CN107686438A - Robot automatic fastening system suitable for detonator production - Google Patents
Robot automatic fastening system suitable for detonator production Download PDFInfo
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- CN107686438A CN107686438A CN201710671534.0A CN201710671534A CN107686438A CN 107686438 A CN107686438 A CN 107686438A CN 201710671534 A CN201710671534 A CN 201710671534A CN 107686438 A CN107686438 A CN 107686438A
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- mould
- line
- pawl
- porter
- payment
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 10
- 235000020004 porter Nutrition 0.000 claims abstract description 58
- 210000004744 fore-foot Anatomy 0.000 claims description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 9
- 230000000295 complement effect Effects 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 5
- 230000037431 insertion Effects 0.000 claims description 5
- 238000005452 bending Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 230000008676 import Effects 0.000 claims 1
- 239000000463 material Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- C—CHEMISTRY; METALLURGY
- C06—EXPLOSIVES; MATCHES
- C06C—DETONATING OR PRIMING DEVICES; FUSES; CHEMICAL LIGHTERS; PYROPHORIC COMPOSITIONS
- C06C7/00—Non-electric detonators; Blasting caps; Primers
- C06C7/02—Manufacture; Packing
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Organic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of robot automatic bayonet system suitable for detonator production, it includes clipping machine and mould conveying mechanism, the clipping machine is robot automatic clip machine, the mould conveying mechanism comprises at least the first mould conveying mechanism and is provided with multiple die lifting platforms and the push oil gas cylinder supporting with die lifting platform, so as to which the mould on mould conveying mechanism to be delivered to the mold work platform of clipping machine, the mould being finished on mold work platform is delivered into corresponding mould conveying mechanism, the clipping machine includes being used for the payment to a porter grasping mechanism that payment to a porter is captured from payment to a porter mould and the manipulator arm for driving the payment to a porter grasping mechanism motion, the payment to a porter grasping mechanism is provided with preceding jaw arrangement, magnetic force grabs line mechanism and machine pawl grabs line mechanism.The present invention not only increases production efficiency and product quality, and without on-site personnel, avoids the risk that field operation is brought to operating personnel, realize the automated job of detonator bayonet socket.
Description
Technical field
The present invention relates to the robot automatic fastening system suitable for detonator production, belongs to industrial machinery technical field.
Background technology
Existing detonator clipping machine is unit, and provided with bayonet mechanism and push pipe mechanism, working method is will by push pipe mechanism
The bayonet part of detonator shell is inserted into the longitudinal hole of bayonet socket disk, is manually inserted the detonator wire provided with solid fire element
On detonator shell, bayonet mechanism performs bayonet socket action, completes the bayonet socket operation of detonator, forms product detonator.This mode
Manual operation is needed during defect, not only labor intensity is big, because detonator belongs to explosive, certain danger be present, and wants
Realize unmanned operation and a kind of automate/unmanned robot bayonet system, it is necessary to develop.
The content of the invention
For the drawbacks described above of prior art, the invention provides a kind of robot clipping machine suitable for detonator production, this
Grabbing line mechanism and can carrying out grabbing line action under the control of automaton for kind of clipping machine, captures detonator wire, Jin Er
Payment to a porter is looked under the drive of robot arm and is attached on detonator shell, realizes the unmanned operation of detonator bayonet socket.
The technical scheme is that：A kind of robot automatic fastening system suitable for detonator production, it includes clipping machine
With mould conveying mechanism, the clipping machine is robot automatic clip machine, and the mould conveying mechanism comprises at least the first mould
Conveying mechanism, the first mould conveying mechanism are provided with the first mould delivery framework, and the first mould delivery framework includes a left side
Right two frames, mould guide rail and mould conveyer chain are equipped with the inside of the frame of left and right two of the first mould delivery framework
Bar, so that payment to a porter mould can be supported on the mould guide rail of the left and right sides, in the case where the transmission chain of the left and right sides drives
Slided on mould guide rail, the mould transmission chain is provided with the thrust that can couple or produce thrust with mould bottom surface
Structure, the draw bail with the thrust respective outer side edges should generally, on the mould bottom surface be provided with, both should complement one another, example
Such as, the thrust structure is this small raised slotting using allowing using some small projections being arranged on chain, the draw bail
The pit entered（Groove）, pit is set on mould bottom surface, can keep with chain it is small it is raised effective be connected while,
The slip on guide rail is not influenceed, does not increase resistance to sliding, and when the first die lifting platform pushes up mould below mould upwards
When rising, this connecting mode does not influence mould and moved up, and the clipping machine is located at the outside of the first mould delivery framework
And towards the first mould delivery framework, the front portion of the clipping machine is provided with mold work platform, before the mold work platform
Face is provided with the first die lifting platform, and the first die lifting platform is located at the left and right sides frame of the first mould delivery framework
Between, its stroke, which comprises at least, jacks up the mould on the first mould conveying mechanism, and other are arranged at the two of mould conveying mechanism
Die lifting platform between side frame, the mould on the mould conveying mechanism can also be jacked up by same or like mode,
The mould conveying mechanism is disengaged it from, or the mould conveying mechanism is put into by lower general who has surrendered's mould.
Beneficial effects of the present invention are：Because there is provided the die lifting platform of correlation and push oil/gas cylinder.These devices are assisted
Same-action so that the mould conveying mechanism can not only convey material as conventional conveyor, and will can be furnished with
The payment to a porter mould of payment to a porter（Referred to as mould）The mold work platform for delivering to clipping machine captures for manipulator, utilizes manipulator behavior
Flexibility and reliability, enable that manipulator is accurate, payment to a porter is inserted into detonator shell on schedule and carries out bayonet socket, not only increase
Production efficiency and product quality, and without on-site personnel, the risk that field operation is brought to operating personnel is avoided, in fact
The automated job of detonator bayonet socket is showed.
Brief description of the drawings
Fig. 1 is the organigram of buckle systems；
Fig. 2 is that double stack mold conveying mechanism makes schematic diagram；
Fig. 3 is the organigram of clipping machine；
Fig. 4 is to be related to the organigram grabbed line mechanism and its installed on manipulator arm；
Fig. 5 is to be related to runing rest and magnetic force grabs line mechanism and machine pawl grabs organigram of the line mechanism on main view direction；
Fig. 6 is to be related to runing rest and magnetic force grabs line mechanism and machine pawl grabs organigram of the line mechanism in side-looking direction；
Fig. 7 is to be related to magnet and the organigram of magnet sleeve.
Embodiment
Referring to Fig. 1-7, open loop system provided by the invention includes clipping machine 1 and mould conveying mechanism, and the clipping machine is
Robot automatic clip machine, the mould conveying mechanism comprise at least the first mould conveying mechanism 910, the first mould conveying
Mechanism is provided with the first mould delivery framework 913, and the first mould delivery framework includes two frames in left and right, first mould
Mould guide rail 917 and mould transmission chain 915 are equipped with the inside of the frame of left and right two of delivery framework, so that payment to a porter mould
Tool can be supported on the mould guide rail of the left and right sides, slided in the case where the transmission chain of the left and right sides drives on mould guide rail.
Preferably, the mould transmission chain is provided with the thrust knot that can couple or produce thrust with mould bottom surface
Structure, the draw bail with the thrust respective outer side edges should generally, on the mould bottom surface be provided with, both should complement one another, for example,
The thrust structure is using some small projections being arranged on chain, and the draw bail is using this small raised insertion of permission
Pit（Groove）, pit is set on mould bottom surface, can keep with chain it is small it is raised effective be connected while, not shadow
The slip on guide rail is rung, does not increase resistance to sliding, and when the first die lifting platform jacks up mould below mould upwards,
This connecting mode does not influence mould and moved up.
The clipping machine is located at the outside of the first mould delivery framework and towards the first mould delivery framework, institute
The front portion for stating clipping machine is provided with mold work platform 710, the periphery of the mold work platform, in addition to the region passed in and out for mould,
The mold work edge of table frame 712 upwardly extended is preferably provided with, to prevent mould movement or even come off.
The first die lifting platform 950 is provided with before the mold work platform, the first die lifting platform is positioned at described
Between the left and right sides frame of first mould delivery framework, its stroke is comprised at least the mould top on the first mould conveying mechanism
Rise., can also be by same or like for other die lifting platforms being arranged between two side frames of mould conveying mechanism
Mode jacks up the mould on corresponding mould conveying mechanism, disengages it from the mould conveying mechanism, can also make position by declining
Supported in the mould on die lifting platform on the guide rail of mould delivery framework, so as to which mould is put into corresponding mould conveyer
Structure.
The first die lifting platform can be provided with the first die lifting platform upgrading mechanism that it can be driven to lift, described
The outside of first mould transmission frame is provided with the first push oil/gas cylinder 925, and the outer end of its piston rod is connected with the first push pedal 927,
The piston rod of the first push oil/gas cylinder transmits frame and entering towards the mold work platform perpendicular to first mould
Mouthful, thus when the mould being supported on originally on mould guide rail is lifted to and the described first push oil/gas by the first die lifting platform
, can be by mould from the first die lifting platform by the piston rod of the described first push oil/gas cylinder after the corresponding height of cylinder
It is pushed on the mold work platform of clipping machine, the side of the mold work platform is provided with the second die lifting platform 960, relative with the side
Opposite side be provided with the second push oil/gas cylinder 935, the outer end of its piston rod is connected with the second push pedal 937, the second mould liter
Drop platform is provided with the second die lifting platform elevating mechanism that it can be driven to lift, the piston rod water of the second push oil/gas cylinder
Flat extension simultaneously upgrades platform towards second mould, thus the upper surface when the second die lifting platform and the mold work
When the upper surface of platform etc. is high, the piston rod of the second push oil/gas cylinder can shift the mould on mold work platform onto second
On die lifting platform, the mould being finished is removed with will pass through the second die lifting platform.
This automatic fastening system is also provided with the second mould conveying mechanism 970, the second mould conveying mechanism position
In the lower section of the first mould conveying mechanism, two layers of mould conveying mechanism being distributed up and down, second mould are consequently formed
Conveying mechanism can be used and constructed with the first mould conveying mechanism identical, available for the mould that is finished of conveying, described the
The outside of two molds conveying mechanism is provided with the 3rd push oil/gas cylinder 945, and the outer end of its piston rod is connected with the 3rd push pedal 947, institute
The front for stating the 3rd push oil/gas cylinder is provided with the 3rd die lifting platform, and the 3rd die lifting platform is located at second mould
Between the left and right sides frame of delivery framework, its stroke, which comprises at least, jacks up the mould on the second mould conveying mechanism, described
3rd die lifting platform is provided with the 3rd die lifting platform upgrading mechanism that it can be driven to lift, the 3rd push oil/gas cylinder
Piston rod it is horizontal-extending and towards the 3rd die lifting platform, when the second die lifting platform and the 3rd die lifting platform
When positioned at sustained height and being higher than the second mould delivery framework, the piston rod of the 3rd push oil/gas cylinder can be by the
Mould on two molds lifting platform is shifted onto on the 3rd die lifting platform, and then the 3rd die lifting platform declines, and mould is with institute
State the 3rd die lifting platform to move down, until the guide rail of the second mould conveying mechanism supports the mould, thus achieve mould
Transmission from from mold work platform to the second mould conveying mechanism.
The clipping machine is located at the outside of the first mould delivery framework and towards the first mould delivery framework, institute
The front portion for stating clipping machine is provided with mold work platform 710, and the periphery of the mold work platform can be provided with addition to mould is imported and exported
Mold work edge of table frame 712, the first die lifting platform 950, first die lifting are provided with before the mold work platform
Platform is located between the left and right sides frame of the first mould delivery framework, and its stroke is comprised at least the first mould conveying mechanism
On mould jack up, be located at the die lifting platform between the side frame of mould conveying mechanism two for of the present invention other and also may be used
By jacking up mould from corresponding mould conveying mechanism in a manner of same or like, to make the corresponding mould conveyer of mould separating
Structure, corresponding mould conveying mechanism can also be put into by the mould on lower general who has surrendered's die lifting platform of die lifting platform.
The clipping machine can include following each several part：
Payment to a porter grasping mechanism 600, for capturing payment to a porter from payment to a porter mould, provided with payment to a porter grasping mechanism fixed plate 611, the pin
Runing rest 612 and the preceding jaw arrangement for clamping the plunger in payment to a porter, the rotation are installed in line grasping mechanism fixed plate
Spacing is left between support and the preceding jaw arrangement, is provided with the runing rest and grabs line for capturing the magnetic force of payment to a porter wire harness
Mechanism and machine pawl grab line mechanism, and the magnetic force grabs line mechanism and grabs line piece provided with the magnetic force for being used to grab line, and the machine pawl grabs line mechanism
Provided with the machine pawl 632 for grabbing line, the magnetic force grabs line piece and the bearing of trend of the machine pawl is parallel with the runing rest, and
It is respectively facing opposite direction；
Manipulator arm 300, for driving the payment to a porter grasping mechanism to move, it is used to realize that payment to a porter grasping mechanism should provided with multiple
There are position and posture（Direction and angle）Joint（Rotatable connection is secondary）；
Mold work platform 710, for placing payment to a porter mould, positioned at the front side 100 of workbench, move and connect with the table vertical
Connect（To allow the connected mode for doing vertical direction movement relative to workbench to connect）, provided with the payment to a porter mould for driving it to vertically move
Has elevating mechanism 720；
Bayonet mechanism 500, above installment work platform, for the bayonet socket of detonator shell, provided with bayonet socket disk, in the bayonet socket disk
Centre is provided with longitudinal bayonet socket through hole for detonator shell insertion, front（Towards the face of payment to a porter）Forward；
Push pipe mechanism 400, for the bayonet socket position being pushed into the bayonet part of detonator shell in longitudinal bayonet socket through hole, positioned at institute
State the rear side of bayonet socket disk.
Line mechanism can be grabbed by magnetic force or machine pawl grabs the wire harness that line mechanism captures payment to a porter automatically, it is automatic by preceding jaw arrangement
The plunger in payment to a porter is clamped, and drives payment to a porter grasping mechanism automatically to insert payment to a porter onto detonator shell by manipulator arm,
Without on-site personnel.
Line mechanism can be grabbed by rotating runing rest by any on runing rest and be placed on runing rest and grab line position
Put, carry out grabbing line using suitable line mechanism of grabbing according to the characteristic of payment to a porter, generally, magnetic force grabs line piece and can be used for crawl with one
Determine magnetic or the loading wire of electric detonator provided with magnetic part, machine pawl can be used for electric detonator payment to a porter of the crawl without magnetic.
The line mechanism fixed plate of grabbing is preferably L shaped plate, including one with the facade of the diameter parallel of the first rotary shaft 302
Section and a planar section vertical with the axis of first rotary shaft, the planar section for grabbing line mechanism fixed plate are located at facade
The front end of section, first rotary shaft are located at the front portion of the manipulator arm, and the line mechanism of grabbing is in the manipulator arm
On mounting means the front end of first rotary shaft is fixedly connected on for the back side of the planar section for grabbing line mechanism fixed plate,
The runing rest grabs the mounting means in line mechanism fixed plate and is described：The runing rest grabs line by vertical with described
The runing rest mandrel 614 of the facade section of mechanism fixed plate is grabbed in the facade section of line mechanism fixed plate described in being rotatably mounted on, institute
State runing rest be provided with can drive its relative to it is described grab line mechanism fixed plate rotation runing rest rotation driving oil/gas
Cylinder, the preceding jaw arrangement is diametrically（The diametric(al) of first rotary shaft）Positioned at the side relative with the runing rest, by
This, the plunger in payment to a porter can be clamped by fore paw, line mechanism is grabbed by the magnetic force installed on runing rest and machine pawl grabs line machine
Structure（Characteristic according to payment to a porter determines specifically to grab line mechanism）The wire harness position of payment to a porter is clamped, by manipulator movement payment to a porter crawl
Mechanism and the posture for adjusting payment to a porter grasping mechanism（When needing）, promote payment to a porter grasping mechanism will by the plug portion foundation in payment to a porter
Detonator shell of the insertion in longitudinal bayonet socket through hole is sought, then bayonet mechanism carries out bayonet socket action, realizes the card of detonator shell
Mouthful, complete detonator assembling.
The facade section for grabbing line mechanism fixed plate and planar section can one or two interconnections
Plate.
It can realize that runing rest relative to the rotation for grabbing line mechanism fixed plate, can use people by runing rest mandrel
Work or mechanical system realize this rotation.
The facade section for grabbing line mechanism fixed plate and it is preferably provided with elastic pin positioning device for use between the runing rest
616, the elastic pin positioning device for use is arranged on the big face of the not connected runing rest of the facade section of the fixed plate, described to grab
Line mechanism fixed plate is provided with the pin-and-hole passed through for alignment pin（Through hole）, the runing rest and the line mechanism fixed plate of grabbing
The relative big face of facade section is corresponding with the pin-and-hole provided with two（Can be with pin-and-hole under the relevant work posture of runing rest
Alignment）Cotter way（Blind hole shape, preferably hemispherical）, the elastic pin positioning device for use, which is provided with, alignment pin and pushes alignment pin to pin-and-hole
The locating pin spring of side, the alignment pin are stretched under locating pin spring thrust in the pin-and-hole, and head is resisted against rotation
On support, when runing rest rotates to the magnetic force just grabs on the operative orientation of line piece or the machine pawl, corresponding one
Cotter way aligns to pin-and-hole just（The particular location of determination cotter way is required according to this）, the head insertion cotter way of alignment pin, thus
Runing rest is fixed, when the moment of torsion being applied on runing rest is sufficiently large, positioning pin head part and hemispherical cotter way（Or its
The cotter way with flexibly positioned cooperation of his suitable shape）Active force axial component overcome the thrust of locating pin spring, will position
Pin releases cotter way, runing rest is rotated, is switched over it is possible thereby to be grabbed in the magnetic force between line piece or the machine pawl.
The preceding jaw arrangement can include fore paw pedestal 644, and the fore paw pedestal, which is provided with, can clamp payment to a porter plunger
Fore paw 642 and the fore paw oil/gas cylinder for driving the fore paw progress holding action, before the fore paw is complemented one another by two
Pawl refers to composition, and each fore paw, which refers to, to be separately mounted to respective fore paw and refer on sliding block 643, and each fore paw refers to sliding block and is plugged on
The fore paw of the fore paw pedestal, which refers in chute and refers to slide with the fore paw, to be coordinated（Gap coordinates）, can be in the fore paw
Refer to chute synchronous backward along fore paw under the drive of oil/gas cylinder to move, be consequently formed the folding of the fore paw.
The magnetic force piece can be magnet sleeve 622, and the magnet sleeve is cylindrical in shape, and its outer end 623 is closed or opening,
Magnet 621 is provided with the magnet sleeve, the magnet is preferably made and magnetized using permanent-magnet material, the magnet and the magnetic
Gap between the inwall of body sleeve is preferably capable allowing and limits what the magnet axially moved linearly in magnet sleeve
Fit clearance, thus magnet is avoided to rock while the movement of magnet linear reciprocation is realized.
The magnet is preferably provided with the magnetic force that it can be driven to be moved axially in sleeve and grabs line oil/gas cylinder 624, the magnetic
Power grabs the axially inner side that line oil/gas cylinder is located at the magnet sleeve, and the magnet grabs the piston rod of line oil/gas cylinder with the magnetic force
Outer end connect, thus, it is possible under the drive of piston rod 625 linear reciprocation move, when need crawl payment to a porter when, magnet is outside
The near outer ends of magnet sleeve are moved to, will be adjacent in the magnetic payment to a porter of magnet sleeve near outer ends attraction in magnet set
The outer end of cylinder, magnet is moved into the position away from magnet sleeve outer end, its magnetic force to payment to a porter disappears substantially, and payment to a porter exists
Fallen under self gravitation effect, depart from magnet sleeve.
The magnetic force grabs the cylinder body of line oil/gas cylinder and the sleeve may be mounted at magnetic force and grab on line bracket, the magnetic force
Line bracket is grabbed to be fixedly mounted on the runing rest.
The magnetic force, which grabs line bracket, can generally use sheet material, plate-like.
The magnetic force is grabbed line bracket and is preferably fixedly mounted in a manner of big face is relative on the runing rest, to reduce sky
Between take and make both connections more convenient, firm.
The outer end that the magnetic force grabs line bracket can be provided with vertical bending, and the magnet sleeve grabs line bracket with the magnet
Outer end bending part be fixedly connected, to facilitate installation and fixed.
The machine pawl, which grabs line mechanism and may be mounted at machine pawl, grabs on line bracket 637, and the machine pawl is grabbed line bracket and can used
Sheet material, and can be with L-shaped, to realize that the solid that line mechanism is grabbed to machine pawl is fixed, the machine pawl grabs line bracket and is fixedly mounted on institute
State on runing rest.
The machine pawl, which is grabbed line mechanism and can be generally provided with, can drive the machine pawl to carry out to grab the machine pawl of line action to grab line driving
Device.
The machine pawl can be referred to by two machine to complement one another pawl pawls to be formed, and the two machines pawl pawl refers to preferred specular.
The machine pawl pawl, which refers to, to use movable connection method to be arranged on machine pawl pedestal 634, and the machine pawl pawl refers in machine
Movable connection method on pawl pedestal can be the movable connection method for allowing horizontally-parallel movement（For example, on machine pawl pedestal
Set and refer to the straight that connection end is slidably matched with machine pawl pawl）, or allow the movable connection method of rotation（For example,
By setting machine pawl pawl spindle to realize that machine pawl pawl refers to the rotatable connection with machine pawl pedestal）, it is real in a manner of by translating or rotating
The folding of existing machine pawl.
The machine pawl grabs line drive device and preferably grabs line oil/gas cylinder using machine pawl, and the machine pawl grabs line oil/gas cylinder and passes through phase
Answer transmission mechanism to refer to drive connection with each machine pawl pawl, reverse linear movement is referred to band motivation pawl pawl or reversely rotated, is realized
The folding of machine pawl.
The machine pawl pawl, which refers to be divided into, refers to base segment and pawl section two parts, phase between base segment and pawl section that the machine pawl pawl refers to
Connecting, its connected mode is preferably fastened by screw, and the base segment that the machine pawl pawl refers to is used for the installation on the machine pawl pedestal,
Pawl section is used to clamp payment to a porter, its medial surface（For the opposite face in the face, i.e. two pawl sections that directly contact payment to a porter）Provided with tooth-shape structure,
It is possible thereby to manufacture more suitable base segment and pawl section respectively according to respective functional requirement, and can changing machine pawl pawl as needed
The pawl section of finger, to adapt to different grab line requirement.
Guider 520 is also provided with front of the bayonet socket disk, the guider is provided with and longitudinal bayonet socket
Through hole aligns（Central axis is on same straight line）Guide through hole, the guide through hole is pre-large post-small bellmouth, institute
The point diameter for stating bellmouth is more than the diameter of longitudinal bayonet socket through hole, and rear end diameter is equal to the diameter of longitudinal bayonet socket through hole.
The sensor 821 for detecting payment to a porter quality is also provided with before the bayonet socket disk, so as in payment to a porter quality
In the case of underproof, the payment to a porter is abandoned.
The lower section of the workbench can be provided with the gas control cabinet 810 for being used for controlling each oil/gas cylinder working, as needed,
Gas control cabinet can be arranged on other positions.
According to prior art and according to processing arrangement, the shell conveying mechanism supporting with the push pipe mechanism can be set,
Shell is delivered into push pipe mechanism desired position.
Lath conveying mechanism or slatted apron 200 and the lath hoisting mechanism supporting with it can be set, by lath
Desired position is delivered to carry out the operations such as tubulature.
For the facility in statement, oil/gas cylinder includes the cylinder using gas pressure as power source alleged by the present invention, also includes
The hydraulic cylinder of power source or oil cylinder are used as using fluid pressure.
It is disclosed by the invention it is each preferably with optional technological means, unless otherwise indicated and one preferably or can selecting technology hand
Section is outside the further restriction of another technological means, can form some different technical schemes in any combination.
Claims (10)
1. a kind of robot automatic fastening system suitable for detonator production, it is characterised in that including clipping machine and mould conveyer
Structure, the clipping machine are robot automatic clip machine, and the mould conveying mechanism comprises at least the first mould conveying mechanism, described
First mould conveying mechanism is provided with the first mould delivery framework, and the first mould delivery framework includes two frames in left and right, institute
State and be equipped with mould guide rail and mould transmission chain, the clipping machine on the inside of the frame of left and right two of the first mould delivery framework
It is provided with positioned at the outside of the first mould delivery framework and towards the first mould delivery framework, the front portion of the clipping machine
Mold work platform, the first die lifting platform is provided with before the mold work platform, the first die lifting platform is positioned at described
Between the left and right sides frame of first mould delivery framework.
2. the first die lifting platform is provided with the first die lifting platform upgrading mechanism that it can be driven to lift, first mould
The outside of tool transmission frame is provided with the first push oil/gas cylinder, and the piston rod of the first push oil/gas cylinder is perpendicular to described first
Mould transmits frame and is provided with the second die lifting towards the import of the mold work platform, the side of the mold work platform
Platform, the opposite side relative with the side are provided with the second push oil/gas cylinder, and the second die lifting platform, which is provided with, can drive its lifting
The second die lifting platform elevating mechanism, the piston rod of the second push oil/gas cylinder is horizontal-extending and towards second mould
Tool upgrading platform.
3. automatic fastening system as claimed in claim 1, it is characterised in that it is additionally provided with the second mould conveying mechanism, described second
Mould conveying mechanism is located at the lower section of the first mould conveying mechanism, and the second mould conveying mechanism uses and described first
Mould conveying mechanism identical constructs, and the outside of the second mould conveying mechanism is provided with the 3rd push oil/gas cylinder, and the described 3rd
The front of push oil/gas cylinder is provided with the 3rd die lifting platform, and the 3rd die lifting platform is located at second mould transmission frame
Between the left and right sides frame of frame, its stroke, which comprises at least, jacks up the mould on the second mould conveying mechanism, the 3rd mould
Tool lifting platform is provided with the 3rd die lifting platform upgrading mechanism that it can be driven to lift, the piston of the 3rd push oil/gas cylinder
Bar is horizontal-extending and towards the 3rd die lifting platform.
4. the automatic fastening system as described in claim 1,2 or 3, it is characterised in that the clipping machine includes following each several part：
Payment to a porter grasping mechanism, for capturing payment to a porter from payment to a porter mould, provided with payment to a porter grasping mechanism fixed plate, the payment to a porter crawl
Runing rest and the preceding jaw arrangement for clamping the plunger in payment to a porter be installed, the runing rest and described in mechanism fixed plate
Spacing is left between preceding jaw arrangement, is provided with the runing rest and grabs line mechanism and machine pawl for capturing the magnetic force of payment to a porter wire harness
Line mechanism is grabbed, the magnetic force grabs line mechanism and grabs line piece provided with the magnetic force for being used to grab line, and the machine pawl, which is grabbed line mechanism and is provided with, to be used to grab
The machine pawl of line, the magnetic force grabs line piece and the bearing of trend of the machine pawl is parallel with the runing rest, and is respectively facing opposite
Direction；
Manipulator arm, for driving the payment to a porter grasping mechanism to move, it is used to realize that payment to a porter grasping mechanism should have provided with multiple
Position and the joint of posture；
Mold work platform, for placing payment to a porter mould, positioned at the front side of workbench, with the table vertical mobile link or solid
Fixed connection, provided with the payment to a porter mold lifting mechanism for driving it to vertically move；
Bayonet mechanism, above installment work platform, for the bayonet socket of detonator shell, provided with bayonet socket disk, the center of the bayonet socket disk
Longitudinal bayonet socket through hole provided with confession detonator shell insertion, just forward-facing；
Push pipe mechanism, for the bayonet socket position being pushed into the bayonet part of detonator shell in longitudinal bayonet socket through hole, positioned at described
The rear side of bayonet socket disk.
5. buckle systems as claimed in claim 4, it is characterised in that the line mechanism fixed plate of grabbing is L shaped plate, including one
It is described to grab with the facade section and a planar section vertical with the axis of the first rotary shaft of the diameter parallel of first rotary shaft
The planar section of line mechanism fixed plate is located at the front end of facade section, and first rotary shaft is located at the front portion of the manipulator arm,
The mounting means of the line mechanism on the manipulator arm of grabbing is consolidated for the back side of the planar section for grabbing line mechanism fixed plate
Surely it is connected to the front end of first rotary shaft, the runing rest grabs the mounting means in line mechanism fixed plate and be described：
The runing rest is rotatably mounted on described by the vertical and facade section for grabbing line mechanism fixed plate runing rest mandrel
Grab in the facade section of line mechanism fixed plate, the runing rest, which is provided with, can drive it to grab the rotation of line mechanism fixed plate relative to described
The runing rest rotation driving oil/gas cylinder turned, the preceding jaw arrangement are radially positioned the side relative with the runing rest.
6. buckle systems as claimed in claim 5, it is characterised in that the facade section for grabbing line mechanism fixed plate and the rotation
Turn to be provided with elastic pin positioning device for use between support, the elastic pin positioning device for use is arranged on not connecting for the facade section of the fixed plate
Connect on the big face of runing rest, the facade section for grabbing line mechanism fixed plate is provided with the pin-and-hole passed through for alignment pin, the rotation
Turn the support big face relative with the facade section for grabbing line mechanism fixed plate and be provided with two cotter ways corresponding with the pin-and-hole, institute
Elastic pin positioning device for use is stated to be provided with alignment pin and alignment pin is pushed to the locating pin spring of pin-and-hole side.
7. buckle systems as claimed in claim 4, it is characterised in that the preceding jaw arrangement includes fore paw pedestal, the fore paw base
Seat is provided with the fore paw that can clamp payment to a porter plunger and the fore paw oil/gas cylinder for driving the fore paw progress holding action, institute
State fore paw and referred to by two fore paws to complement one another and formed, each fore paw, which refers to, to be separately mounted to respective fore paw and refer on sliding block, respectively
The fore paw, which refers to sliding block and is plugged on the fore paw of the fore paw pedestal, to be referred in chute and refers to slide with the fore paw and coordinate, institute
It is magnet sleeve to state magnetic force piece, and the magnet sleeve is cylindrical in shape, and its outer end closing or open, magnetic is provided with the magnet sleeve
Body, the magnet, which is provided with, can drive its magnetic force moved axially in sleeve to grab line oil/gas cylinder, and the magnetic force grabs line oil/gas
Cylinder is located at the axially inner side of the magnet sleeve, and the piston rod outer end that the magnet grabs line oil/gas cylinder with the magnetic force is connected, institute
The machine pawl of stating is grabbed line mechanism and grabbed installed in machine pawl on line bracket, and the machine pawl is grabbed line bracket and is fixedly mounted on the runing rest,
The machine pawl, which is grabbed line mechanism and is provided with, can drive the machine pawl to carry out to grab the machine pawl of line action to grab line drive device, the machine pawl by
Two machine pawl pawls to complement one another refer to composition, and the machine pawl pawl refers to be arranged on machine pawl pedestal using movable connection method, described
Machine pawl pawl refers to the movable connection method on machine pawl pedestal to allow the movable connection method of horizontally-parallel movement or allowing to rotate
Movable connection method, the machine pawl grabs line drive device and grabs line oil/gas cylinder using machine pawl, and the machine pawl is grabbed line oil/gas cylinder and led to
Cross corresponding transmission mechanism and refer to drive connection with each machine pawl pawl.
8. buckle systems as claimed in claim 7, it is characterised in that the magnetic force grabs the cylinder body of line oil/gas cylinder and the sleeve
Grabbed installed in magnetic force on line bracket, the magnetic force is grabbed line bracket and is fixedly mounted on the runing rest, and the magnetic force grabs line branch
Frame is fixedly mounted on the runing rest in a manner of big face is relative, and the outer end that the magnetic force grabs line bracket is provided with vertical folding
Curved, the outer end bending part that the magnet sleeve grabs line bracket with the magnet is fixedly connected.
9. the buckle systems as described in claim asks 4, it is characterised in that be additionally provided with guider, institute in front of the bayonet socket disk
State guider and be provided with the guide through hole alignd with longitudinal bayonet socket through hole, the guide through hole is pre-large post-small taper
Hole, the point diameter of the bellmouth are more than the diameter of longitudinal bayonet socket through hole, and rear end diameter is equal to longitudinal bayonet socket through hole
Diameter.
10. buckle systems as claimed in claim 4, it is characterised in that the machine pawl pawl, which refers to, is divided into base segment and pawl section two parts,
The base segment and pawl section that the machine pawl pawl refers to are connected with each other, and the base segment that the machine pawl pawl refers to is used for the peace on the machine pawl pedestal
Dress, pawl section are used to clamp payment to a porter, and the medial surface of pawl section is provided with tooth-shape structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710671534.0A CN107686438B (en) | 2017-08-08 | 2017-08-08 | Robot automatic buckling system suitable for detonator production |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710671534.0A CN107686438B (en) | 2017-08-08 | 2017-08-08 | Robot automatic buckling system suitable for detonator production |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107686438A true CN107686438A (en) | 2018-02-13 |
| CN107686438B CN107686438B (en) | 2020-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710671534.0A Expired - Fee Related CN107686438B (en) | 2017-08-08 | 2017-08-08 | Robot automatic buckling system suitable for detonator production |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107686438B (en) |
Cited By (2)
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| CN111995487A (en) * | 2020-09-07 | 2020-11-27 | 雅化集团绵阳实业有限公司 | Basic detonator tube loosening device and tube loosening and box packing integrated equipment formed by same |
| CN112393651A (en) * | 2020-11-27 | 2021-02-23 | 贵州盘江民爆有限公司 | Clamping device, rotary die device, leg wire production equipment and electronic detonator assembly system |
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| CN112393651A (en) * | 2020-11-27 | 2021-02-23 | 贵州盘江民爆有限公司 | Clamping device, rotary die device, leg wire production equipment and electronic detonator assembly system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107686438B (en) | 2020-06-16 |
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