Automatic cleaning and wiping mechanism for floating explosive on surface of detonator

Abstract

The invention discloses a detonator surface floating explosive automatic cleaning and wiping mechanism which comprises a machine table, and a feeding and discharging mechanism, a feeding and discharging mechanism, a wet wiping mechanism, a dry wiping mechanism, a transfer mechanism, a feeding table and a discharging table are arranged at the top of the machine table. Detonators in material cups are poured into the wet wiping mechanism through the feeding and pouring mechanism to be wet-wiped, then the wet-wiped detonators are conveyed into the dry wiping mechanism through the transferring mechanism to be dry-wiped, and after the empty material cups are placed on the feeding table through the vertical pouring mechanism, the empty material cups are transferred to the discharging table through the feeding and discharging mechanism. And finally, the dry wiping mechanism pours the detonator into a material cup above the discharging table after completing dry wiping. Manual participation is not needed, the danger problem existing in manual operation is avoided, and the beneficial effects of being good in cleaning and wiping effect and high in working efficiency are achieved.

Description

Technical Field

[0001] The invention relates to the field of detonator cleaning devices, in particular to an automatic cleaning mechanism for floating medicine on the surface of a detonator. Background Art

[0002] During the manufacturing process of detonators, since they are loaded with pressurized medicine many times, a lot of floating medicine will adhere to the outer surface, affecting the quality of the detonator products and the safety of subsequent inspections. Therefore, the floating medicine needs to be cleaned after assembly.

[0003] At present, the cleaning methods of the existing technology are all manual cleaning. Before cleaning, the personnel manually put a certain number of detonators with floating medicine on the outer surface into the cleaning tray, manually spray the auxiliary agent (alcohol), and use the manual rotating cleaning device to apply pressure to clean the outer surface of the detonator. In addition, the cleaning process requires manual observation of the cleaning effect. After the wiping is completed, the detonator is manually poured out, which has the following problems: 1. The cleaning process requires manual dumping of detonator products with floating medicine, which is very dangerous. During the operation, detonator explosion and injury accidents may occur due to impact, friction and static electricity.

[0004] 2. The cleaning process requires manual pressing of the rotating device, the pressure is uneven, the risk is high, and the cleaning effect is difficult to guarantee.

[0005] 3. Auxiliary agent (alcohol) needs to be sprayed manually, and the spraying quantity is not accurate.

[0006] 4. Each product needs to be rotated about 25 times. The large number of cleaning times will cause fatigue to the personnel and the cleaning effect cannot be reliably guaranteed. Summary of the invention

[0007] The invention provides an automatic cleaning mechanism for floating medicine on the surface of a detonator, so as to solve the problems in the prior art that floating medicine on the outer surface of a detonator needs to be cleaned manually, which leads to high danger and difficulty in ensuring the cleaning effect.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is: An automatic cleaning mechanism for floating medicine on the surface of a detonator comprises a machine platform, wherein the top of the machine platform is provided with a loading and unloading mechanism, a loading and unloading mechanism, a wet wiping mechanism, a dry wiping mechanism, a transfer mechanism, a loading platform and a unloading platform, wherein: The loading and unloading mechanism comprises a first manipulator capable of horizontal linear motion on the top of the machine platform and rotational motion around a vertical rotation axis; the first manipulator clamps a material cup containing an unwiped detonator and places it on the loading platform; The material loading and unloading mechanism includes a second manipulator that can move horizontally and linearly on the top of the machine platform and rotate around a horizontal rotation axis; the second manipulator clamps and transfers the material cup with unwiped detonators on the material loading platform to the wet wiping mechanism; The wet wiping mechanism comprises a wet wiping frame fixed on the top of the machine platform, a first tooling cup which can rotate around a horizontal rotation axis is installed in the wet wiping frame, a first wiping head which can be lifted in the vertical direction and rotate around a vertical rotation axis is installed above the first tooling cup in the wet wiping frame, and an alcohol sprayer which can move horizontally and linearly above the first tooling cup is also installed in the wet wiping frame; after the material cup containing the unwiped detonator is transferred to the top of the first tooling cup by the second manipulator in the feeding and unloading mechanism, the second manipulator The unwiped detonator in the material cup is poured into the first tooling cup by the rotation movement, and then the empty material cup is placed on the loading table by the second manipulator, and then the empty material cup on the loading table is clamped and transferred to the unloading table by the first manipulator in the loading and unloading mechanism; in the wet wiping mechanism, the alcohol sprayer moves to the top of the first tooling cup and sprays alcohol on the detonator in the first tooling cup, and the first wiping head descends to extend into the first tooling cup and then the first wiping head rotates to wipe the detonator, thereby completing the wet wiping of the detonator; The transfer mechanism comprises a receiving cup which can move linearly on the top of the machine and rotate around a horizontal rotating axis, the linear motion limit position of one end of the receiving cup is located on one side of the first tooling cup in the wet wiping mechanism, and the linear motion limit position of the other end of the receiving cup is located on one side of the dry wiping mechanism; the wet wiping mechanism rotates the first tooling cup to pour the wet-wiped detonator into the receiving cup, and then the wet-wiped detonator is transferred to the dry wiping mechanism through the receiving cup; The dry wiping mechanism includes a dry wiping frame fixed on the top of the machine, a second work cup that can rotate around a horizontal rotation axis is installed in the dry wiping frame, and a second wiping head that can be lifted and lowered in the vertical direction and rotated around a vertical rotation axis is installed above the second work cup in the dry wiping frame. The linear motion limit position of the other end of the receiving cup in the transfer mechanism is located on one side of the second work cup in the dry wiping mechanism, and the unloading platform is located on the other side of the second work cup; the detonator is poured into the second work cup by the rotation of the receiving cup in the transfer mechanism, and the second wiping head is descended to extend into the second work cup and then the second wiping head is rotated to wipe the detonator, thereby completing the dry wiping of the detonator, and then the second work cup is rotated to pour the dry-wiped detonator into the material cup above the unloading platform, and finally the first manipulator in the loading and unloading mechanism transports the material cup containing the wiped detonator from the unloading platform to the outside.

[0009] Furthermore, a cover shell is installed on the top of the machine, which covers the loading and unloading mechanisms, the loading and unloading mechanisms, the wet wiping mechanism, the dry wiping mechanism, the transfer mechanism, the loading platform, and the unloading platform on the top of the machine.

[0010] Furthermore, a shell wall on one side of the cover shell is provided with a loading door opening and a unloading door opening, and the first manipulator in the loading and unloading mechanism clamps the material cup containing unwiped detonators from the loading door opening, and the first manipulator in the loading and unloading mechanism sends the material cup containing wiped detonators into the unloading door opening.

[0011] Furthermore, the outer openings of the loading door opening and the unloading door opening are respectively provided with outer doors, and the inner openings of the loading door opening and the unloading door opening are respectively provided with inner doors, and axially vertical cylinders are respectively installed on the shell wall positions above the outer openings and inner openings of the loading door opening and the unloading door opening, wherein the cylinder piston rod above the outer opening is fixedly connected to the outer door, and the cylinder piston rod above the inner opening is fixedly connected to the inner door, and the outer doors, inner doors and cylinders of the loading door opening and the unloading door opening respectively form inner and outer double lifting door mechanisms.

[0012] Furthermore, the loading platform can be vertically raised and lowered on the top of the machine.

[0013] In the present invention, the material cup with unwiped detonators on the loading platform is sent to the loading and pouring mechanism by the loading and pouring mechanism, and the unwiped detonators in the material cup are poured into the wet wiping mechanism for wet wiping through the loading and pouring mechanism, and the empty material cup is put back into the loading platform by the upper and lower pouring mechanism, and then the wet-wiped detonators are sent to the dry wiping mechanism for dry wiping through the transfer mechanism, and the empty material cup is transferred from the loading platform to the unloading platform by the upper and lower material mechanism, and finally the detonators are poured into the empty material cup on the unloading platform after the dry wiping mechanism completes the dry wiping.

[0014] Compared with the prior art, the present invention has the following advantages: 1. The present invention can realize the automatic loading, unloading and dumping of floating charge detonators, eliminating the dangerous action of manual dumping.

[0015] 2. The present invention can realize automatic pressing during cleaning and the pressing force can be precisely controlled, thus solving the problem of uneven manual pressing force.

[0016] 3. The present invention can automatically spray the auxiliary agent (alcohol) when spraying, and can achieve accurate quantitative.

[0017] 4. The present invention can realize automatic cleaning and the cleaning frequency is adjustable, thus solving the problem of manpower fatigue.

[0018] In summary, the present invention can realize automatic cleaning of floating medicine on the surface of detonators, and the whole process does not require human intervention, thus avoiding the dangerous problems existing in manual operation, and has the advantages of good cleaning effect and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the structure of an embodiment of the present invention.

[0020] Figure 2 It is a plan layout diagram of each mechanism in the embodiment of the present invention.

[0021] Figure 3 It is a schematic diagram of the structure of the inner and outer lifting doors for loading and unloading materials in an embodiment of the present invention.

[0022] Figure 4 It is a schematic diagram of the structure of the loading and unloading mechanism in an embodiment of the present invention.

[0023] Figure 5 It is a schematic diagram of the structure of the cleaning mechanism according to an embodiment of the present invention.

[0024] Figure 6 It is a three-dimensional layout diagram of the loading, unloading, wet wiping, dry wiping and transfer mechanisms in an embodiment of the present invention.

[0025] Figure 7 It is a schematic diagram of the structure of the transfer mechanism in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0027] like Figure 1-Figure 7 As shown, this embodiment discloses an automatic cleaning mechanism for floating medicine on the surface of detonators, including a machine platform 1, on the top of which are provided a loading and unloading mechanism 2, a loading and unloading mechanism 3, a wet wiping mechanism 4, a dry wiping mechanism 5, a transfer mechanism 6, a loading platform 7, and an unloading platform 8.

[0028] A cover 9 is also installed on the top of the machine 1. The four side walls and the top wall of the cover are steel plates with a thickness of not less than 20 mm. The cover 9 covers the loading and unloading mechanism 2, the loading and unloading mechanism 3, the wet wiping mechanism 4, the dry wiping mechanism 5, the transfer mechanism 6, the loading platform 7, and the unloading platform 8 on the top of the machine 1. The steel plate of the rear wall of the cover 9 is provided with an explosion vent; the steel plates of the left and right sides of the cover 9 are provided with inspection doors for easy maintenance and repair of the equipment; the upper part of the steel plate of the front wall of the cover 9 is provided with an observation window for easy observation of the internal situation of the cover 9; the upper part of the steel plate of the front wall of the cover 9 is also provided with a flute-shaped pipe, which is connected to the internal cover area of ​​the cover 9, and the alcohol volatile gas in the internal cover area of ​​the cover 9 is discharged through the flute-shaped pipe.

[0029] The front wall of the cover shell 9 is provided with a loading door opening and a unloading door opening, and the loading door opening and the unloading door opening are distributed along the horizontal straight line of the X direction. When working, the operator first places the material cup 10 containing the unwiped detonator in the loading door opening (that is, placed at the bottom of the loading door opening). After wiping is completed, the material cup 10 containing the wiped detonator is placed in the unloading door opening (that is, placed at the bottom of the unloading door opening), and then the operator takes away the material cup containing the wiped detonator.

[0030] In this embodiment, the loading door opening is provided with a loading inner and outer double lifting door mechanism 11, and the unloading door opening is provided with an unloading inner and outer double lifting door mechanism 12. Specifically, the loading inner and outer double lifting door mechanism 11 includes an outer door 11.1 closely arranged at the outer opening of the loading door opening, an inner door 11.2 closely arranged at the inner opening of the loading door opening, and a loading outer door cylinder 11.3 fixed on the front wall of the cover shell 9 and located above the outer opening of the loading door opening, and a loading inner door cylinder 11.4 fixed on the front wall of the cover shell 9 and located above the inner opening of the loading door opening. The axial directions of the loading outer door cylinder 11.3 and the loading inner door cylinder 11.4 are both vertical, and the piston rod of the loading outer door cylinder 11.3 is vertically fixedly connected to the outer door 11.1 downwardly, and the piston rod of the loading inner door cylinder 11.4 is vertically fixedly connected to the inner door 11.2 downwardly, thereby forming the loading inner and outer double lifting door mechanism 11. In the feeding inner and outer double lifting door mechanism 11, the feeding outer door cylinder 11.3 drives the outer door 11.1 to lift and lower to open or close the outer opening of the feeding door hole, and the feeding inner door cylinder 11.4 drives the inner door 11.2 to lift and lower to open or close the inner opening of the feeding door hole.

[0031] Similarly, the structure of the unloading inner and outer double lifting door mechanism 12 is the same as that of the loading inner and outer double lifting door mechanism 11. The unloading inner and outer double lifting door mechanism 12 includes an outer door 12.1 closely arranged at the outer opening of the unloading door hole, an inner door closely arranged at the inner opening of the unloading door hole, and an unloading outer door cylinder fixed on the front wall of the cover shell 9 and located above the outer opening of the unloading door hole, and an unloading inner door cylinder fixed on the front wall of the cover shell 9 and located above the inner opening of the unloading door hole. The axial directions of the unloading outer door cylinder and the unloading inner door cylinder are both vertical, and the piston rod of the unloading outer door cylinder is vertically fixedly connected to the outer door downward, and the piston rod of the unloading inner door cylinder is vertically fixedly connected to the inner door downward, thereby forming an unloading inner and outer double lifting door mechanism. In the double lifting door mechanism 12 for unloading, the outer door 12.1 is driven by the unloading outer door cylinder to lift and lower the outer opening of the unloading door opening, and the inner door is driven by the unloading inner door cylinder to lift and lower the inner door to open or close the inner opening of the unloading door opening.

[0032] In this embodiment, in the loading inner and outer double lifting door mechanism 11 configured in the loading door opening and the unloading inner and outer double lifting door mechanism 12 configured in the unloading door opening, the inner and outer doors are interlocked and cannot be opened at the same time, thereby more effectively preventing explosions. When loading, the outer door 11.1 of the loading inner and outer double lifting door mechanism 11 is opened, and the staff places the material cup 10 containing the unwiped detonator into the loading door opening, and after placing, the outer door 11.1 of the loading inner and outer double lifting door mechanism 11 is closed, and then the inner door 11.2 of the loading inner and outer double lifting door mechanism 11 is opened, and then the various mechanisms inside the cover 9 operate to complete the cleaning of the detonator. When unloading, first open the inner door of the unloading inner and outer double lifting door mechanism 12, so that the corresponding mechanism inside the cover 9 puts the material cup 10 with the cleaned detonator into the unloading door hole, then close the inner door of the unloading inner and outer double lifting door mechanism 12, and then open the outer door 12.1 of the unloading inner and outer double lifting door mechanism 12, and the staff takes away the material cup 10 with the cleaned detonator. The loading door hole and the unloading door hole are respectively provided with a shooting explosion-proof photoelectric device to detect whether a material cup is put in.

[0033] In this embodiment, the loading and unloading mechanism 2 includes a first X-direction horizontal linear motion platform 2.1, a first Y-direction horizontal linear motion platform 2.2, a first rotary motion platform 2.3, and a first manipulator 2.4. The first X-direction horizontal linear motion platform 2.1 is a screw slider mechanism, which is located at the front side of the top of the machine 1 near the front shell wall of the cover 9, and the first X-direction horizontal linear motion platform 2.1 has a moving part that moves along the X-direction horizontal linear motion (i.e., the slider in the screw slider mechanism). The first Y-direction horizontal linear motion platform 2.2 is a slide that moves along the Y-direction horizontal linear motion driven by a rodless cylinder, and the first Y-direction horizontal linear motion platform 2.2 is installed on the moving part of the first X-direction horizontal linear motion platform 2.1, and the first Y-direction horizontal linear motion platform 2.2 has a moving part that moves along the Y-direction horizontal linear motion (i.e., the slide that is driven by a rodless cylinder). The first rotary motion platform 2.3 is a rotary platform driven by a motor and capable of rotating around a vertical rotation axis. The first rotary motion platform 2.3 is mounted on the moving part of the first Y-direction horizontal linear motion platform 2.2. The first rotary motion platform 2.3 has a moving part (i.e., a rotary platform driven by a motor) capable of rotating around a vertical rotation axis. The first manipulator 2.4 is a pneumatic gripper. The first manipulator 2.4 is mounted on the moving part of the first rotary motion platform 2.3. Thus, the first manipulator 2.4 and the first rotary motion platform 2.3 can be made to perform horizontal linear motion in the X and Y directions as a whole through the first X-direction horizontal linear motion platform 2.1 and the first Y-direction horizontal linear motion platform 2.2, and the first manipulator 2.4 can be made to perform rotational motion around a vertical rotation axis through the first rotary motion platform 2.3.

[0034] In this embodiment, the loading platform 7 is located at the right side of the rear of the loading and unloading mechanism 2 on the top of the machine 1, and the position of the loading platform 7 corresponds to the loading doorway; the unloading platform 8 is located at the left side of the rear of the loading and unloading mechanism 2 on the top of the machine 1, and the position of the unloading platform 8 corresponds to the unloading doorway. Among them, a lifting cylinder 7.1 is installed at the top of the machine 1 corresponding to the position of the loading platform 7, and the loading platform 7 is fixed on the piston rod of the lifting cylinder 7.1, and the vertical lifting movement of the loading platform 7 is realized by the lifting cylinder 7.1. A vertical support is fixed at the top of the machine 1 corresponding to the position of the unloading platform 8, and the unloading platform 8 is fixed on the top of the support column.

[0035] During operation, the first manipulator 2.4 in the loading and unloading mechanism 2 first moves along the X direction to the loading door opening position, then rotates to extend forward into the loading door opening, then clamps the material cup 10 with the unwiped detonator from the loading door opening, and then the first manipulator 2.4 rotates to extend backward to the loading and unloading mechanism 3 to place the material cup 10 with the unwiped detonator on the loading platform 7. If there is an empty material cup 10 on the loading platform 7, the first manipulator 2.4 clamps the empty material cup 10 from the loading platform 7, and then moves along the X direction to the front of the unloading platform 8, and then places the empty material cup 10 on the unloading platform 8.

[0036] In this embodiment, the wet wiping mechanism 4 is entirely located behind the loading platform 7 on the top of the machine 1 , and the loading and unloading mechanism 3 is entirely located to the right of the loading platform 7 on the top of the machine 1 .

[0037] The feeding and unloading mechanism 3 includes a support seat, a second Y-direction horizontal linear motion platform 3.1, a second rotary motion platform 3.2, and a second manipulator 3.3. The support seat is fixed on the top of the machine platform 1 and is located on the right side of the feeding platform 7. The second Y-direction horizontal linear motion platform 3.1 is a slide driven by a rodless cylinder and moves along the Y direction. The second Y-direction horizontal linear motion platform 3.1 is installed on the top of the support seat. The second Y-direction horizontal linear motion platform 3.1 has a moving part that can move horizontally and linearly in the Y direction (i.e., a slide driven by a rodless cylinder). The second rotary motion platform 3.2 is a rotating platform driven by a motor that can rotate around an X-direction rotation axis. The second rotary motion platform 3.2 is installed on the moving part of the second Y-direction horizontal linear motion platform 3.1. The second rotary motion platform 3.2 has a moving part that can rotate around an X-direction rotation axis (i.e., a rotating platform driven by a motor), and the moving part of the second rotary motion platform 3.2 extends to the left in the X direction. The second manipulator 3.3 is a pneumatic gripper, and is mounted on the moving part of the second rotary motion platform 3.2, so that the second manipulator 3.3 and the second rotary motion platform 3.2 can make a horizontal linear motion in the Y direction through the second Y-direction horizontal linear motion platform 3.1, and the second manipulator 3.3 can make a rotary motion around the X-direction rotation axis through the second rotary motion platform 3.2. The Y-direction front end limit motion position of the moving part of the second Y-direction horizontal linear motion platform 3.1 is located to the right of the loading platform 7, so that the second manipulator 3.3 can be extended above the loading platform 7.

[0038] The wet wiping mechanism 4 includes a wet wiping frame 4.1, which is fixed on the top of the machine 1 and located behind the loading platform 7. A third rotating motion platform 4.2 is installed in the wet wiping frame 4.1. The third rotating motion platform 4.2 is a rotating platform driven by a motor and can rotate around the Y-axis. The third rotating motion platform 4.2 has a moving part that can rotate around the Y-axis (i.e., a rotating platform driven by a motor). The moving part of the third rotating motion platform 4.2 is fixedly connected to the first tooling cup 4.3, and the first tooling cup 4.3 is in a forward extension state relative to the front side of the wet wiping frame 4.1. The first tooling cup 4.3 is driven by the third rotating motion platform 4.2 to rotate around the Y-axis. Among them, the Y-direction rear end extreme movement position of the moving part of the second Y-direction horizontal linear motion platform 3.1 in the loading and unloading mechanism 3 is located at the upper right side of the first tooling cup 4.3, so that the second manipulator 3.3 in the loading and unloading mechanism 3 can make Y-direction linear motion between the loading table 7 and the top of the first tooling cup 4.3 under the drive of the second Y-direction horizontal linear motion platform 3.1.

[0039] A first wiping head 4.4 is arranged in front of the wet wiping frame 4.1 and just above the first tooling cup 4.3. A first Z-direction linear motion platform 4.5 is fixed on the top suspension beam of the wet wiping frame 4.1. The first Z-direction linear motion platform 4.5 is a slide for Z-direction motion driven by a rodless cylinder. The first Z-direction linear motion platform 4.5 has a moving part for Z-direction motion (i.e., a slide driven by a rodless cylinder). The moving part of the first Z-direction linear motion platform 4.5 is connected to a forward extending connecting platform, in which an axially vertical rotating shaft is rotatably installed. The rotating shaft passes vertically downward through a hole at a corresponding position of the top suspension beam of the wet wiping frame 4.1 and is fixedly connected to the first wiping head 4.4. The first wiping head 4.4 is driven to move up and down by the first Z-direction linear motion platform 4.5, and the first wiping head 4.4 can be lowered to extend into the first tooling cup 4.3. The rotating shaft connected to the first wiping head 4.4 is a spline shaft. An axially vertical gear is rotatably installed in the hole through which the rotating shaft passes in the top suspension beam of the wet wiping frame 4.1. The center hole of the gear is mounted on the rotating shaft through a spline. The spline fit allows the rotating shaft to slide vertically relative to the gear and the gear can drive the rotating shaft to rotate. A motor is installed at the rear of the wet wiping frame 4.1. The motor drives the gear to rotate through a synchronous belt, thereby driving the rotating shaft and the first wiping head 4.4 to rotate around the vertical rotating shaft.

[0040] An alcohol sprayer 4.6 is also provided in front of the wet wiping rack 4.1 and located above the first tooling cup 4.3. An alcohol sprayer motion driving cylinder 4.7 is fixed on the left side of the wet wiping rack 4.1. The piston rod of the alcohol sprayer motion driving cylinder 4.7 extends forward in a Y direction, and a connecting rod is connected to the front end of the piston rod of the alcohol sprayer motion driving cylinder 4.7. The connecting rod extends in a horizontal straight line in the X direction in front of the wet wiping rack 4.1. The alcohol sprayer 4.6 is fixed on the connecting rod. The alcohol sprayer 4.6 is composed of an alcohol bottle, an alcohol spray head and a spray valve installed on the connecting rod. The nozzle of the alcohol spray head is downward, and the inlet of the alcohol spray head is connected to the alcohol bottle through the spray valve. The alcohol sprayer motion driving cylinder 4.7 can drive the alcohol sprayer 4.6 to extend forward along the Y direction to the top of the first tooling cup 4.3.

[0041] During operation, when the second manipulator 3.3 in the loading and unloading mechanism 3 moves to the loading platform 7, it clamps and grabs the material cup 10 containing the unwiped detonator from the loading platform 7, and then the second manipulator 3.3 moves backward along the Y direction to the right side of the first tooling cup 4.3, and the second manipulator 3.3 is rotated by the second rotating motion platform 3.2 to pour the unwiped detonator in the material cup 10 into the first tooling cup 4.3, and then the second manipulator 3.3 returns to its position and places the empty material cup 10 back on the loading platform 7. At this time, the first manipulator 2.4 in the loading and unloading mechanism 2 clamps the empty material cup 10 from the loading platform 7, and then moves along the X direction to the front of the unloading platform 8, and places the empty material cup 10 on the unloading platform 8.

[0042] When there are unwiped detonators in the first tooling cup 4.3 of the wet wiping mechanism 4, the alcohol sprayer 4.6 extends forward along the Y direction to the top of the first tooling cup 4.3 and sprays alcohol on the unwiped detonators in the first tooling cup 4.3. Then, the alcohol sprayer 4.6 returns to its original position, the first wiping head 4.4 moves vertically downward to press on the unwiped detonators in the first tooling cup 4.3, and the first wiping head 4.4 rotates and cooperates with the rotation of the first tooling cup 4.3 to complete the wet wiping of the outer surface of the detonator. After the wet wiping is completed, the first wiping head 4.4 returns to its original position.

[0043] In this embodiment, the transfer mechanism 6 includes an oblique linear motion platform 6.1, a fourth rotary motion platform 6.2, and a material receiving cup 6.3. The oblique linear motion platform 6.1 is a slide driven by a rodless cylinder that moves along an oblique linear motion. The oblique linear motion platform 6.1 has a moving part that moves along an oblique linear motion (i.e., a slide driven by a rodless cylinder), and the lowest point limit position of the moving part of the oblique linear motion platform 6.1 corresponds to the left rear position of the first tooling cup 4.3 in the wet wiping mechanism 4, and the highest point limit position of the moving part of the oblique linear motion platform 6.1 corresponds to the dry wiping mechanism 5. The fourth rotary motion platform 6.2 is a rotating platform driven by a motor that can rotate around the Y-axis. The fourth rotary motion platform 6.2 has a moving part that can rotate around the Y-axis (i.e., a rotating platform driven by a motor). The material receiving cup 6.3 is fixed to the moving part of the fourth rotary motion platform 6.2, and the material receiving cup 6.3 is in a forward extending state relative to the moving part of the fourth rotary motion platform 6.2. Thus, the receiving cup 6.3 can be moved to the left side of the first tooling cup 4.3 through the oblique linear motion platform 6. When the wet wiping mechanism 4 completes the wet wiping, the first tooling cup 4.3 rotates around the Y-axis to pour the wet-wiped material cup 10 into the receiving cup 6.3, and then the receiving cup 6.3 is transferred to the dry wiping mechanism 5 through the oblique linear motion platform 6.1.

[0044] In this embodiment, the dry wiping mechanism 5 is similar in structure to the wet wiping mechanism, except that the dry wiping mechanism does not have an alcohol sprayer and an alcohol sprayer motion driving cylinder. The dry wiping mechanism 5 includes a dry wiping frame 5.1, which is fixed on the top of the machine table 1 and located behind the unloading table 8. A fifth rotary motion platform 5.2 is installed in the wet-dry wiping frame 5.1. The fifth rotary motion platform 5.2 is a rotating platform driven by a motor that can rotate around the X-axis. The fifth rotary motion platform 5.2 has a moving part that can rotate around the X-axis (i.e., a rotating platform driven by a motor). The moving part of the fifth rotary motion platform 5.2 is fixedly connected to the second tooling cup 5.3, and the second tooling cup 5.3 is in a right-extended state relative to the right side of the wet wiping frame 4.1. The second tooling cup 5.3 is driven by the fifth rotary motion platform 5.2 to rotate around the X-axis. Among them, the highest point limit position of the movement of the moving part of the oblique linear motion platform 6.1 in the transfer mechanism 6 corresponds to the rear and upper position of the second tooling cup 5.3. When the moving part of the oblique linear motion platform 6.1 moves to the rear position of the second tooling cup 5.3, the receiving cup 6.3 carrying the wet-wiped detonator extends forward to the top of the second tooling cup 5.3, and the receiving cup 6.3 is driven to rotate by the fourth rotating motion platform 6.2, so that the wet-wiped detonator in the receiving cup 6.3 is poured into the second tooling cup 5.3.

[0045] A second wiping head 5.4 is arranged on the right side of the dry wiping frame 5.1, just above the second tooling cup 5.3. A second Z-direction linear motion platform 5.5 is fixed on the top suspension beam of the dry wiping frame 5.1. The second Z-direction linear motion platform 5.5 is a slide for Z-direction motion driven by a rodless cylinder. The second Z-direction linear motion platform 5.5 has a moving part for Z-direction motion (i.e., a slide driven by a rodless cylinder). The moving part of the second Z-direction linear motion platform 5.5 is connected to a right-extending connecting platform, in which an axially vertical rotating shaft is rotatably installed. The rotating shaft passes vertically downward through the hole at the corresponding position of the top suspension beam of the dry wiping frame 5.1 and is fixedly connected to the second wiping head 5.4. The second wiping head 5.4 is driven to move up and down by the second Z-direction linear motion platform 5.5, and the second wiping head 5.4 can be lowered to extend into the second tooling cup 5.3. The rotating shaft connected to the second wiping head 5.4 is a spline shaft. An axially vertical gear is rotatably installed in the hole through which the rotating shaft passes on the top suspension beam of the dry wiping frame 5.1. The center hole of the gear is mounted on the rotating shaft through a spline. The spline fit allows the rotating shaft to slide vertically relative to the gear and the gear can drive the rotating shaft to rotate. A motor is installed on the left side of the dry wiping frame 5.1. The motor drives the gear to rotate through a synchronous belt, thereby driving the rotating shaft and the second wiping head 5.4 to rotate around the vertical rotating shaft.

[0046] After the wet-wiped detonator is poured into the second tooling cup 5.3, the second wiping head 5.4 moves downward into the second tooling cup 5.3 and presses on the detonator. Then the second wiping head 5.4 rotates and cooperates with the rotation of the second tooling cup 5.3 to complete the dry wiping of the outer surface of the detonator. After the dry wiping is completed, the second wiping head 5.4 returns to its original position.

[0047] In this embodiment, the unloading platform 8 is located in the front and lower position of the second tooling cup 5.3 in the dry wiping frame 5.1. After the dry wiping is completed, the second tooling cup 5.3 rotates to pour the dry-wiped detonator into the empty material cup 10 on the unloading platform 8. Finally, the first manipulator 2.4 in the loading and unloading mechanism 2 transfers the material cup 10 containing the wiped detonator from the unloading platform 8 to the unloading doorway, and the staff takes away the detonator and the material cup 10 from the unloading doorway.

[0048] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. The embodiments described in the present invention are merely descriptions of the preferred embodiments of the present invention, and do not limit the concept and scope of the present invention. The various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction, and such combinations should also be regarded as the contents disclosed in the present disclosure as long as they do not violate the concept of the present invention. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0049] The present invention is not limited to the specific details of the above-mentioned embodiments. Within the technical concept of the present invention and without departing from the design concept of the present invention, various modifications and improvements made to the technical solution of the present invention by technical personnel in this field should fall within the protection scope of the present invention. The technical contents for which protection is sought in the present invention have been fully recorded in the claims.

Claims

1. An automatic cleaning mechanism for floating medicine on the surface of detonators, comprising a machine platform, characterized in that: The top of the machine is provided with loading and unloading mechanisms, loading and unloading mechanisms, wet wiping mechanisms, dry wiping mechanisms, transfer mechanisms, as well as loading and unloading platforms, wherein: The loading and unloading mechanism comprises a first manipulator capable of horizontal linear motion on the top of the machine platform and rotational motion around a vertical rotation axis; the first manipulator clamps a material cup containing an unwiped detonator and places it on the loading platform; The material loading and unloading mechanism includes a second manipulator that can move horizontally and linearly on the top of the machine platform and rotate around a horizontal rotation axis; the second manipulator clamps and transfers the material cup with unwiped detonators on the material loading platform to the wet wiping mechanism; The wet wiping mechanism comprises a wet wiping frame fixed on the top of the machine platform, a first tooling cup which can rotate around a horizontal rotation axis is installed in the wet wiping frame, a first wiping head which can be lifted in the vertical direction and rotate around a vertical rotation axis is installed above the first tooling cup in the wet wiping frame, and an alcohol sprayer which can move horizontally and linearly above the first tooling cup is also installed in the wet wiping frame; after the material cup containing the unwiped detonator is transferred to the top of the first tooling cup by the second manipulator in the feeding and unloading mechanism, the second manipulator The unwiped detonator in the material cup is poured into the first tooling cup by the rotation movement, and then the empty material cup is placed on the loading table by the second manipulator, and then the empty material cup on the loading table is clamped and transferred to the unloading table by the first manipulator in the loading and unloading mechanism; in the wet wiping mechanism, the alcohol sprayer moves to the top of the first tooling cup and sprays alcohol on the detonator in the first tooling cup, and the first wiping head descends to extend into the first tooling cup and then the first wiping head rotates to wipe the detonator, thereby completing the wet wiping of the detonator; The transfer mechanism comprises a receiving cup which can move linearly on the top of the machine and rotate around a horizontal rotating axis, the linear motion limit position of one end of the receiving cup is located on one side of the first tooling cup in the wet wiping mechanism, and the linear motion limit position of the other end of the receiving cup is located on one side of the dry wiping mechanism; the wet wiping mechanism rotates the first tooling cup to pour the wet-wiped detonator into the receiving cup, and then the wet-wiped detonator is transferred to the dry wiping mechanism through the receiving cup; The dry wiping mechanism includes a dry wiping frame fixed on the top of the machine, a second work cup that can rotate around a horizontal rotation axis is installed in the dry wiping frame, and a second wiping head that can be lifted and lowered in the vertical direction and rotated around a vertical rotation axis is installed above the second work cup in the dry wiping frame. The linear motion limit position of the other end of the receiving cup in the transfer mechanism is located on one side of the second work cup in the dry wiping mechanism, and the unloading platform is located on the other side of the second work cup; the detonator is poured into the second work cup by the rotation of the receiving cup in the transfer mechanism, and the second wiping head is descended to extend into the second work cup and then the second wiping head is rotated to wipe the detonator, thereby completing the dry wiping of the detonator, and then the second work cup is rotated to pour the dry-wiped detonator into the material cup above the unloading platform, and finally the first manipulator in the loading and unloading mechanism transports the material cup containing the wiped detonator from the unloading platform to the outside.

2. The automatic cleaning mechanism for floating medicine on the surface of detonators according to claim 1 is characterized in that: A cover shell is installed on the top of the machine platform, and the loading and unloading mechanisms, the loading and unloading mechanisms, the wet wiping mechanism, the dry wiping mechanism, the transfer mechanism, the loading platform and the unloading platform on the top of the machine platform are covered by the cover shell.

3. The automatic cleaning mechanism for floating medicine on the surface of detonators according to claim 2 is characterized in that: A loading door opening and a unloading door opening are provided on one side wall of the cover shell. The first manipulator in the loading and unloading mechanism clamps the material cup containing unwiped detonators from the loading door opening, and the first manipulator in the loading and unloading mechanism delivers the material cup containing wiped detonators into the unloading door opening.

4. The automatic cleaning mechanism for floating medicine on the surface of detonators according to claim 3 is characterized in that: The outer openings of the loading door opening and the unloading door opening are respectively provided with outer doors, and the inner openings of the loading door opening and the unloading door opening are respectively provided with inner doors. Axially vertical cylinders are respectively installed on the shell wall positions above the outer openings and inner openings of the loading door opening and the unloading door opening, wherein the cylinder piston rod above the outer opening is fixedly connected to the outer door, and the cylinder piston rod above the inner opening is fixedly connected to the inner door, and the outer doors, inner doors and cylinders of the loading door opening and the unloading door opening respectively form inner and outer double lifting door mechanisms.

5. The automatic cleaning mechanism for floating medicine on the surface of detonators according to claim 1 is characterized in that: The loading platform can move vertically up and down on the top of the machine platform.

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