Linear and rotary motion mechanisms, receiving mechanisms, and clamping mechanisms used in the F0 zone.

Abstract

This invention discloses a linear and rotary motion mechanism, a receiving mechanism, and a clamping mechanism for the F0 zone. The linear and rotary motion mechanism includes a protective housing, a main shaft, a power assembly, and a transmission assembly. The protective housing holds deionized water. The main shaft is housed within the protective housing, with one end of the main shaft sealingly extending outside the housing as the power output end of the linear and rotary motion mechanism. The power assembly is connected to the outside of the protective housing, with its power output end sealingly extending inside the housing. The transmission assembly comprises transmission component A and transmission component B, each connected between the power output end of the power assembly and the main shaft. Transmission component A drives the main shaft to rotate, and transmission component B drives the main shaft to reciprocate along its axial direction. This linear and rotary motion mechanism, along with the receiving and clamping mechanisms made from it, offers advantages such as good protective performance, high integration, and small size, making it well-suited for automated packaging and processing of energetic materials.

Description

Technical Field

[0001] This invention relates to the field of packaging equipment technology, and in particular to a linear and rotary motion mechanism, a receiving mechanism, and a clamping mechanism for the F0 zone. Background Technology

[0002] When packaging materials, if a high degree of airtightness is required, a packaging bag (such as a plastic bag) should be placed inside the packaging container (such as a material drum). After filling the packaging bag with the material, the bag opening should be lifted and the bag tied to seal the packaging.

[0003] In existing technologies, after materials are filled into packaging bags, the bag opening is usually lifted and sealed manually. However, manual methods are not only inefficient and inconsistent in quality, but also labor-intensive and costly. To overcome the shortcomings of manual operation, automated packaging equipment has been developed in the industry.

[0004] However, current automated packaging equipment in the industry has the following shortcomings in application: ① Current automated packaging equipment cannot process energetic materials. Because energetic materials are explosive and highly dangerous, their processing environment must be in an F0 or F1 zone (it is known that electrical hazard zones in pyrotechnic environments are divided into F0, F1, and F2 zones based on the work area; F0 zone is for work areas where explosives and their dust pose a high risk of explosion over a long period; F1 zone is for work areas where explosives and their dust may pose an explosion risk during normal operation; and F2 zone is for work areas where explosives, oxidizers, and their dust may pose a fire risk during normal operation, but have a lower explosion risk). Existing automated packaging equipment does not have explosion-proof structures or measures, thus failing to meet the processing environment requirements for energetic materials. ② During operation, automated packaging equipment requires linear and rotary movements in most processes to meet packaging requirements. Currently, most packaging equipment separates linear motion mechanisms and rotary motion mechanisms, resulting in a large overall space occupation, slow working cycle, and unfavorable conditions for the configuration of explosion-proof structures.

[0005] In view of this, the present invention is hereby proposed. Summary of the Invention

[0006] To overcome the above-mentioned defects, the present invention provides a linear and rotary motion mechanism, a receiving mechanism, and a clamping mechanism for the F0 zone. The linear and rotary motion mechanism and the receiving and clamping mechanisms made therefrom have the advantages of good protection performance, high integration, and small size, and can be well applied to the automated packaging and processing of energetic materials.

[0007] The technical solution adopted by this invention to solve its technical problem is as follows: a linear and rotary motion mechanism for the F0 zone, comprising a protective box, a main shaft, a power assembly, and a transmission assembly. The protective box is configured as a sealed box structure and is used to hold deionized water. The main shaft is built into the protective box, and one end of the main shaft extends sealed out of the protective box to serve as the power output end of the linear and rotary motion mechanism. The power assembly provides power and is connected to the outside of the protective box, while the power output end of the power assembly extends sealed out of the protective box. The transmission assembly has a transmission assembly A and a transmission assembly B. Transmission assembly A is connected between the power output end of the power assembly and the main shaft and can drive the main shaft to rotate. Transmission assembly B is also connected between the power output end of the power assembly and the main shaft and can drive the main shaft to reciprocate along its axial direction.

[0008] As a further improvement of the present invention, the transmission component A includes a rack and a gear. The rack is slidably built into the protective box and is simultaneously connected to the power output end of the power component. The gear meshes with the rack and is simultaneously sleeved on the outside of the main shaft. The main shaft is also circumferentially stopped and axially slidably connected to the gear.

[0009] As a further improvement of the present invention, the transmission assembly A further includes a bushing A; the main shaft passes through the bushing A and is circumferentially stopped and axially slidably connected with the bushing A; the gear is fixedly sleeved on the outside of the bushing A relative to the bushing A.

[0010] As a further improvement of the present invention, a mounting bracket is fixedly installed inside the protective box, and the mounting bracket is provided with mounting holes; the main shaft passes through the mounting holes, and a flat portion extending axially is provided on the side wall of the main shaft; the bushing A has a hollow sleeve-shaped bushing body, the inner hole cross-section of the bushing body is non-circular, and it slides and matches with the flat portion, so that the main shaft passes through the bushing body while being circumferentially stopped and axially slidingly connected with the bushing body; at the same time, the bushing body is also coaxially arranged with the main shaft, and the bushing body is also positioned and connected in the mounting holes;

[0011] In addition, a key is fixedly provided on the outer wall of the bushing body, and a groove A is recessed on the inner wall of the gear. When the gear is sleeved on the outer wall of the bushing body, the groove A is engaged with the key.

[0012] As a further improvement of the present invention, a stop ring is also fixedly provided on the outer wall of the bushing body; and the transmission component A further includes a stop washer, the stop washer being sleeved on the outer wall of the bushing body, and the stop washer and the stop ring respectively stop and limit the axial sides of the gear.

[0013] As a further improvement of the present invention, a slide rail is fixedly provided on the mounting bracket, the length extension direction of the slide rail is perpendicular to the axial direction of the main shaft, and the slide rail is slidably connected to the rack.

[0014] As a further improvement of the present invention, the transmission component B includes a floating joint and a connecting member, the connecting member being axially stopped and circumferentially movable to the main shaft, and the floating joint being connected between the power output end of the power component and the connecting member.

[0015] As a further improvement of the present invention, a groove B extending circumferentially is recessed on the other end of the main shaft, and at least two grooves B are configured and arranged symmetrically; the connector has a connecting part and a snap-fit ​​part, the connecting part is fixedly connected to the floating joint, and at least two snap-fit ​​parts are configured and integrally connected to the side of the connecting part facing away from the floating joint, and at least two snap-fit ​​parts are respectively capable of stopping along the axial direction of the main shaft and movably snapping into at least two grooves B along the circumferential direction of the main shaft.

[0016] As a further improvement of the present invention, the transmission component B includes a lifting plate and a rotary bearing. The lifting plate is built into the protective box and is capable of moving along the axial direction of the main shaft. The lifting plate is connected to the power output end of the power component. The main shaft is rotatably mounted on the lifting plate through the rotary bearing.

[0017] As a further improvement of the present invention, the mounting bracket is also fixedly provided with a plurality of guide rods extending axially along the main shaft, and the lifting plate is slidably connected to the plurality of guide rods through bushing B.

[0018] As a further improvement of the present invention, the power assembly includes two cylinders, which are independently and fixedly connected to the outside of the protective box, and the piston rod of one cylinder is connected to the rack, while the piston rod of the other cylinder is connected to the floating joint.

[0019] As a further improvement of the present invention, the power assembly includes two cylinders, which are independently and fixedly connected to the outside of the protective box, and the piston rod of one cylinder is connected to the rack, while the piston rod of the other cylinder is connected to the lifting plate.

[0020] The present invention also provides a receiving mechanism for the F0 zone, including a receiving hand and a linear and rotary motion mechanism as described in the present invention, wherein the receiving hand is fixedly connected to one end of the main shaft.

[0021] The present invention also provides a clamping mechanism for the F0 zone, comprising at least two independently arranged clamping units, each clamping unit comprising a material gripper and a linear and rotary motion mechanism as described in the present invention, wherein the material gripper is fixedly connected to one end of the main shaft; furthermore, the at least two material grippers can be driven by the at least two linear and rotary motion mechanisms to move closer together or separate from each other to clamp or release the material.

[0022] The beneficial effects of this invention are as follows: Compared with the prior art, ① the linear and rotary motion mechanism of this invention is equipped with a protective box, which can greatly reduce the sensitivity of energetic materials to the linear and rotary motion mechanism during operation (because energetic materials will become passivated when exposed to water / or in a certain humidity environment, reducing sensitivity), thereby effectively avoiding the risk of explosion of energetic materials, and playing a good role in isolating and protecting the linear and rotary motion mechanism, so that it can well meet the processing environment requirements of energetic materials, and is well applicable to the automated packaging processing of energetic materials. ② The linear and rotary motion mechanism of this invention integrates "linear motion" and "rotational motion" into one, which can greatly reduce the volume of the linear and rotary motion mechanism and reduce the space occupied, which is conducive to the configuration and installation of the protective box, as well as the configuration and installation of other mechanisms or devices (such as receiving mechanisms, clamping mechanisms) made using the linear and rotary motion mechanism; on the other hand, due to the high integration of the linear and rotary motion mechanism, it can greatly improve the working cycle and working efficiency, thereby well meeting the needs of automated production. ③ The linear and rotary motion mechanism of this invention has a simple and reasonable structure, low manufacturing cost, and is easy to implement in production. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the first embodiment of the linear and rotary motion mechanism for the F0 region according to the present invention.

[0024] Figure 2 for Figure 1 One of the partial structural schematic diagrams of the linear and rotary motion mechanism shown;

[0025] Figure 3 for Figure 1 The second partial structural schematic diagram of the linear and rotary motion mechanism shown;

[0026] Figure 4 for Figure 1A schematic diagram of the structure of the linear and rotary motion mechanism shown, in a first-view perspective, when the main shaft, the gear, and the bushing A are assembled together.

[0027] Figure 5 for Figure 1 The diagram shows the structure of the linear and rotary motion mechanism when the main shaft, the gear, and the bushing A are assembled together and viewed from a second perspective.

[0028] Figure 6 for Figure 5 A schematic diagram of the AA cross-sectional structure of the component shown;

[0029] Figure 7 for Figure 1 A schematic diagram of the main shaft in the linear and rotary motion mechanism shown;

[0030] Figure 8 for Figure 1 A schematic diagram of the structure of the bushing A in the linear and rotary motion mechanism shown;

[0031] Figure 9 for Figure 1 A schematic diagram of the gear structure in the linear and rotary motion mechanism shown;

[0032] Figure 10 for Figure 1 A schematic cross-sectional view of the gear and bushing A assembled together in the linear and rotary motion mechanism shown.

[0033] Figure 11 This is a three-dimensional structural diagram of the second embodiment of the linear and rotary motion mechanism for the F0 region described in this invention;

[0034] Figure 12 for Figure 11 One of the partial structural schematic diagrams of the linear and rotary motion mechanism shown;

[0035] Figure 13 for Figure 11 The second partial structural schematic diagram of the linear and rotary motion mechanism shown;

[0036] Figure 14 for Figure 11 The diagram shows the structure of the linear and rotary motion mechanism when the main shaft, the rotary bearing, the gear, and the bushing A are assembled together and viewed from a first perspective.

[0037] Figure 15 for Figure 11 The diagram shows the structure of the linear and rotary motion mechanism when the main shaft, the rotary bearing, the gear, and the bushing A are assembled together and viewed from a second perspective.

[0038] Figure 16 for Figure 15 A schematic diagram of the BB cross-sectional structure of the component shown;

[0039] Figure 17 for Figure 11 A schematic diagram of the main shaft in the linear and rotary motion mechanism shown;

[0040] Figure 18 for Figure 11 A schematic cross-sectional view showing the relative positional relationship between the rotary bearing, the gear, and the bushing A in the linear and rotary motion mechanism shown.

[0041] Figure 19 This is a three-dimensional structural diagram of the receiving mechanism for the F0 zone described in this invention;

[0042] Figure 20 for Figure 19 An enlarged structural schematic diagram of the receiving hand shown;

[0043] Figure 21 This is a three-dimensional structural diagram of the clamping unit in the clamping mechanism for the F0 zone described in this invention;

[0044] Figure 22 for Figure 21 The diagram shows an enlarged view of the material-holding arm and connecting arm A assembled together.

[0045] Referring to the accompanying drawings, the following explanations are provided:

[0046] 1. Protective box; 2. Spindle; 20. Flat part; 21. Slot B; 22. First spindle section; 23. Second spindle section; 30. Rack; 31. Gear; 310. Slot A; 32. Bushing A; 320. Bushing body; 321. Key; 322. Stop ring; 33. Stop washer; 34. Follower; 35. Floating joint; 36. Connecting part; 360. Connecting part; 361. Snap-fit ​​part; 37. Lifting plate; 38. Rotary bearing; 4. Cylinder; 5. Mounting bracket; 50. Support rod; 51. Support plate; 6. Limiting block; 7. Guide rod; 8. Receiving hand; 80. Connecting arm; 81. Receiving ring; 82. Limiting post; 9. Holding hand; 90. Base plate; 91. Finger; 10. Connecting arm A. Detailed Implementation

[0047] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0048] Example 1:

[0049] Please see the appendix Figure 1 To be continued Figure 10As shown, this embodiment 1 provides a linear and rotary motion mechanism for the F0 zone, which mainly includes a protective box 1, a main shaft 2, a power assembly, and a transmission assembly. The protective box 1 is configured as a sealed box structure and is used to hold deionized water. The main shaft 2 is built into the protective box 1, and one end of the main shaft 2 extends out of the protective box 1 in a sealed manner, serving as the power output end of the linear and rotary motion mechanism. The power assembly provides power and is connected to the outside of the protective box 1, while the power output end of the power assembly extends out of the protective box 1 in a sealed manner. The transmission assembly has a transmission component A and a transmission component B. The transmission component A is connected between the power output end of the power assembly and the main shaft 2, and can drive the main shaft 2 to rotate. The transmission component B is also connected between the power output end of the power assembly and the main shaft 2, and can drive the main shaft 2 to reciprocate along its axial direction.

[0050] Note: The movable and sealed connection between one end of the main shaft 2 and the protective box 1 can be achieved by configuring a bushing C (the bushing C is a conventional bushing structure used to realize the rotation and axial movement of the main shaft 2) and multiple sealing gaskets, etc. This is a common technical means in the field of automation, so it will not be described in detail here.

[0051] Compared to existing technologies, the linear and rotary motion mechanism of this invention is equipped with a protective box, which can greatly reduce the sensitivity of energetic materials to the linear and rotary motion mechanism during operation, thereby effectively avoiding the risk of explosion of energetic materials. This provides excellent isolation and protection for the linear and rotary motion mechanism, making it well-suited for the processing environment requirements of energetic materials, and thus highly applicable to automated packaging processing of energetic materials. Furthermore, the linear and rotary motion mechanism of this invention integrates "linear motion" and "rotational motion" into one unit. On the one hand, this significantly reduces the size and space occupied by the linear and rotary motion mechanism, facilitating the configuration and installation of the protective box, and also facilitating the configuration and installation of other mechanisms or devices (such as receiving mechanisms and clamping mechanisms) made using the linear and rotary motion mechanism. On the other hand, due to the high degree of integration of the linear and rotary motion mechanism, it can greatly improve the working cycle and efficiency, thereby well meeting the needs of automated production.

[0052] The following is a detailed description of the specific structure of the linear and rotary motion mechanism for the F0 region described in Embodiment 1.

[0053] First, regarding the transmission assembly and the main shaft structure;

[0054] Please continue to refer to the appendix. Figure 2 To be continued Figure 10As shown in this embodiment 1, the transmission component A includes a rack 30 and a gear 31. The rack 30 is slidably built into the protective box 1 and is simultaneously connected to the power output end of the power component. The gear 31 meshes with the rack 30 and is simultaneously sleeved on the outside of the main shaft 2. The main shaft 2 is also circumferentially stopped and axially slidably connected to the gear 31.

[0055] The transmission assembly B includes a floating joint 35 and a connecting member 36. The connecting member 36 is axially stopped and circumferentially movable to the main shaft 2. The floating joint 35 is connected between the power output end of the power assembly and the connecting member 36. Note: "circumferential" refers to the circumferential direction, and "axial" refers to the axial direction.

[0056] When the power component drives the rack 30 to slide, it can drive the gear 31 to rotate, and in turn drive the main shaft 2 to rotate. At this time, because the main shaft 2 and the connecting member 36 have a circumferential movable connection, the rotation of the main shaft 2 will not cause interference or damage to the transmission component B.

[0057] When the power component drives the connector 36 to extend or retract, it can drive the main shaft 2 to extend or retract along its axial direction. At this time, because there is an axial sliding connection between the main shaft 2 and the gear 31, the extension or retraction of the main shaft 2 will not cause interference or damage to the transmission component A.

[0058] In this embodiment 1, a further preferred structure for achieving circumferential stop and axial sliding connection between the main shaft 2 and the gear 31 is as follows: the transmission assembly A further includes a bushing A32; the main shaft 2 passes through the bushing A32 and is circumferentially stop and axially slidingly connected with the bushing A32; the gear 31 is fixedly sleeved on the outside of the bushing A32 relative to the bushing A32.

[0059] A further preferred embodiment of the structure in which the main shaft 2 passes through the bushing A32 and is circumferentially stopped and axially slidably connected to the bushing A32 is as follows: a mounting frame 5 is fixedly installed inside the protective box 1, and the mounting frame 5 is provided with mounting holes. Specifically, the mounting frame 5 includes multiple support rods 50 and a support plate 51 fixedly connected to one end of the multiple support rods 50. The other ends of the multiple support rods 50 are respectively fixedly connected to the inner wall of the protective box 1, and the mounting holes are opened on the support plate 51.

[0060] The main spindle 2 passes through the mounting hole, and the side wall of the main spindle 2 is provided with a flat portion 20 extending along its axial direction. Preferably, there are two flat portions 20, which are arranged symmetrically around the circumference. The bushing A32 has a hollow sleeve-shaped bushing body 320. The inner cross-section of the bushing body 320 is non-circular and slides to match the flat portion 20, so that the main spindle 2 passes through the bushing body 320 while being circumferentially stopped and axially slidingly connected to the bushing body 320 (preferably, the inner cross-section of the bushing body 320 is waist-shaped to fit the cross-sectional shape of the main spindle 2). At the same time, the bushing body 320 is also coaxially arranged with the main spindle 2, and the bushing body 320 is also positioned and connected in the mounting hole. Specifically, an auxiliary bushing can be tightly fitted to the outside of the bushing body 320, and then the auxiliary bushing can be used to lock the connection in the mounting hole.

[0061] The structure for fixing the gear 31 relative to the bushing A32 and placing it on the outside of the bushing A32 is as follows: a key 321 is fixedly provided on the outer wall of the bushing body 320. Preferably, the key 321 is a long strip-shaped structure extending along the axial direction of the bushing body 320. A groove A310 extending along its axial direction is recessed on the inner wall of the gear 31. When the gear 31 is placed on the outside of the bushing body 320, the groove A310 is engaged with the key 321.

[0062] Note: Depending on production requirements, the number of keys 321 and slots A310 can be configured to be one or more; and the tightness of the connection between keys 321 and slots A310 can be either a tight-fitting snap-fit ​​connection or a non-tight-fitting snap-fit ​​connection. Of course, when a non-tight-fitting snap-fit ​​connection is used, in order to ensure the normal operation of the mechanism, an additional limiting device needs to be configured for the gear 31, as follows: a stop ring 322 is also fixedly provided on the outer wall of the bushing body 320; and the transmission component A also includes a stop washer 33, which is sleeved on the outside of the bushing body 320 (specifically, the stop washer 33 is threaded or tightly fitted onto the bushing body 320), and the stop washer 33 and the stop ring 321 respectively stop and limit the gear 31 on both sides of the axial direction.

[0063] More preferably, a follower 34 is fixedly sleeved on the main shaft 2, and a limit block 6 is fixedly provided on the support plate 51 at a position next to the main shaft 2. The limit block 6 is used to stop and limit the follower 34, thereby limiting the rotation of the main shaft 2.

[0064] In addition, in this embodiment 1, the structure for the rack 30 to be slidably built into the protective box 1 is as follows: a slide rail is fixedly installed on the mounting bracket 5 (specifically, the slide rail is installed on the support plate 51), the length extension direction of the slide rail is perpendicular to the axial direction of the main shaft 2, and the slide rail is slidably connected to the rack 30.

[0065] In this embodiment 1, the structure that enables the connector 36 to be axially stopped and circumferentially movable to the main shaft 2 is as follows: a groove B21 extending circumferentially is recessed on the other end of the main shaft 2, and at least two grooves B21 are configured and arranged symmetrically; the connector 36 has a connecting part 360 and a snap-fit ​​part 361, the connecting part 360 is fixedly connected to the floating joint 35, and at least two snap-fit ​​parts 361 are configured and integrally connected to the side of the connecting part 360 facing away from the floating joint 35, and at least two snap-fit ​​parts 361 can respectively be axially stopped along the main shaft 2 and circumferentially snapped into at least two grooves B21.

[0066] Next, regarding the structure of the power assembly;

[0067] Please continue to refer to the appendix. Figure 1 To be continued Figure 10 As shown in this embodiment 1, the power assembly includes two cylinders 4, which are independently and fixedly connected to the outside of the protective box 1. The piston rod of one cylinder 4 is connected to the rack 30, and the piston rod of the other cylinder 4 is connected to the floating joint 35.

[0068] Example 2:

[0069] Please see the appendix Figure 11 To be continued Figure 18 As shown, this embodiment 2 also provides a linear and rotary motion mechanism for the F0 region. Compared with the linear and rotary motion mechanism provided in embodiment 1, the linear and rotary motion mechanism provided in this embodiment 2 has the following main differences: Difference ①: The structure of the transmission component B used in this embodiment 2 is different from that in embodiment 1; Difference ②: The main shaft structure used in this embodiment 2 is different from that in embodiment 1; Difference ③: Based on the above difference ①, the connection relationship between the power component and the transmission component B used in this embodiment 2 is different from that in embodiment 1.

[0070] First, regarding the aforementioned difference ①;

[0071] Please continue to refer to the appendix. Figure 12 To be continued Figure 18As shown in this embodiment 2, the transmission component B includes a lifting plate 37 and a slewing bearing 38 (or slewing support bearing). The lifting plate 37 is built into the protective box 1 and can move along the axial direction of the main shaft 2. The lifting plate 37 is connected to the power output end of the power component. The main shaft 2 is rotatably mounted on the lifting plate 37 through the slewing bearing 38.

[0072] When the power component drives the rack 30 to slide, it can drive the gear 31 to rotate, and in turn drive the main shaft 2 to rotate. At this time, because the main shaft 2 has a circumferential movable connection with the rotary bearing 38 and the lifting plate 37, the rotation of the main shaft 2 will not cause interference or damage to the transmission component B.

[0073] When the power assembly drives the lifting plate 37 to extend and retract, it can drive the main shaft 2 to extend and retract along its axial direction. At this time, because there is an axial sliding connection between the main shaft 2 and the gear 31, the extension and retraction of the main shaft 2 will not cause interference or damage to the transmission assembly A.

[0074] A further preferred embodiment of the structure built into the protective box 1 to enable the lifting plate 37 to move along the axial direction of the main shaft 2 is as follows: multiple guide rods 7 extending along the axial direction of the main shaft 2 are fixedly installed on the mounting frame 5, and the lifting plate 37 is slidably connected to the multiple guide rods 7 through bushing B (the bushing B is a conventional bushing structure).

[0075] More preferably, a follower 34 is fixedly sleeved on the main shaft 2, and a limit block 6 is fixedly provided on the lifting plate 37 at a position next to the main shaft 2. The limit block 6 is used to stop and limit the follower 34, thereby limiting the rotation of the main shaft 2.

[0076] Next, regarding the aforementioned difference point ②;

[0077] To accommodate the aforementioned transmission component B structure, and to improve the stability of the mechanism's operation while reducing its installation volume and weight, this embodiment 2 configures the main shaft 2 into two sections. For details, please refer to the appendix. Figure 14 To be continued Figure 17 As shown, the main shaft 2 includes a first main shaft section 22 and a second main shaft section 23. The first main shaft section 22 is a hollow structure, and the second main shaft section 23 is a solid structure. The first main shaft section 22 and the second main shaft section 23 are coaxial and fixedly connected, and the outer diameter of the first main shaft section 22 is larger than the diameter of the second main shaft section 23. The first main shaft section 22 is rotatably mounted on the lifting plate 37 through the rotary bearing 38. The second main shaft section 23 is provided with a flat part 20 and is mounted on the mounting frame 5 through the bushing A32.

[0078] Next, regarding the aforementioned point of difference ③;

[0079] In this embodiment 2, the power assembly includes two cylinders 4, which are independently and fixedly connected to the outside of the protective box 1. The piston rod of one cylinder 4 is connected to the rack 30, and the piston rod of the other cylinder 4 is connected to the lifting plate 37.

[0080] Note: Apart from the three differences mentioned above, the protective box 1 structure, the transmission component A structure, the connection relationship between the transmission component A and the main shaft 2, and the connection relationship between the main shaft 2 and the protective box 1 used in this embodiment 2 can all adopt the same implementation structure as in embodiment 1. Therefore, they will not be described in detail here.

[0081] Example 3:

[0082] Please see the appendix Figure 19 and attached Figure 20 As shown, this embodiment 3 provides a receiving mechanism for the F0 zone, which is used to receive and transfer materials. Specifically, the receiving mechanism mainly includes a receiving hand 8 and a linear and rotary motion mechanism. The linear and rotary motion mechanism adopts the linear and rotary motion mechanism structure provided in embodiment 1, and the receiving hand 8 is fixedly connected to one end of the main shaft 2.

[0083] Furthermore, the specific implementation structure of the receiving hand 8 can be designed in various forms according to production needs, such as:

[0084] Implementation Structure 1: The receiving hand 8 includes a long strip-shaped connecting arm 80 and a pneumatic gripper connected to one end of the connecting arm 80. The other end of the connecting arm 80 is fixedly connected to one end of the main shaft 2.

[0085] Implementation Structure 2: The receiving hand 8 includes a long strip-shaped connecting arm 80 and a suction cup assembly connected to one end of the connecting arm 80. The other end of the connecting arm 80 is fixedly connected to one end of the main shaft 2.

[0086] Implementation Structure 3: The receiving hand 8 includes a connecting arm 80 and a receiving ring 81. The connecting arm 80 is elongated, and the receiving ring 81 is a ring with a notch. One end of the connecting arm 80 is fixedly connected to one end of the main shaft 2, and the other end of the connecting arm 80 is fixedly connected to the receiving ring 81. The receiving ring 81 is also provided with a number of limiting posts 82 surrounding its inner wall and used to clamp and restrict material parts (such as cable ties).

[0087] Note: In this embodiment 3, the linear and rotary motion mechanism can also adopt the linear and rotary motion mechanism structure provided in embodiment 2, and can also achieve the same technical effect.

[0088] Example 4:

[0089] Please see the appendix Figure 21 and attached Figure 22 As shown, this embodiment 4 provides a clamping mechanism for the F0 zone, which is used to clamp (or tighten) material components. Specifically, the clamping mechanism includes at least two independently arranged clamping units. Each clamping unit includes a material-holding hand 9 and a linear and rotary motion mechanism. The linear and rotary motion mechanism adopts the linear and rotary motion mechanism structure provided in embodiment 2. The material-holding hand 9 is fixedly connected to one end of the main shaft 2. In addition, at least two material-holding hands 9 can move closer or separate from each other under the drive of at least two linear and rotary motion mechanisms to clamp or release the material components.

[0090] A further preferred embodiment of the material-holding hand 9 is as follows: the material-holding hand 9 includes a base plate 90 and a plurality of rod-shaped fingers 91. The base plate 90 is fixedly connected to one end of the main shaft 2 through a long strip-shaped connecting arm A10. The plurality of fingers 91 are divided into two rows and symmetrically connected to the base plate 90 (specifically, the two rows of fingers 91 are symmetrically distributed with respect to the vertical center line of the base plate 90), and the plurality of fingers 91 are also arranged at an angle with respect to the base plate 90.

[0091] Note: In this embodiment 4, the linear and rotary motion mechanism can also adopt the linear and rotary motion mechanism structure provided in embodiment 1, and can also achieve the same technical effect.

[0092] In summary, the linear and rotary motion mechanisms described in this invention, as well as the receiving and clamping mechanisms made therefrom, all have advantages such as good protective performance, high integration, and small size, and can be well applied to the automated packaging and processing of energetic materials.

[0093] Many specific details have been set forth in the foregoing description to provide a thorough understanding of the present invention. However, the above description is merely a preferred embodiment of the present invention, and the present invention can be implemented in many other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, using the methods and techniques disclosed above, without departing from the scope of the present invention. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the content of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A linear and rotary motion mechanism for F0 area, characterized in that: Including protective box (1), main shaft (2), power component and transmission component, The protective box (1) is configured as a sealed box structure and is used for containing deionized water; the main shaft (2) is arranged in the protective box (1), and one end of the main shaft (2) is sealed and extends out of the protective box (1) to be used as a power output end of the linear and rotary motion mechanism; the mounting frame (5) is fixedly arranged in the protective box (1); and the mounting hole is arranged on the mounting frame (5). The power component is used for providing power and is connected to the outside of the protective box (1), and the power output end of the power component is sealed and arranged in the protective box (1); the transmission component has transmission component A and transmission component B; the transmission component A is connected between the power output end of the power component and the main shaft (2) and can drive the main shaft (2) to rotate; and the transmission component B is also connected between the power output end of the power component and the main shaft (2) and can drive the main shaft (2) to reciprocate along the axial direction. The transmission component A comprises a rack (30), a gear (31) and a shaft sleeve A (32); the rack (30) is slidably arranged in the protective box (1) and is connected to the power output end of the power component; the gear (31) is in meshing connection with the rack (30) and is sleeved on the main shaft (2); the main shaft (2) penetrates through the mounting hole and is provided with a flat portion (20) extending along the axial direction on the side wall; the shaft sleeve A (32) has a hollow sleeve-shaped shaft sleeve body (320); the inner hole of the shaft sleeve body (320) is non-circular in cross section and is in sliding matching with the flat portion (20), so that the main shaft (2) penetrates through the shaft sleeve body (320) and is in circumferential stop and axial sliding connection with the shaft sleeve body (320); meanwhile, the shaft sleeve body (320) is coaxially arranged with the main shaft (2) and is positioned and connected in the mounting hole; in addition, the shaft sleeve body (320) is fixedly provided with a key (321) on the outer wall; the gear (31) is recessed with a clamping groove A (310) on the inner wall; the gear (31) is sleeved on the shaft sleeve body (320), the clamping groove A (310) is clamped and connected with the key (321), that is, the gear (31) is in circumferential stop and axial sliding connection with the main shaft (2).

2. The linear and rotary motion mechanism for F0 area according to claim 1, characterized in that: The shaft sleeve body (320) is further fixedly provided with a stop ring (322) on the outer wall; and the transmission component A further comprises a stop washer (33); the stop washer (33) is sleeved on the shaft sleeve body (320) and stops and positions the gear (31) on the axial two sides of the stop ring (321).

3. The linear and rotary motion mechanism for F0 area according to claim 1, characterized in that: The mounting frame (5) is fixedly provided with a sliding rail, the length extension direction of the sliding rail is perpendicular to the axial direction of the main shaft (2), and the sliding rail is in sliding connection with the rack (30).

4. The linear and rotary motion mechanism for F0 area according to claim 1, characterized in that: The transmission assembly B comprises a floating joint (35) and a connecting piece (36), the connecting piece (36) is axially fixed and circumferentially movable connected to the main shaft (2), the floating joint (35) is connected between the power output end of the power assembly and the connecting piece (36).

5. The linear and rotary motion mechanism for F0 area according to claim 4, characterized in that: A clamping groove B (21) extending along the circumference of the main shaft (2) is arranged on the other shaft end of the main shaft (2), the clamping groove B (21) is configured as at least two and arranged symmetrically; The connecting piece (36) has a connecting part (360) and a clamping part (361), the connecting part (360) is fixedly connected to the floating joint (35), the clamping part (361) is configured as at least two and integrally connected to the side of the connecting part (360) away from the floating joint (35), and at least two clamping parts (361) can be axially fixed along the main shaft (2) and clamped in at least two clamping grooves B (21) along the circumference of the main shaft (2).

6. The linear and rotary motion mechanism for F0 area according to claim 1, characterized in that: The transmission assembly B comprises a lifting plate (37) and a rotary bearing (38), the lifting plate (37) can move axially along the main shaft (2) and is built-in in the protective box (1), and the lifting plate (37) is connected to the power output end of the power assembly; the main shaft (2) is rotatably installed on the lifting plate (37) through the rotary bearing (38).

7. The linear and rotary motion mechanism for F0 area according to claim 6, characterized in that: A plurality of guide rods (7) extending axially along the main shaft (2) are fixedly arranged on the mounting frame (5), and the lifting plate (37) is slidably connected to the plurality of guide rods (7) through a shaft sleeve B.

8. The linear and rotary motion mechanism for F0 area according to claim 4, characterized in that: The power assembly comprises two cylinders (4), the two cylinders (4) are independently fixedly connected to the outside of the protective box (1), and the piston rod of one of the cylinders (4) is connected to the rack (30), and the piston rod of the other cylinder (4) is connected to the floating joint (35).

9. The linear and rotary motion mechanism for F0 area according to claim 6, characterized in that: The power assembly comprises two cylinders (4), the two cylinders (4) are independently fixedly connected to the outside of the protective box (1), and the piston rod of one of the cylinders (4) is connected to the rack (30), and the piston rod of the other cylinder (4) is connected to the lifting plate (37).

10. A material receiving mechanism for an F0 area, characterized by: It comprises a material receiving hand (8) and the linear and rotary motion mechanism as claimed in any one of claims 1 to 9, and the material receiving hand (8) is fixedly connected to one shaft end of the main shaft (2).

11. A gripping mechanism for an F0 zone, characterized by: It comprises at least two independently arranged holding units, each of which comprises a material holding hand (9) and the linear and rotary motion mechanism as claimed in any one of claims 1 to 9, and the material holding hand (9) is fixedly connected to one shaft end of the main shaft (2). In addition, at least two material holding hands (9) can approach or separate each other under the driving of at least two linear and rotary motion mechanisms, so as to hold or release the material pieces.

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