A detonator mold-turning manipulator

Abstract

The invention discloses a detonator mold reverse molding manipulator, which relates to the technical field of civil blasting equipment, including: a frame; a mechanical arm, the mechanical arm including: an X-axis assembly, the X-axis assembly including an X-axis drive assembly, the X-axis drive assembly is provided with an X-axis slider connecting plate; a Y-axis assembly, the Y-axis assembly is arranged on the frame, the Y-axis assembly includes a Y-axis drive assembly, the Y-axis drive assembly is provided with a Y-axis slider connecting plate, the Y-axis slider connecting plate is fixedly connected to the X-axis assembly; a Z-axis assembly, the Z-axis assembly includes a Z-axis drive assembly, the Z-axis drive assembly is provided with a Z-axis slider connecting plate, the X-axis slider connecting plate is fixedly connected to the Z-axis assembly; a claw assembly is arranged on the Z-axis assembly, and the claw assembly is fixedly connected to the Z-axis slider connecting plate. The manipulator of the invention not only realizes the automatic placement and removal of detonators, but also effectively avoids the great safety hazards caused by direct contact of operators, improves operational safety, and improves production efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of civil blasting equipment, and in particular to a detonator moulding manipulator. Background Art

[0002] With the rapid development of the civil explosives industry, the production process level of industrial detonators has also been greatly improved. However, there is currently no detonator molding device in the production of detonators. The detonator molding process in the production of industrial detonators needs to be completed manually. The manual molding method not only has low production efficiency and high labor intensity, but also because industrial detonators are pyrotechnic products, it is easy to have great safety hazards due to direct contact with operators. Summary of the invention

[0003] 1. Technical problem to be solved by the invention

[0004] Aiming at the technical problem that automatic molding cannot be realized in the molding process of detonators in industrial detonator production, the present invention provides a detonator molding robot, which can realize automatic molding of detonators and improve production efficiency.

[0005] 2. Technical solution

[0006] To solve the above problems, the technical solution provided by the present invention is:

[0007] A detonator molding robot comprises: a frame; a robot arm, the robot arm is arranged on the frame, the robot arm comprises: an X-axis assembly, the X-axis assembly comprises an X-axis drive assembly, and the X-axis drive assembly is provided with an X-axis slider connecting plate; a Y-axis assembly, the X-axis assembly is arranged on the Y-axis assembly, the Y-axis assembly is arranged on the frame, the Y-axis assembly comprises a Y-axis drive assembly, the Y-axis drive assembly is provided with a Y-axis slider connecting plate, and the Y-axis slider connecting plate is fixedly connected to the X-axis assembly; a Z-axis assembly, the Z-axis assembly is arranged on the X-axis assembly, the Z-axis assembly comprises a Z-axis drive assembly, the Z-axis drive assembly is provided with a Z-axis slider connecting plate, and the X-axis slider connecting plate is fixedly connected to the Z-axis assembly; a claw assembly, the claw assembly is arranged on the Z-axis assembly, and the claw assembly is fixedly connected to the Z-axis slider connecting plate.

[0008] In this embodiment, the X-axis slider connecting plate in the X-axis assembly reciprocates along the X-axis direction driven by the X-axis driving assembly; the Y-axis slider connecting plate in the Y-axis assembly reciprocates along the Y-axis direction driven by the Y-axis driving assembly; the Z-axis slider connecting plate in the Z-axis assembly reciprocates up and down along the Z-axis direction driven by the Z-axis driving assembly. Since the Y-axis slider connecting plate is fixedly connected to the X-axis assembly and the X-axis slider connecting plate is fixedly connected to the Z-axis assembly, the X-axis assembly reciprocates along the Y-axis direction with the movement of the Y-axis slider connecting plate, and the Z-axis assembly reciprocates horizontally along the X-axis with the movement of the X-axis slider connecting plate. Since the claw assembly is fixedly connected to the Z-axis slider connecting plate, the claw assembly moves up and down with the movement of the Z-axis slider connecting plate. When it is necessary to take the detonator stored in the turnover box, 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, and the Z-axis slider connecting plate in the Z-axis assembly move synchronously under the drive of their respective drive assemblies. While the Z-axis assembly moves in translation with the X-axis assembly, the Z-axis slider connecting plate drives the claw assembly to move upward under the drive of the Z-axis drive assembly. After moving to the top of the detonator to be taken, the Z-axis slider connecting plate drives the claw assembly to move downward under the drive of the Z-axis drive assembly, and descends to the position where the detonator is placed to perform the detonator clamping operation. This setting realizes the automatic placement of detonators and improves production efficiency. At the same time, since industrial detonators are pyrotechnic products, it is easy to have great safety hazards due to direct contact by operators. The setting of the detonator mold manipulator in this embodiment replaces the operation of the operator, effectively avoiding the great safety hazards due to direct contact by the operator, thereby improving the safety of operation.

[0009] Optionally, if the claw assembly is an R-axis rotating claw, the R-axis rotating claw is fixedly connected to the Z-axis slider connecting plate; if the claw assembly is a tube releasing claw, the tube releasing claw is fixedly connected to the Z-axis slider connecting plate.

[0010] Optionally, there are two robotic arms, which are arranged relatively on the frame, wherein the claw assembly of one of the robotic arms is an R-axis rotating claw, and the claw assembly of the other robotic arm is a tube placing claw.

[0011] Optionally, the R-axis rotating claw includes an aerial stepping motor, a first finger cylinder and a first claw structure, one end of the first finger cylinder is connected to the output shaft of the aerial stepping motor, and the other end of the first finger cylinder is connected to the first claw structure.

[0012] Optionally, the tube releasing claw includes 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 slider connecting plate, the three-rod cylinder is connected to the third finger cylinder, and the second claw structure is respectively connected to the second finger cylinder and the third finger cylinder.

[0013] Optionally, the second claw structure includes a C claw, a D claw, an E claw and an F claw, the C claw cooperates with the D claw, the C claw and the D claw are respectively connected to the third finger cylinder, the E claw and the F claw cooperate with each other, the E claw and the F claw are respectively connected to the second finger cylinder, and the E claw and the F claw are respectively fitted with the outer walls of the C claw and the D claw.

[0014] Optionally, the frame includes 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 frame has two first supporting legs, the two first supporting legs are arranged opposite to each other, and a first supporting plate is provided between the two first supporting legs; the frame has two second supporting legs, the two second supporting legs are arranged opposite to each other, and adjacent first supporting legs and second supporting legs are connected by a connecting rod, the position of the first supporting plate on the first supporting leg is higher than the position of the connecting rod on the first supporting leg, one end of the Y-axis assembly is arranged on the first supporting plate, and the other end of the Y-axis assembly is fixedly provided on the connecting rod.

[0015] Optionally, the Y-axis drive assembly includes a Y-axis servo motor, a ball screw, and a Y-axis base plate, the Y-axis base plate is arranged on the frame, the Y-axis servo motor is arranged at one end of the Y-axis base plate, the Y-axis servo motor and the ball screw are connected by a coupling, Y-axis linear slide rails are provided on both sides of the Y-axis base plate away from the Y-axis servo motor, the Y-axis slider connecting plate is connected to the ball screw, and Y-axis sliders are provided on both sides of the Y-axis slider connecting plate, and the Y-axis sliders are slidably matched with the Y-axis linear slide rails.

[0016] Optionally, the X-axis drive assembly includes 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 to the Y-axis slider connecting plate on the Y-axis drive 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 by an X-axis synchronous belt, the output shaft of the X-axis servo motor is matched with the first driving wheel, X-axis linear slides are provided on both sides of the X-axis base plate away from the X-axis servo motor, the X-axis slider connecting plate is connected to the X-axis synchronous belt, X-axis sliders are provided on both sides of the X-axis slider connecting plate, and the X-axis sliders are slidably matched with the X-axis linear slides.

[0017] Optionally, the Z-axis drive assembly includes 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 base plate is fixed on the side wall of the X-axis slider connecting plate on the X-axis drive assembly, the Z-axis servo motor is arranged on the Z-axis base plate, the 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 base plate, the second driving wheel and the second driven wheel are connected by a Z-axis synchronous belt, the Z-axis slider connecting plate is connected to the Z-axis synchronous belt, a Z-axis slider is provided on one side of the Z-axis slider connecting plate, a Z-axis linear slide is provided on one side of the Z-axis base plate, and the Z-axis slider is slidably matched with the Z-axis linear slide.

[0018] 3. Beneficial effects

[0019] Compared with the prior art, the technical solution provided by the present invention has the following beneficial effects:

[0020] (1) The detonator mold-turning robot proposed in the embodiment of the present application has a simple structure and can realize the automatic placement and removal of detonators, thereby improving production efficiency. At the same time, since industrial detonators are pyrotechnic products, they are very likely to pose great safety hazards due to direct contact by operators. The setting of the detonator mold-turning robot in the embodiment of the present application replaces the operation of the operator, effectively avoiding the great safety hazards caused by direct contact by the operator, thereby improving operational safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of a detonator molding robot proposed in an embodiment of the present invention.

[0022] Figure 2 This is a schematic structural diagram of the first robotic arm A in the detonator molding robot proposed in an embodiment of the present invention.

[0023] Figure 3This is a schematic diagram of the structure of the second robotic arm B in the detonator molding robot proposed in an embodiment of the present invention.

[0024] Figure 4 This is a schematic diagram of the structure of the X-axis drive assembly proposed in an embodiment of the present invention.

[0025] Figure 5 It is a schematic diagram of the structure of the Y-axis drive assembly proposed in an embodiment of the present invention.

[0026] Figure 6 This is a schematic diagram of the structure of the Z-axis drive assembly in the first robotic arm A proposed in an embodiment of the present invention.

[0027] Figure 7 This is a schematic diagram of the structure of the Z-axis drive assembly in the second robot arm B proposed in an embodiment of the present invention.

[0028] Figure 8 This is a schematic structural diagram of the R-axis rotating claw in the first robotic arm A proposed in an embodiment of the present invention.

[0029] Fig. 9 This is a schematic diagram of the structure of the tube placing claw in the second robotic arm B proposed in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to further understand the content of the present invention, the present invention is described in detail in conjunction with the accompanying drawings and embodiments.

[0031] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the relevant inventions, rather than to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the invention are shown in the accompanying drawings. The words "first", "second", etc. described in the present invention are set for the convenience of describing the technical solution of the present invention, and have no specific limiting effect. They are all general references and do not constitute a limiting effect on the technical solution of the present invention. It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. In the description of the present invention, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] Example 1

[0033] Combined with Figure 1-9 The present embodiment provides a detonator molding robot, comprising: a frame 1; a robot arm, the robot arm is arranged on the frame 1, and the robot arm comprises: an X-axis component 2, the X-axis component 2 comprises an X-axis driving component 3, and the X-axis driving component 3 is provided with an X-axis slider connecting plate 4; a Y-axis component 5, the X-axis component 2 is arranged on the Y-axis component 5, the Y-axis component 5 is arranged on the frame 1, the Y-axis component 5 comprises a Y-axis driving component 6, the Y-axis driving component 6 is provided with a Y-axis slider connecting plate 7, and the Y-axis slider connecting plate 7 is fixedly connected to the X-axis component 2; a Z-axis component 8, the Z-axis component 8 is arranged on the X-axis component 2, the Z-axis component 8 comprises a Z-axis driving component 9, the Z-axis driving component 9 is provided with a Z-axis slider connecting plate 51, and the X-axis slider connecting plate 4 is fixedly connected to the Z-axis component 8; a claw component, the claw component is arranged on the Z-axis component 8, and the claw component is fixedly connected to the Z-axis slider connecting plate 51.

[0034] In this embodiment, the X-axis slider connecting plate 4 in the X-axis assembly 2 reciprocates along the X-axis direction driven by the X-axis driving assembly 3; the Y-axis slider connecting plate 7 in the Y-axis assembly 5 reciprocates along the Y-axis direction driven by the Y-axis driving assembly 6; the Z-axis slider connecting plate 51 in the Z-axis assembly 8 reciprocates up and down along the Z-axis direction driven by the Z-axis driving assembly 9. Since the Y-axis slider connecting plate 7 is fixedly connected to the X-axis assembly 2, and the X-axis slider connecting plate 4 is fixedly connected to the Z-axis assembly 8, the X-axis assembly 2 reciprocates along the Y-axis direction with the movement of the Y-axis slider connecting plate 7, and the Z-axis assembly 8 reciprocates horizontally along the X-axis with the movement of the X-axis slider connecting plate 4. Since the claw assembly is fixedly connected to the Z-axis slider connecting plate 51, the claw assembly moves up and down with the movement of the Z-axis slider connecting plate 51. When it is necessary to take the detonator stored in the turnover box 54, according to the position of the detonator 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 move synchronously under the drive of their respective drive assemblies. While the Z-axis assembly 8 moves in translation with the X-axis assembly 2, the Z-axis slider connecting plate 51 drives the claw assembly to move upward under the drive of the Z-axis drive assembly 9, and moves to the top of the detonator to be taken. Then, the Z-axis slider connecting plate 51 drives the claw assembly to move downward under the drive of the Z-axis drive assembly 9, and descends to the position where the detonator is placed to perform the clamping operation of the detonator. This setting realizes the automatic placement of detonators and improves production efficiency. At the same time, since detonators are explosives, it is easy to have great safety hazards due to direct contact by operators. The setting of the detonator mold manipulator in this embodiment replaces the operation of the operator, effectively avoiding the great safety hazards due to direct contact by the operator, thereby improving the safety of operation.

[0035] Example 1

[0036] Combined with Figure 1-3 Compared with the technical solution of Example 1, the detonator mold-turning manipulator of this embodiment is that 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 tube-releasing claw 13, the tube-releasing claw 13 is fixedly connected to the Z-axis slider connecting plate 51. The R-axis rotating claw 12 is used to clamp the detonator from the turnover box 54, and the tube-releasing claw 13 is used to place the detonator at a specified position in the combined mold 55.

[0037] When it is necessary to take the detonator stored in the turnover box 54, according to the position of the detonator 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 in the robot arm move synchronously under the drive of their respective drive assemblies. While the Z-axis assembly 8 moves in translation with the X-axis assembly 2, the Z-axis slider connecting plate 51 drives the R-axis rotating claw 12 to move upward under the drive of the Z-axis driving assembly 9, and moves to the top of the detonator to be taken. Then, the Z-axis slider connecting plate 51 drives the R-axis rotating claw 12 to move downward under the drive of the Z-axis driving assembly 9, and descends to the position where the detonator is placed to perform the detonator clamping operation. After clamping the detonator, the R-axis rotating claw 12 moves upward under the drive of the Z-axis driving assembly 9, and rotates with the detonator to a predetermined angle, and reaches the designated position for the detonator aerial transfer, completing the removal of the detonator from the turnover box 54;

[0038] When it is necessary to place the detonator at the designated position in the combined mold 55, 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 move synchronously driven by their respective driving assemblies. While the Z-axis assembly 8 moves in translation with the X-axis assembly 2, the Z-axis slider connecting plate 51 drives the tube-releasing claw 13 to move upward under the drive of the Z-axis driving assembly 9, and moves to the designated position for the detonator to be transferred in the air, and uses the tube-releasing claw 13 to clamp the detonator at the designated position. Then, the tube-releasing claw 13 of the manipulator moves to the top of the detonator hole of the combined mold 55 under the cooperation and drive of the X-axis assembly 2 and the Y-axis assembly 5. At this time, the Z-group slider connecting plate descends driven by the Z-axis driving assembly 9, and the tube-releasing claw 13 descends to place the detonator in the combined mold 55; then the Z-axis driving assembly 9 drives the tube-releasing claw 13 to rise, and the detonator at the designated position is placed in the combined mold 55.

[0039] It can be seen that the manipulator in this embodiment can realize the automatic removal and placement of detonators, thereby improving production efficiency; at the same time, since industrial detonators are pyrotechnic products, it is easy for direct contact with operators to pose great safety hazards. The setting of the detonator mold-making manipulator in this embodiment replaces the operation of the operator, effectively avoiding the great safety hazards caused by direct contact with the operator, thereby improving operational safety.

[0040] Example 3

[0041] Combined with Figure 1-3 Compared with the technical solution of Example 1, the detonator molding robot of this embodiment has two robot arms, which are relatively arranged on the frame 1, and the claw assembly of one of the robot arms is the R-axis rotating claw 12, and the claw assembly of the other robot arm is the tube placing claw 13.

[0042] In this embodiment, two robotic arms are relatively arranged on the frame 1, and the claw assembly of one of the robotic arms is an R-axis rotating claw 12, and the robotic arm is called the first robotic arm A, and the first robotic arm A is used to clamp the detonator stored in the turnover box 54; the claw assembly of the other robotic arm is a tube placing claw 13, and the robotic arm is called the second robotic arm B, and the second robotic arm B is used to place the detonator in the combination mold 55; specifically, when it is necessary to take the detonator stored in the turnover box 54, according to the position of the detonator to be taken, the X-axis slider connecting plate 4 in the X-axis assembly 2 in the first robotic arm A, the Y-axis slider connecting plate 7 in the Y-axis assembly 5, and the Z-axis slider connecting plate 8 in the Z-axis assembly 8 are connected. The connecting plate 51 moves synchronously under the drive of the respective driving components. While the Z-axis component 8 moves in translation with the X-axis component 2, the Z-axis slider connecting plate 51 drives the R-axis rotating claw 12 to move upward under the drive of the Z-axis driving component 9. After moving to the top of the detonator to be taken, the Z-axis slider connecting plate 51 drives the R-axis rotating claw 12 to move downward under the drive of the Z-axis driving component 9, and descends to the position where the detonator is placed to perform the detonator clamping operation. After clamping the detonator, the R-axis rotating claw 12 moves upward under the drive of the Z-axis driving component 9, and rotates with the detonator to a predetermined angle, arrives at the designated position for the detonator aerial transfer, and waits for the tube placing claw 13 of the second mechanical arm B to take the detonator away;

[0043] 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 in the second robot arm B move synchronously driven by their respective driving assemblies. While the Z-axis assembly 8 moves in translation with the X-axis assembly 2, the Z-axis slider connecting plate 51 drives the tube-releasing claw 13 to move upward under the drive of the Z-axis driving assembly 9 to the designated position for the detonator air transfer, and uses the tube-releasing claw 13 to release the first robot arm A waiting at the designated position. The detonator in the R-axis rotating claw 12 is clamped and separated from the R-axis rotating claw 12 of the first robot arm A. Then, the tube-releasing claw 13 of the second robot arm moves to the top of the detonator hole of the combined mold 55 under the cooperation and drive of the X-axis assembly 2 and the Y-axis assembly 5. At this time, the Z-group slider connecting plate is driven to descend by the Z-axis driving assembly 9, and the tube-releasing claw 13 descends to put the detonator into the combined mold 55; then the Z-axis driving assembly 9 drives the tube-releasing claw 13 to rise, and repeats the above actions, thereby completing the entire detonator taking and placing action. The cooperation of the two robot arms can not only realize the automatic taking and placing of detonators, but also improve production efficiency; at the same time, since industrial detonators are pyrotechnic products, it is easy to have great safety hazards due to direct contact by operators. The setting of the detonator mold-turning robot in this embodiment replaces the operation of the operator, effectively avoiding the great safety hazards due to direct contact by the operator, thereby improving the safety of operation.

[0044] Example 4

[0045] Combined with Figure 8 , the detonator mold-turning manipulator of this embodiment, compared with the technical solutions of embodiment 2 or 3, the R-axis rotating 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 the 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 moves under the cooperation of the X-axis assembly 2, the Y-axis assembly 5, and the Z-axis assembly 8 in the first manipulator A, the R-axis rotating claw 12 moves to the top of the detonator to be taken, and the R-axis rotating claw 12 moves downward under the drive of the Z-axis assembly 8. Under the action of the stepping motor and the first finger cylinder 15, the first claw structure 16 clamps two detonators, and then rises with the rise of the Z-axis sliding assembly, so that the detonator leaves the detonator box, and then rotates the first claw structure 16 to a predetermined angle under the rotation of the aerial stepping motor 14.

[0046] 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 arranged at the lower end of the A claw 17. The first claw structure 16 can quickly and accurately clamp the detonator.

[0047] The outer ends of the A claw 17 and the B claw 18 are sleeved with a circle 19. The setting of the circle 19 increases the friction between the A claw 17, the B claw 18 and the detonator wall, prevents the detonator from slipping and falling off, and ensures the success rate of taking the detonator.

[0048] Example 5

[0049] Combined with Fig. 9 , the detonator mold manipulator of this embodiment, compared with the technical solutions of embodiment 2 or 3, the tube release claw 13 includes a three-rod cylinder 21, a second finger cylinder 22, a third finger cylinder 23 and a second claw structure 20, 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 release claw 13 extends outward or retracts relative to the Z-axis assembly 8 under the extension and contraction of the three-rod cylinder 21, and the second claw structure 20 realizes the clamping and releasing functions of the detonator when the second finger cylinder 22 and the third finger cylinder 23 are closed and opened.

[0050] Example 6

[0051] Combined with Fig. 9Compared with the technical solution of Example 5, the detonator mold manipulator of this embodiment comprises a C claw 24, a D claw 25, an E claw 26 and an F claw 27, the C claw 24 cooperates with the D claw 25, the C claw 24 and the D claw 25 are connected to the third finger cylinder 23, the E claw 26 and the F claw 27 cooperate, the E claw 26 and the F claw 27 are connected to the second finger cylinder 22, and the E claw 26 and the F claw 27 are respectively in contact with the outer side walls of the C claw 24 and the D claw 25.

[0052] According to the spacing between two adjacent detonators in the same row in the detonator box body and the spacing between the detonator holes of the combination mold 55, the C claw 24 and the D claw 25 realize the clamping and releasing functions of the detonator through the closing and opening of the third finger cylinder 23, and the E claw 26 and the F claw 27 realize the clamping and releasing functions of the detonator through the closing and opening of the second finger cylinder 22. This arrangement makes it possible to clamp and place two detonators at the same time; since the three-rod cylinder 21 is connected to the C claw 24 and the third finger cylinder 23, the C claw 24 and the D claw 25 extend outward or retract relative to the Z-axis assembly 8 under the action of the three-rod cylinder 21. At the same time, the extension and retraction of the three-rod cylinder 21 changes the front-to-back distance between the C claw 24, the D claw 25 and the corresponding E claw 26 and F claw 27, effectively solving the problem of the difference in hole spacing between the detonators in the detonator turnover box 54 and the combination mold 55.

[0053] In actual use, a controller is also included, and the controller is electrically connected to the X-axis drive assembly 3, the Y-axis drive assembly 6, and the Z-axis drive assembly 9. The controller is provided to control the synchronous movement of the X-axis drive assembly 3, the Y-axis drive assembly 6, and the Z-axis drive assembly 9.

[0054] Example 7

[0055] Combined with Figure 1 , the detonator molding manipulator of this embodiment, compared with the technical solution of embodiment 1, the frame 1 includes a first supporting leg 28 and a second supporting leg 29, the height of the first supporting leg 28 is higher than the height of the second supporting leg 29, the first supporting leg 28 has two, the two first supporting legs 28 are arranged opposite to each other, and a first supporting plate 30 is provided between the two first supporting legs 28; the second supporting leg 29 has two, the two second supporting legs 29 are arranged opposite to each other, and the adjacent first supporting legs 28 and the second supporting legs 29 are connected by a connecting rod 31, the position of the first supporting plate 30 on the first supporting leg 28 is higher than the position of the first connecting rod 31 on the first supporting leg 28, one end of the Y-axis assembly 5 is arranged on the first supporting plate 30, and the other end of the Y-axis assembly 5 is fixedly arranged on the first connecting rod 31.

[0056] One end of the Y-axis assembly 5 is arranged on the first supporting plate 30, and the other end of the Y-axis assembly 5 is fixedly arranged on the first connecting rod 31 through a connecting block 32. Since the height of the first supporting leg 28 is higher than the height of the second supporting leg 29, this arrangement enables the Y-axis assembly 5 to be arranged obliquely on the frame, so that the X-axis assembly 2 moves up and down under the drive of the Y-axis driving assembly 6, and the Z-axis assembly 8 moves horizontally on the X-axis assembly 2 under the drive of the X-axis driving assembly 3. Since the X-axis assembly 2 moves up and down under the drive of the Y-axis driving assembly 6, the Z-axis assembly 8 makes an up, down, left and right translational movement under the cooperation of the X-axis assembly 2 and the Y-axis assembly 5, which is convenient for accurately locating the position of the detonator to be taken.

[0057] Example 8

[0058] Combined with Figure 5 Compared with the technical solution of Example 1, the detonator mold manipulator of this embodiment comprises a Y-axis drive assembly 6 including a Y-axis servo motor 33, a ball screw 34, and a Y-axis base plate 35. The Y-axis base plate 35 is arranged on the frame 1, and the Y-axis servo motor 33 is arranged at one end of the Y-axis base plate 35. The Y-axis servo motor 33 is connected to the ball screw 34 through a coupling 36. Both sides of the Y-axis base plate 35 away from the Y-axis servo motor 33 are provided with Y-axis linear guide rails 37. The Y-axis slider connecting plate 7 is connected to the ball screw 34. Both sides of the Y-axis slider connecting plate 7 are provided with Y-axis sliders 45, and the Y-axis sliders 45 are slidably matched with the Y-axis linear guide rails 37.

[0059] Since the Y-axis servo motor 33 is connected to the ball screw 34 through the coupling 36, the rotational motion is converted into linear motion through the Y-axis servo motor 33 and the ball screw 34. Since the Y-axis slider connecting plate 7 is connected to the ball screw 34, and the Y-axis sliders 45 are fixedly connected to both sides of the Y-axis slider connecting plate 7, the linear motion converted by the rotation of the ball screw 34 causes the Y-axis slider connecting plate 7 to perform corresponding linear motion, thereby driving the Y-axis slider 45 connected to the Y-axis slider connecting plate 7 to slide on the Y-axis linear guide rail 37. At the same time, since the Y-axis slider connecting plate 7 is fixedly connected to the X-axis assembly 2, the linear motion converted by the rotation of the ball screw 34 causes the Y-axis slider connecting plate 7 to perform corresponding linear motion, thereby driving the X-axis assembly 2 to perform linear motion along the Y-axis direction. In addition, the use of the ball screw 34 not only has high efficiency, high precision, high rigidity and good stability, but also meets the performance requirements of the equipment.

[0060] Example 9

[0061] Combined with Figure 4, the detonator mold manipulator of this embodiment, compared with the technical solution of Example 1, the X-axis drive assembly 3 includes 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 the Y-axis slider connecting plate 7 on the Y-axis drive assembly 6, the X-axis servo motor 39 is arranged at one end of the X-axis base plate 38, the first driving wheel and the first driven wheel 42 are respectively arranged at both ends of the X-axis base plate 38, the first driving wheel and the first driven wheel 42 are connected by an X-axis synchronous belt 43, the output shaft of the X-axis servo motor 39 is connected with the first driving wheel, X-axis linear slide rails 40 are arranged on both sides of the X-axis base plate 38 away from the X-axis servo motor 39, the X-axis slider connecting plate 4 is connected with the X-axis synchronous belt 43, and X-axis sliders 44 are arranged on both sides of the X-axis slider connecting plate 4, and the X-axis slider 44 is slidably matched with the X-axis linear slide rails 40.

[0062] Since the output shaft of the X-axis servo motor 39 is connected with the first driving wheel, 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 with the first driven wheel 42 through the X-axis synchronous belt 43, the first driven wheel 42 rotates synchronously under the drive of the first driving wheel, and the X-axis synchronous belt 43 performs corresponding linear motion under the rotation of the first driving wheel and the first driven wheel 42. Since the X-axis slider connecting plate 4 is arranged on the X-axis synchronous belt 43, the two sides of the X-axis slider connecting plate 4 are provided with X-axis sliders 44, and the X-axis sliders 44 cooperate with the X-axis linear slide rail 40. Under the drive of the X-axis synchronous belt 43, the X-axis slider connecting plate 4 performs corresponding linear motion, thereby driving the X-axis slider 44 connected to the X-axis slider connecting plate 4 to slide on the X-axis linear slide rail 40. In this embodiment, the X-axis synchronous belt 43 is driven by meshing transmission, which has high transmission efficiency, high positioning accuracy, convenient installation and maintenance, is suitable for high-speed back and forth repeated motion, and meets the performance requirements of the equipment.

[0063] In actual use, the X-axis synchronous belt 43 is an annular belt, and the annular belt is wrapped around the first driving wheel and the first driven wheel 42.

[0064] Example 10

[0065] Combined with Figure 6-7, the detonator mold manipulator of this embodiment, compared with the technical solution of embodiment 1, the Z-axis drive 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 the side wall of the X-axis slider connecting plate 4 on the X-axis drive assembly 3, the Z-axis servo motor 46 is arranged on the Z-axis base plate 50, the output shaft of the Z-axis servo motor 46 is connected with the second driving wheel 47, the second driving wheel 47 and the second driven wheel 48 are respectively arranged at both ends of the Z-axis base plate 50, the second driving wheel 47 and the second driven wheel 48 are connected by a 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 provided on one side of the Z-axis slider connecting plate 51, a Z-axis linear slide 53 is provided on one side of the Z-axis base plate 50, and the Z-axis slider 52 is slidably matched with the Z-axis linear slide 53.

[0066] Since the output shaft of the Z-axis servo motor 46 is connected with the second driving wheel 47, 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 and the second driven wheel 48 are connected through the Z-axis synchronous belt 49, the second driven wheel 48 rotates synchronously under the drive of the second driving wheel 47. The Z-axis synchronous belt 49 makes corresponding linear motion under the rotation of the second driving wheel 47 and the second driven wheel 48. Since the Z-axis slider connecting plate 51 is arranged on the Z-axis synchronous belt 49, a Z-axis slider 52 is provided on one side of the Z-axis slider connecting plate 51. The Z-axis slider 52 cooperates with the Z-axis linear slide rail 53. Driven by the Z-axis synchronous belt 49, the Z-axis slider connecting plate 51 makes corresponding linear motion, thereby driving the Z-axis slider 52 connected to the Z-axis slider connecting plate 51 to slide on the Z-axis linear slide rail 53. In this embodiment, the X-axis synchronous belt 43 is driven by meshing transmission, which has high transmission efficiency, high positioning accuracy, convenient installation and maintenance, is suitable for high-speed back and forth movement, and meets the performance requirements of the equipment.

[0067] In actual use, a connecting plate is provided on the Z-axis slider connecting plate 51, and an R-axis rotating claw 12 is provided on the connecting plate. The connecting plate is fixed to the Z-axis slider connecting plate 51 by the cooperation of bolts and nuts, and the R-axis rotating claw 12 is fixed to the Z-axis slider connecting plate 51 through the connecting plate. The R-axis rotating claw 12 moves up and down accordingly as the Z-axis slider connecting plate 51 moves up and down driven by the Z-axis driving assembly 9.

[0068] The present invention and its embodiments are described schematically above, and the description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by it and designs a structural method and an embodiment similar to the technical solution without creativity without departing from the purpose of the invention, they shall all fall within the protection scope of the present invention.

Claims

1. A detonator mold manipulator, It is characterized in that include: frame; A mechanical arm, wherein the mechanical arm is arranged on the frame, and the mechanical arm comprises: An X-axis assembly, the X-axis assembly comprising an X-axis drive assembly, the X-axis drive assembly being provided with an X-axis slider connecting plate; A Y-axis assembly, the X-axis assembly is arranged on the Y-axis assembly, the Y-axis assembly is arranged on the frame, the Y-axis assembly includes a Y-axis drive assembly, the Y-axis drive assembly is provided with a Y-axis slider connecting plate, and the Y-axis slider connecting plate is fixedly connected to the X-axis assembly; A Z-axis assembly, wherein the Z-axis assembly is arranged on 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 to the Z-axis assembly; A claw assembly, wherein the claw assembly is arranged on the Z-axis assembly and is fixedly connected to the Z-axis slider connecting plate; If the claw assembly is an R-axis rotating claw, the R-axis rotating claw is fixedly connected to the Z-axis slider connecting plate; if the claw assembly is a tube-releasing claw, the tube-releasing claw is fixedly connected to the Z-axis slider connecting plate; The two robotic arms are arranged on the frame relatively to each other, the claw assembly of one of the robotic arms is an R-axis rotating claw, and the claw assembly of the other robotic arm is a tube placing claw; The tube release 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 slider connecting plate, the three-rod cylinder is connected to the third finger cylinder, and the second claw structure is respectively connected to the second finger cylinder and the third finger cylinder; The second claw structure includes a C claw, a D claw, an E claw and an F claw. The C claw cooperates with the D claw, and the C claw and the D claw are respectively connected to the third finger cylinder. The E claw cooperates with the F claw, and the E claw and the F claw are respectively connected to the second finger cylinder. The E claw and the F claw are respectively fitted with the outer walls of the C claw and the D claw.

2. The detonator mold-turning manipulator according to claim 1, It is characterized in that The R-axis rotating claw includes an aerial stepping motor, a first finger cylinder and a first claw structure, one end of the first finger cylinder is connected to the output shaft of the aerial stepping motor, and the other end of the first finger cylinder is connected to the first claw structure.

3. The detonator mold-turning manipulator according to claim 1, It is characterized in that The frame includes 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 frame has two first supporting legs, the two first supporting legs are arranged opposite to each other, and a first supporting plate is arranged between the two first supporting legs. The frame has two second supporting legs, the two second supporting legs are arranged opposite to each other, and the adjacent first supporting legs and the second supporting legs are connected by a connecting rod. The position of the first supporting plate on the first supporting leg is higher than the position of the connecting rod on the first supporting leg. One end of the Y-axis assembly is arranged on the first supporting plate, and the other end of the Y-axis assembly is fixedly arranged on the connecting rod.

4. The detonator mold-turning robot according to claim 1, It is characterized in that The Y-axis drive assembly includes a Y-axis servo motor, a ball screw, and a Y-axis base plate. The Y-axis base plate is arranged on the frame, the Y-axis servo motor is arranged at one end of the Y-axis base plate, the Y-axis servo motor is connected to the ball screw through a coupling, both sides of the Y-axis base plate away from the Y-axis servo motor are provided with Y-axis linear slides, the Y-axis slider connecting plate is connected to the ball screw, and Y-axis sliders are provided on both sides of the Y-axis slider connecting plate, and the Y-axis slider is slidably matched with the Y-axis linear slides.

5. The detonator mold-turning robot according to claim 1, It is characterized in that The X-axis driving assembly includes 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 to the 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 by an X-axis synchronous belt. The output shaft of the X-axis servo motor is matched with the first driving wheel. X-axis linear slides are arranged on both sides of the X-axis base plate away from the X-axis servo motor. The X-axis slider connecting plate is connected to the X-axis synchronous belt. X-axis sliders are arranged on both sides of the X-axis slider connecting plate. The X-axis sliders are matched with the X-axis linear slides.

6. The detonator mold-turning robot according to claim 1, It is characterized in that The Z-axis driving assembly includes 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 base plate is fixed to the side wall of the X-axis slider connecting plate on the X-axis driving assembly. The Z-axis servo motor is arranged on the Z-axis base plate. The output shaft of the Z-axis servo motor is 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 base plate. The second driving wheel and the second driven wheel are connected by a Z-axis synchronous belt. The Z-axis slider connecting plate is connected to the Z-axis synchronous belt. A Z-axis slider is provided on one side of the Z-axis slider connecting plate. A Z-axis linear slide is provided on one side of the Z-axis base plate. The Z-axis slider is slidably matched with the Z-axis linear slide.

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