises a hydraulic cylinder, and an output end of said hydraulic cylinder is connected to said circular ring step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223010366.6U CN218410907U (en) | 2022-11-12 | 2022-11-12 | Bullet pulling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223010366.6U CN218410907U (en) | 2022-11-12 | 2022-11-12 | Bullet pulling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218410907U true CN218410907U (en) | 2023-01-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223010366.6U Active CN218410907U (en) | 2022-11-12 | 2022-11-12 | Bullet pulling robot |
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| Country | Link |
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| CN (1) | CN218410907U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116222297A (en) * | 2023-04-13 | 2023-06-06 | 石家庄英杰连铸科技有限公司 | Warhead drawbench with clamping mechanism |
-
2022
- 2022-11-12 CN CN202223010366.6U patent/CN218410907U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116222297A (en) * | 2023-04-13 | 2023-06-06 | 石家庄英杰连铸科技有限公司 | Warhead drawbench with clamping mechanism |
| CN116222297B (en) * | 2023-04-13 | 2023-10-03 | 石家庄英杰连铸科技有限公司 | Warhead drawbench with clamping mechanism |
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