Mechanical arm multi-axis cooperative emulsion explosive finished product stacking and loading device

Abstract

The application discloses a kind of mechanical arm multi-axis coordination's emulsion explosive finished product stacking and loading device, it is related to emulsion explosive finished product carrying technical field, including mechanical arm body, mechanical arm body is fixedly connected with adsorption carrier, dust adsorption mechanism is arranged on adsorption carrier, dust adsorption mechanism includes symmetrically arranged side plate, can remove dust attached to the adsorption hole of adsorption carrier after adsorption carrier adsorbs and carries emulsion explosive finished product box and stacks, so as to not only restore the smoothness of adsorption hole, and ensure that adsorption carrier can effectively adsorb and carry emulsion explosive finished product box in the carrying process, guarantee the security of emulsion explosive finished product box in the process of stacking, and avoid the situation that dust is accumulated in adsorption carrier inside occurs, so as to reduce the risk that adsorption carrier is influenced by dust and leads to internal mechanical failure and equipment damage, prolong the service life of adsorption carrier, reduce maintenance and replacement cost.

Description

Technical Field

[0001] This invention relates to the field of finished emulsion explosive handling technology, specifically to a multi-axis robotic arm-assisted stacking and loading device for finished emulsion explosives. Background Technology

[0002] Emulsion explosives have explosive properties and stability, and have a wide range of military and industrial applications. During the transportation of emulsion explosives, a multi-axis collaborative adsorption device with a robotic arm is required to stack the finished emulsion explosives and load them onto transport vehicles, thereby automating the stacking and loading operations, improving production efficiency, and reducing manpower requirements.

[0003] However, the production process of emulsion explosives generates dust and other pollutants, which adhere to the surface of the finished emulsion explosive boxes. Since the adsorption device transports the finished emulsion explosive boxes by adsorbing them onto the surface, these dust and other pollutants also enter the adsorption device when the robotic arm is stacking the finished emulsion explosive boxes. This not only weakens or disables the adsorption device, preventing it from effectively adsorbing the emulsion explosive boxes onto the surface, causing the adsorption device to fall off during transport, but also causes the dust and pollutants to accumulate inside the adsorption device over time, leading to damage and increasing maintenance and repair costs.

[0004] Therefore, we propose a multi-axis robotic arm collaborative emulsion explosive finished product palletizing and loading device to solve the above problems. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a multi-axis robotic arm-based emulsion explosive palletizing and loading device, which effectively solves the problem of dust and other pollutants adhering to the adsorption device in existing technologies.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention can be accomplished through the following technical solutions:

[0009] A multi-axis collaborative emulsion explosive palletizing and loading device includes a robotic arm body, an adsorption conveyor fixedly connected to the robotic arm body, a dust adsorption mechanism on the adsorption conveyor, and a dust adsorption mechanism including symmetrically arranged side plates, each side plate being fixedly connected to the side wall of the adsorption conveyor. Each side plate has a sliding groove. The dust adsorption mechanism is used to remove dust adhering to the adsorption holes on the lower end face of the adsorption conveyor. A dust removal mechanism is provided on the dust adsorption mechanism to remove the dust adsorbed on the dust adsorption mechanism.

[0010] As a further aspect of the present invention: each of the sliding grooves is slidably connected with a connecting block, each of the connecting blocks is slidably connected with a sliding column, and the lower ends of the sliding columns are fixedly connected with an electrostatic adsorption plate.

[0011] As a further aspect of the present invention: a disc is fixedly connected to the upper end of each sliding column, and a second spring is fixedly connected between the lower end face of the disc and the upper end face of the connecting block, and the second spring is sleeved on the sliding column.

[0012] As a further embodiment of the present invention: a cylinder is fixedly connected to the connecting block on the right side away from the side plate, a telescopic plate is provided on the outer surface of the cylinder, a drive shaft is provided at the end of the telescopic plate away from the cylinder, the drive shaft is rotatably connected to the side wall of the adsorption conveyor, and a drive source is fixedly connected to the drive shaft.

[0013] As a further embodiment of the present invention: the telescopic plate includes a fixed plate and a sliding plate, the sliding plate being slidably connected inside the fixed plate, the fixed plate being fixedly connected to a drive shaft at the end away from the sliding plate, and the sliding plate being rotatably connected to a cylinder at the end away from the fixed plate.

[0014] As a further embodiment of the present invention: the fixing plate has symmetrically opened locking holes at one end near the sliding plate, and the sliding plate has symmetrically opened grooves at one end near the fixing plate. Each groove is slidably connected with a locking post, and each locking post is engaged with the locking hole. A first spring is fixedly connected between each locking post and the groove.

[0015] As a further aspect of the present invention: the dust removal mechanism includes symmetrically arranged rotating shafts, with support blocks rotatably connected to both ends of the rotating shafts, the support blocks being fixedly connected to the side plates, and cams being symmetrically fixedly connected to the outer surface of the rotating shafts.

[0016] As a further aspect of the present invention: each of the rotating shafts is fixedly connected to a drive motor on its right end, each drive motor is fixedly connected to the side wall of the support block, each drive motor is electrically connected to a switch, and each switch is fixedly connected to the front and rear sides of one of the sliding grooves respectively.

[0017] (III) Beneficial Effects

[0018] Compared with the prior art, the present invention provides a multi-axis collaborative emulsion explosive palletizing and loading device with robotic arms, which has the following beneficial effects:

[0019] 1. The dust adsorption mechanism removes dust adhering to the adsorption holes of the adsorption conveyor after the finished emulsion explosive boxes have been adsorbed, transported, and stacked. This not only restores the unobstructed flow of the adsorption holes and ensures that the adsorption conveyor can effectively adsorb and transport the finished emulsion explosive boxes during the transport process, thus guaranteeing the safety of the finished emulsion explosive boxes during stacking, but also prevents dust from accumulating inside the adsorption conveyor. This reduces the risk of internal mechanical failure and equipment damage caused by dust, extends the service life of the adsorption conveyor, and reduces maintenance and replacement costs.

[0020] 2. By interlocking the locking posts and holes, a certain resistance is applied to the sliding plate when the drive connecting block moves the electrostatic adsorption plate to both sides of the adsorption conveyor. This prevents the drive shaft from becoming loose due to vibration or other factors, thus avoiding the situation where the telescopic plate moves automatically due to gravity. This reduces the risk of the emulsion explosive finished product box falling during the handling and stacking process, protects the safety of personnel and equipment, and ensures the integrity and stability of the emulsion explosive finished product.

[0021] 3. The dust removal mechanism automatically removes dust from the electrostatic adsorption plate after it adsorbs the dust attached to the adsorption holes of the adsorption conveyor. This prevents excessive dust accumulation on the electrostatic adsorption plate, which could reduce its adsorption efficiency. This ensures that the adsorption effect of the electrostatic adsorption plate is maximized, and that the dust attached to the adsorption holes of the adsorption conveyor is firmly adsorbed onto the plate. This, in turn, ensures the stability of the adsorption conveyor when handling and stacking finished emulsion explosive boxes. Attached Figure Description

[0022] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0023] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is an enlarged structural schematic diagram of the adsorption transporter of the present invention;

[0025] Figure 3 This is a schematic diagram of the connection structure of the dust adsorption mechanism of the present invention;

[0026] Figure 4 For the present invention Figure 3 Enlarged structural diagram of region A in the middle;

[0027] Figure 5 This is a schematic diagram of the exploded structure of the telescopic plate of the present invention;

[0028] Figure 6 This is a schematic diagram of the connection structure of the dust removal mechanism of the present invention;

[0029] Figure 7 For the present invention Figure 6 A magnified structural diagram of region B in the middle.

[0030] In the image: 1. Robotic arm body; 2. Adsorption conveying machine;

[0031] 3. Dust adsorption mechanism; 301. Drive shaft; 302. Telescopic plate; 3021. Fixing plate; 3022. Slide plate; 3023. Locking hole; 3024. Groove; 3025. Locking post; 3026. First spring; 303. Side plate; 304. Electrostatic adsorption plate; 305. Slide groove; 306. Connecting block; 307. Cylinder; 308. Slide post; 309. Disc; 310. Second spring;

[0032] 4. Dust removal mechanism; 401. Rotating shaft; 402. Cam; 403. Support block; 404. Drive motor; 405. Switch. Detailed Implementation

[0033] The technical solution of the present invention will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] This embodiment describes a multi-axis collaborative robotic arm device for palletizing and loading finished emulsion explosives, such as... Figure 1 - Figure 7 As shown, the device includes a robotic arm body 1, on which an adsorption conveyor 2 is fixedly connected. The adsorption conveyor 2 is equipped with a dust adsorption mechanism 3. The dust adsorption mechanism 3 includes symmetrically arranged side plates 303, which are all fixedly connected to the side wall of the adsorption conveyor 2. Each side plate 303 has a sliding groove 305. The dust adsorption mechanism 3 is used to remove dust adhering to the adsorption holes on the lower end face of the adsorption conveyor 2.

[0035] In this embodiment, as Figure 3 and Figure 4As shown, each of the slide grooves 305 is slidably connected to a connecting block 306, and each of the connecting blocks 306 is slidably connected to a sliding column 308. An electrostatic adsorption plate 304 is fixedly connected between the lower ends of the sliding columns 308. When the connecting block 306 slides in the slide groove 305, the sliding column 308 can drive the electrostatic adsorption plate 304 to move synchronously, so that the electrostatic adsorption plate 304 moves past the adsorption hole below the adsorption conveyor 2.

[0036] In this embodiment, as Figure 4 As shown, a disc 309 is fixedly connected to the upper end of each sliding column 308. A second spring 310 is fixedly connected between the lower end face of the disc 309 and the upper end face of the connecting block 306. The second spring 310 is sleeved on the sliding column 308. Through the second spring 310, when the electrostatic adsorption plate 304 is pushed, it can automatically pull the electrostatic adsorption plate 304 back to the initial position.

[0037] In this embodiment, as Figure 3 As shown, a cylinder 307 is fixedly connected to the right connecting block 306 on the side away from the side plate 303. A telescopic plate 302 is provided on the outer surface of the cylinder 307. A drive shaft 301 is provided at the end of the telescopic plate 302 away from the cylinder 307. The drive shaft 301 is rotatably connected to the side wall of the adsorption conveyor 2. A drive source is fixedly connected to the drive shaft 301. When the drive source is turned on and the drive shaft 301 is rotated, the connecting block 306 can be moved to slide synchronously in the slide groove 305 through the telescopic plate 302 and the cylinder 307.

[0038] In this embodiment, as Figure 3 , Figure 4 and Figure 5 As shown, the telescopic plate 302 includes a fixed plate 3021 and a sliding plate 3022. The sliding plate 3022 is slidably connected to the inside of the fixed plate 3021. The end of the fixed plate 3021 away from the sliding plate 3022 is fixedly connected to the drive shaft 301. The end of the sliding plate 3022 away from the fixed plate 3021 is rotatably connected to the cylinder 307. When the fixed plate 3021 moves the cylinder 307 through the sliding plate 3022, the sliding plate 3022 will slide inside the fixed plate 3021 simultaneously.

[0039] In this embodiment, as Figure 5As shown, the fixed plate 3021 has symmetrically arranged locking holes 3023 at one end near the sliding plate 3022, and the sliding plate 3022 has symmetrically arranged grooves 3024 at one end near the fixed plate 3021. Each groove 3024 has a locking post 3025 slidably connected to it, and each locking post 3025 is engaged with the locking hole 3023. A first spring 3026 is fixedly connected between the locking post 3025 and the groove 3024. By engaging with each other through the locking block and the locking hole 3023, a certain resistance can be applied to the sliding plate 3022 when it slides into the fixed plate 3021 to prevent the sliding plate 3022 from easily sliding into the fixed plate 3021.

[0040] The effects achieved here are as follows: In existing technologies, dust and other pollutants generated during the production of emulsion explosives enter the adsorption device along with the finished emulsion explosive boxes during the adsorption and stacking process. This not only weakens or disables the adsorption device, preventing it from effectively adsorbing the emulsion explosive boxes onto the surface, leading to the adsorption device falling during handling, but also causes dust and pollutants to accumulate inside the adsorption device over time, resulting in damage and increased maintenance and repair costs. Compared to existing technologies, [the following is a more detailed explanation of the advantages of this approach]. After the adsorption and handling machine 2 adsorbs, handles, and stacks the finished emulsion explosive boxes, it can remove the dust adhering to the adsorption holes of the adsorption and handling machine 2. This not only restores the unobstructed flow of the adsorption holes and ensures that the adsorption and handling machine 2 can effectively adsorb and handle the finished emulsion explosive boxes during the handling process, thus ensuring the safety of the finished emulsion explosive boxes during the stacking process, but also avoids the accumulation of dust inside the adsorption and handling machine 2. This reduces the risk of internal mechanical failure and equipment damage caused by dust, extends the service life of the adsorption and handling machine 2, and reduces maintenance and replacement costs.

[0041] Secondly, by interlocking the locking posts 3025 and locking holes 3023, a certain resistance is applied to the sliding plate 3022 when the drive connecting block 306 moves the electrostatic adsorption plate 304 to both sides of the adsorption conveyor 2. This prevents the drive shaft 301 from becoming loose due to vibration or other factors, thus avoiding the situation where the telescopic plate 302 moves automatically due to gravity. This reduces the risk of the emulsion explosive finished product box falling during the handling and stacking process, protects the safety of personnel and equipment, and ensures the integrity and stability of the emulsion explosive finished product.

[0042] In other aspects, this embodiment also provides a dust removal mechanism 4 for removing dust adsorbed on the dust adsorption mechanism 3, such as... Figure 2 , Figure 6 and Figure 7As shown, the dust removal mechanism 4 includes symmetrically arranged rotating shafts 401. Support blocks 403 are rotatably connected to both ends of the rotating shafts 401. The support blocks 403 are fixedly connected to the side plates 303. Cams 402 are symmetrically fixedly connected to the outer surface of the rotating shafts 401. Drive motors 404 are fixedly connected to the right end of the rotating shafts 401. Drive motors 404 are fixedly connected to the side walls of the support blocks 403. Each drive motor 404 is electrically connected to a switch 405. The switches 405 are fixedly connected to the front and rear sides of one of the slide grooves 305 respectively.

[0043] The effect achieved here is as follows: Compared with the prior art, after the dust attached to the adsorption hole of the adsorption transport machine 2 is adsorbed by the electrostatic adsorption plate 304, the dust on the electrostatic adsorption plate 304 can be automatically removed, avoiding the situation where too much dust accumulates on the electrostatic adsorption plate 304, which would reduce the adsorption efficiency of the electrostatic adsorption plate 304. This ensures that the adsorption effect of the electrostatic adsorption plate 304 can be maximized, so that the dust attached to the adsorption hole of the adsorption transport machine 2 can be firmly adsorbed on the plate, thereby ensuring the stability of the adsorption transport machine 2 when transporting and stacking finished emulsion explosive boxes.

[0044] The overall working process and principles involved in the above embodiments are as follows:

[0045] When workers need to move and stack the finished emulsion explosive boxes onto the vehicle body, the robotic arm body 1 first drives the adsorption transport machine 2 to move to the upper surface of the finished emulsion explosive box and put them together. Then, the adsorption transport machine 2 is driven to adsorb the finished emulsion explosive box. The robotic arm body 1 then drives the adsorption transport machine 2 to move and stack the adsorbed finished emulsion explosive boxes onto the vehicle body.

[0046] After the emulsion explosive finished product boxes are transported and stacked by the adsorption transporter 2, the drive source is controlled to drive the drive shaft 301 to rotate on the side wall of the adsorption transporter 2, causing the telescopic plate 302 to rotate synchronously around the drive shaft 301. At this time, the telescopic plate 302 will pull the connecting block 306 to slide in the groove 305 opened on the side plate 303 through the cylinder 307 slidably connected to the end away from the drive shaft 301. When the connecting block 306 slides in the groove 305, the cylinder 307 slidably connected through the connecting block 306 can drive the electrostatic adsorption plate 304 to move synchronously along the path of the groove 305 on the lower end face of the side plate 303. When the electrostatic adsorption plate 304 moves horizontally past the adsorption hole below the adsorption transporter 2, it adsorbs the dust attached to the adsorption hole below the adsorption transporter 2 onto the plate through electrostatic adsorption. This not only restores the unobstructed access of the adsorption hole and ensures that the adsorption transporter 2 can effectively adsorb and transport the finished emulsion explosive boxes during the transport process, ensuring the safety of the finished emulsion explosive boxes during the stacking process, but also avoids the accumulation of dust inside the adsorption transporter 2. This reduces the risk of internal mechanical failure and equipment damage caused by dust affecting the adsorption transporter 2, extends the service life of the adsorption transporter 2, and reduces maintenance and replacement costs.

[0047] When the connecting block 306 moves the electrostatic adsorption plate 304 from the front to the rear and cannot move further, the connecting block 306 will contact the switch 405 connected in the slide groove 305 and press the switch 405. At this time, the switch 405 will turn on the drive motor 404, causing the rotating shaft 401 to rotate between the support blocks 403. The cams 402 symmetrically connected to the outer surface of the rotating shaft 401 will rotate synchronously. As the cams 402 rotate, the protruding part of the cams 402 will contact the electrostatic adsorption plate 304, pushing the electrostatic adsorption plate 304 away from the connecting block 306. This causes the sliding column 308 connected to the electrostatic adsorption plate 304 to slide on the connecting block 306 and press the second spring 310 through the disc 309. After the protruding part of the cam 402 moves away from the electrostatic adsorption plate 304... The rebound force of the second spring 310 will push the disc 309 to drive the sliding column 308 to slide in the opposite direction on the connecting block 306 again, and drive the electrostatic adsorption plate 304 to approach the connecting block 306 again. This process is repeated. Through the cooperation of the cam 402 and the second spring 310, the electrostatic adsorption plate 304 can reciprocate to form a shaking motion, which automatically removes the dust on the electrostatic adsorption plate 304 and avoids excessive dust accumulation on the electrostatic adsorption plate 304, which would reduce the adsorption efficiency of the electrostatic adsorption plate 304. This ensures that the adsorption effect of the electrostatic adsorption plate 304 can be maximized, and the dust attached to the adsorption hole of the adsorption conveyor 2 can be firmly adsorbed on the electrostatic adsorption plate 304, thereby ensuring the stability of the adsorption conveyor 2 when transporting and stacking emulsion explosive finished boxes.

[0048] When the telescopic plate 302 causes the connecting block 306 to be unable to slide further within the slide groove 305, the sliding plate 3022 included within the telescopic plate 302 will simultaneously slide out of the fixed plate 3021 to its maximum distance. At this time, the rebound force of the first spring 3026 connected between the locking post 3025 and the groove 3024 pushes the locking post 3025 to slide out of the groove 3024 and engage with the locking hole 3023 on the fixed plate 3021. Through the interlocking of the locking post 3025 and the locking hole 3023, the electrostatic adsorption plate 304 can be moved to the adsorption position by driving the connecting block 306. When transporting the machine 2 to both sides, a certain resistance is applied to the sliding plate 3022 to prevent the drive shaft 301 from becoming loose due to vibration or other factors, which would cause the telescopic plate 302 to move automatically under the influence of gravity. This would cause the connecting block 306 to slide automatically in the slide groove 305, so that the electrostatic adsorption plate 304 connected between the connecting blocks 306 comes into contact with the emulsion explosive finished product box adsorbed below the adsorption transport machine 2. This reduces the risk of the emulsion explosive finished product box falling during the handling and stacking process, protects the safety of personnel and equipment, and ensures the integrity and stability of the emulsion explosive finished product.

[0049] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-axis collaborative emulsion explosive palletizing and loading device, comprising a robotic arm body (1), wherein an adsorption conveyor (2) is fixedly connected to the robotic arm body (1), characterized in that: The adsorption transporter (2) is provided with a dust adsorption mechanism (3). The dust adsorption mechanism (3) includes symmetrically arranged side plates (303). The side plates (303) are all fixedly connected to the side wall of the adsorption transporter (2). The side plates (303) are all provided with sliding grooves (305). The dust adsorption mechanism (3) is used to remove the dust attached to the adsorption holes on the lower end face of the adsorption transporter (2). The dust adsorption mechanism (3) is provided with a dust removal mechanism (4), which is used to remove the dust adsorbed on the dust adsorption mechanism (3). Each of the sliding grooves (305) is slidably connected with a connecting block (306), and each of the connecting blocks (306) is slidably connected with a sliding column (308). An electrostatic adsorption plate (304) is fixedly connected between the lower ends of the sliding columns (308). Each of the sliding columns (308) is fixedly connected to a disc (309) at its upper end. A second spring (310) is fixedly connected between the lower end face of the disc (309) and the upper end face of the connecting block (306). The second spring (310) is sleeved on the sliding column (308). A cylinder (307) is fixedly connected to the connecting block (306) on the right side away from the side plate (303). A telescopic plate (302) is provided on the outer surface of the cylinder (307). A drive shaft (301) is provided at the end of the telescopic plate (302) away from the cylinder (307). The drive shaft (301) is rotatably connected to the side wall of the adsorption conveyor (2). A drive source is fixedly connected to the drive shaft (301). The telescopic plate (302) includes a fixed plate (3021) and a sliding plate (3022). The sliding plate (3022) is slidably connected inside the fixed plate (3021). The end of the fixed plate (3021) away from the sliding plate (3022) is fixedly connected to the drive shaft (301). The end of the sliding plate (3022) away from the fixed plate (3021) is rotatably connected to the cylinder (307). The fixed plate (3021) has symmetrically arranged locking holes (3023) at one end near the sliding plate (3022), and the sliding plate (3022) has symmetrically arranged grooves (3024) at one end near the fixed plate (3021). Each groove (3024) is slidably connected with a locking post (3025), and each locking post (3025) is engaged with the locking hole (3023). A first spring (3026) is fixedly connected between each locking post (3025) and the groove (3024). The dust removal mechanism (4) includes symmetrically arranged rotating shafts (401), with support blocks (403) rotatably connected to both ends of the rotating shafts (401), and the support blocks (403) are fixedly connected to the side plates (303). Cams (402) are symmetrically fixedly connected to the outer surface of the rotating shafts (401). Each of the rotating shafts (401) is fixedly connected to a drive motor (404) on the right end. Each of the drive motors (404) is fixedly connected to the side wall of the support block (403). Each of the drive motors (404) is electrically connected to a switch (405). Each of the switches (405) is fixedly connected to the front and rear sides of one of the slide grooves (305).

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