Automatic transferring, taking and placing device for initiating explosive materials

Abstract

The invention discloses an automatic transferring, taking and placing device for initiating explosive materials. The automatic transferring, taking and placing device comprises a collaborative robot, a large tray, a small tray, a control cabinet, an AGV chassis, a drying oven module, a compatible clamping jaw and an anti-toppling assembly. Wherein the control cabinet is mounted at the top of the AGV chassis; two anti-toppling assemblies are installed on the table top of the control cabinet, and the large material disc and the small material disc are arranged in the two anti-toppling assemblies correspondingly. The collaborative robot is mounted on the table top of the control cabinet; the compatible clamping jaw is installed at the tail end of the collaborative robot and cooperates with the collaborative robot to complete material taking and placing actions. The drying oven module is arranged on a space plane within the motion range of the collaborative robot and located right in front of the AGV chassis. By means of the device, automatic transferring, taking and placing of the explosive bulk chemicals among all units of an assembly room are achieved, intrinsic safety of the links is achieved, and the problems that the efficiency of manual transferring of the explosive materials such as the bulk chemicals in the assembly room is low, and the safety risk is large are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of material transport and placement, and in particular relates to an automatic transport and placement device for explosive agents. Background Art

[0002] During the assembly of explosives, the transfer and placement of bulk explosives are done manually. Bulk explosives are sensitive to vibration and static electricity. Manual transfer and placement of explosives have high safety risks, and manual operation has poor docking accuracy and low efficiency. Ordinary composite AGVs are not suitable for the automatic transfer and placement of bulk explosives. Summary of the invention

[0003] The technology of the present invention solves the problem: overcomes the shortcomings of the prior art, provides an automatic transfer and placement device for pyrotechnic agents, realizes the automatic transfer and placement of pyrotechnic bulk agents between units in an assembly workshop, realizes the inherent safety of such links, and overcomes the problems of low efficiency and high safety risks in manual transfer of bulk agents and other drug-containing materials in an assembly workshop.

[0004] In order to solve the above technical problems, the present invention discloses an automatic transport and placement device for pyrotechnic agents, comprising: a collaborative robot, a large material tray, a small material tray, a control cabinet, an AGV chassis, an oven module, a compatible clamp and an anti-dumping component; wherein, the control cabinet is installed on the top of the AGV chassis; two anti-dumping components are installed on the table of the control cabinet, and the large material tray and the small material tray are respectively placed in the two anti-dumping components; the collaborative robot is installed on the table of the control cabinet; the compatible clamp is installed at the end of the collaborative robot, and cooperates with the collaborative robot to complete the material picking and placing actions; the oven module is arranged on a spatial plane within the motion range of the collaborative robot, and is located directly in front of the AGV chassis.

[0005] In the above-mentioned automatic transfer and placement device for pyrotechnic agents, the compatible clamp includes: an upper visual camera, a clamp drive motor, a screw, a guide rail, a clamp mounting plate, a tray clamping limit block, a cartridge clamping tool and a mounting plate; wherein the compatible clamp is installed at the end of the collaborative robot through the mounting plate flange; the clamp drive motor is fixed at one end of the mounting plate; the guide rail is fixed to the inner side of the mounting plate; the screw is installed on the guide rail through sliders at both ends; the output shaft of the clamp drive motor is connected to the screw; the upper visual camera is fixed to the outer side of the mounting plate; the two clamp mounting plates are respectively fixed on the sliders at both ends of the screw; the tray clamping limit blocks are installed in the middle and tail of the clamp mounting plate; the cartridge clamping tool is installed at the end of the clamp mounting plate, and is driven by the clamp drive motor to realize the opening and closing of the compatible clamp.

[0006] In the above-mentioned automatic transfer and placement device for pyrotechnic agents, a visual camera is used to accurately locate the collaborative robot by taking pictures during the docking process between the collaborative robot and the oven, so as to ensure that large and small trays can be placed in and out of the oven smoothly and safely.

[0007] In the above-mentioned automatic transfer and placement device for pyrotechnic agents, the anti-dumping component includes: a clamping limit rib, a tray positioning block, a cartridge positioning plate, a displacement plate, a lower rotating motor and a connecting plate; wherein the connecting plate is installed on the back of the countertop of the control cabinet; the connecting plate is connected to the lower rotating motor, which is connected to the displacement plate, one end of the clamping limit rib is connected to the waist circular hole of the displacement plate, and the lower rotating motor rotates a certain angle to realize the contraction and expansion of the clamping limit rib; the cartridge positioning plate is fixed on the displacement plate, and is used to position and place the cylindrical cartridge; a number of tray positioning blocks are evenly distributed circumferentially on the outside of the cartridge positioning plate and fixed on the countertop of the control cabinet.

[0008] In the above-mentioned automatic transfer and placement device for pyrotechnic agents, the layout size of the tray positioning block of one anti-dump component on the table top of the control cabinet matches the size of the large tray, and the layout size of the tray positioning block of the other anti-dump component on the table top of the control cabinet matches the size of the small tray; the large tray and the small tray are installed in the anti-dump component through the tray positioning blocks.

[0009] The above-mentioned automatic transfer and placement device for pyrotechnic agents also includes: a lower visual camera; wherein the lower visual camera is installed on the short side of the table top of the control cabinet close to the anti-dumping component, and is used to accurately position the large material tray and the small material tray by taking pictures during the process of placing the large material tray and the small material tray into the anti-dumping component, so as to ensure that the large material tray and the small material tray are placed stably and safely on the material tray positioning block.

[0010] The above-mentioned automatic transfer and placement device for pyrotechnic agents also includes: an audible and visual alarm; wherein the audible and visual alarm is installed at a corner of the table of the control cabinet and is used for alarm prompts of production tasks and faults.

[0011] The above-mentioned automatic transfer and placement device for pyrotechnic agents also includes: an optical communication module; wherein the optical communication module is installed around the upper part of the AGV chassis to realize point-to-point confidential communication with the communication module in the application scenario.

[0012] The above-mentioned automatic transfer and placement device for pyrotechnic agents also includes: an all-in-one machine; wherein the all-in-one machine is installed in an embedded manner, installed on one side of the short side of the control cabinet, and is used as a human-machine interface of the device.

[0013] In the above-mentioned automatic transfer and placement device for pyrotechnic agents, the AGV chassis has been modified to be explosion-proof and has explosion-proof, laser navigation and obstacle avoidance functions.

[0014] The present invention has the following advantages:

[0015] (1) The present invention discloses an automatic transport and placement device for explosives, which adopts optical communication and arranges multiple optical communication stations on the running path of the transport device to exchange information with the optical communication module installed on the device, thereby achieving a safe and confidential communication in this application scenario.

[0016] (2) The present invention discloses an automatic transfer and placement device for explosive agents, which adopts an anti-dumping component design and can achieve compatible anti-dumping of large and small material trays through a movable clamping limit retaining edge.

[0017] (3) The present invention discloses an automatic transfer and placement device for explosive agents, which adopts a compatible clamping claw design and clamps materials by means of a motor-driven screw rod. Its clamping compatibility is better than that of ordinary electric clamping claws and is compatible with the clamping of materials of 70mm to 370mm.

[0018] (4) The present invention discloses an automatic transport and placement device for explosive agents, which adopts the design of upper and lower visual cameras, performs secondary visual positioning for material placement positioning and identification of docking device features, corrects the positioning deviation of the device, and increases the stability of placement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an automatic transfer and placement device for explosives in an embodiment of the present invention;

[0020] Figure 2 It is a schematic structural diagram of a compatible clamping jaw in an embodiment of the present invention;

[0021] Figure 3 is a schematic structural diagram of an anti-dumping assembly in an embodiment of the present invention;

[0022] Figure 4 is a working schematic diagram of an anti-dumping assembly in an embodiment of the present invention;

[0023] Figure 5 It is a schematic diagram of a working method of docking with an oven module in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0025] Reference Figures 1 to 5In this embodiment, the automatic transfer and placement device for explosives includes: a collaborative robot 1, a large material tray 2, a small material tray 3, a control cabinet 6, an AGV chassis 7, an oven module 9, a compatible clamp 20 and an anti-dumping component 30. Among them, the control cabinet 6 is installed on the top of the AGV chassis 7, serving as a storage space for hardware such as a power supply and a controller; two anti-dumping components 30 are installed on the table of the control cabinet 6, and the large material tray 2 and the small material tray 3 are respectively placed in the two anti-dumping components 30; the collaborative robot 1 is installed on the table of the control cabinet 6; the compatible clamp 20 is installed at the end of the collaborative robot 1, and cooperates with the collaborative robot 1 to complete the material placement action; the oven module 9 is arranged on a spatial plane within the movement range of the collaborative robot 1, and is located directly in front of the AGV chassis 7.

[0026] In this embodiment, the compatible clamp 20 mainly includes: an upper visual camera 201, a clamp driving motor 202, a screw 203, a guide rail 204, a clamp mounting plate 205, a tray clamping limit block 206, a cartridge clamping tooling 207 and a mounting plate 208. Among them, the compatible clamp 20 is installed at the end of the collaborative robot 1 through the flange of the mounting plate 208; the clamp drive motor 202 is fixed at one end of the mounting plate 208; the guide rail 204 is fixed on the inner side of the mounting plate 208; the screw rod 203 is installed on the guide rail 204 through the sliders at both ends; the output shaft of the clamp drive motor 202 is connected to the screw rod 203; the upper visual camera 201 is fixed on the outer side of the mounting plate 208; the two clamp mounting plates 205 are respectively fixed on the sliders at both ends of the screw rod 203; the middle and tail parts of the clamp mounting plate 205 are installed with a material tray clamping limit block 206; the cartridge clamping tooling 207 is installed at the end of the clamp mounting plate 205, and is driven by the clamp drive motor 202 to realize the opening and closing of the compatible clamp 20.

[0027] Preferably, the upper visual camera 201 is used to accurately locate the collaborative robot 1 by taking pictures during the docking process between the collaborative robot 1 and the oven 9, so as to ensure that the large material tray 2 and the small material tray 3 are smoothly and safely placed in and taken out of the oven 9.

[0028] In this embodiment, the anti-dumping assembly 30 mainly includes: a clamping limit rib 301, a tray positioning block 302, a cartridge positioning plate 303, a displacement plate 304, a lower rotating motor 305 and a connecting plate 306. Among them, the connecting plate 306 is installed on the back of the table of the control cabinet 6; the connecting plate 306 is connected to the lower rotating motor 305, the lower rotating motor 305 is connected to the displacement plate 304, one end of the clamping limit rib 301 is connected to the waist round hole of the displacement plate 304, and the lower rotating motor 305 rotates a certain angle to realize the contraction and expansion of the clamping limit rib 301; the cartridge positioning plate 303 is fixed on the displacement plate 304, and is used to position and place the cylindrical cartridge; a number of tray positioning blocks 302 are evenly distributed on the outside of the cartridge positioning plate 303 and fixed on the table of the control cabinet 6.

[0029] Preferably, the layout size of the tray positioning block of one anti-dump component on the table top of the control cabinet 6 matches the size of the large tray 2, and the layout size of the tray positioning block of the other anti-dump component on the table top of the control cabinet 6 matches the size of the small tray 3; the large tray 2 and the small tray 3 are installed in the anti-dump component through the tray positioning blocks.

[0030] In this embodiment, the automatic transfer and placement device for explosives further includes: a lower visual camera 4. The lower visual camera 4 is installed on the short side of the table of the control cabinet 6 close to the anti-dumping assembly 30, and is used to accurately position the large material tray 2 and the small material tray 3 by taking pictures when the large material tray 2 and the small material tray 3 are placed in the anti-dumping assembly, so as to ensure that the large material tray 2 and the small material tray 3 are placed stably and safely on the material tray positioning block.

[0031] In this embodiment, the automatic transport and placement device for explosives further comprises: an audible and visual alarm 5. The audible and visual alarm 5 is installed at a corner of the table of the control cabinet 6 and is used for alarming production tasks and faults.

[0032] In this embodiment, the automatic transfer and placement device for explosives further comprises: an optical communication module 8. The optical communication module 8 is installed around the upper part of the AGV chassis 7 and is used to realize point-to-point confidential communication with the communication module in the application scene.

[0033] In this embodiment, the automatic transfer and placement device for explosives further comprises: an integrated machine 10. The integrated machine 10 is installed in an embedded manner and is installed on one side of the short side of the control cabinet 6 to serve as a human-machine interface of the device.

[0034] In this embodiment, the AGV chassis 7 needs to be modified to be explosion-proof, have an explosion-proof certificate, and have basic functions such as laser navigation and obstacle avoidance that ordinary AGVs have.

[0035] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, 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 technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0036] The contents not described in detail in the specification of the present invention belong to the common knowledge of professionals in the field.

Claims

1. An automatic transport and placement device for explosives, characterized in that: include: A collaborative robot (1), a large material tray (2), a small material tray (3), a control cabinet (6), an AGV chassis (7), an oven module (9), a compatible clamp (20) and an anti-dumping component (30); wherein the control cabinet (6) is installed on the top of the AGV chassis (7); two anti-dumping components (30) are installed on the table of the control cabinet (6), and the large material tray (2) and the small material tray (3) are respectively placed in the two anti-dumping components (30); the collaborative robot (1) is installed on the table of the control cabinet (6); the compatible clamp (20) is installed at the end of the collaborative robot (1) to cooperate with the collaborative robot (1) to complete the material picking and placing action; the oven module (9) is arranged on a spatial plane within the movement range of the collaborative robot (1) and is located directly in front of the AGV chassis (7).

2. The automatic transfer and placement device for explosives according to claim 1 is characterized in that: The compatible clamp (20) comprises: an upper visual camera (201), a clamp driving motor (202), a screw (203), a guide rail (204), a clamp mounting plate (205), a material tray clamping limit block (206), a cartridge clamping tool (207) and a mounting plate (208); wherein the compatible clamp (20) is mounted on the end of the collaborative robot (1) through a flange of the mounting plate (208); the clamp driving motor (202) is fixed to one end of the mounting plate (208); the guide rail (204) is fixed to the inner side of the mounting plate (208); the screw (203) is fixed to the inner side of the mounting plate (208); The sliders at both ends are mounted on the guide rail (204); the output shaft of the clamp driving motor (202) is connected to the screw (203); the upper visual camera (201) is fixed on the outer side of the mounting plate (208); the two clamp mounting plates (205) are respectively fixed on the sliders at both ends of the screw (203); the middle and tail parts of the clamp mounting plate (205) are installed with a material tray clamping limit block (206); the cartridge clamping tooling (207) is installed at the end of the clamp mounting plate (205), and is driven by the clamp driving motor (202) to realize the opening and closing of the compatible clamp (20).

3. The automatic transfer and placement device for explosives according to claim 2 is characterized in that: The upper visual camera (201) is used to accurately locate the collaborative robot (1) and the oven (9) by taking pictures during the docking process, so as to ensure that the large material tray (2) and the small material tray (3) are smoothly and safely placed in and taken out of the oven (9).

4. The automatic transfer and placement device for explosives according to claim 1 is characterized in that: The anti-dumping assembly (30) comprises: a clamping limit rib (301), a material tray positioning block (302), a cartridge positioning plate (303), a displacement plate (304), a lower rotating motor (305) and a connecting plate (306); wherein the connecting plate (306) is mounted on the back of a table top of a control cabinet (6); the connecting plate (306) is connected to the lower rotating motor (305), the lower rotating motor (305) is connected to the displacement plate (304), one end of the clamping limit rib (301) is connected to a waist circular hole of the displacement plate (304), and the lower rotating motor (305) rotates at a certain angle to realize the contraction and expansion of the clamping limit rib (301); the cartridge positioning plate (303) is fixed on the displacement plate (304) and is used for positioning and placing a cylindrical cartridge; a plurality of material tray positioning blocks (302) are evenly distributed circumferentially on the outside of the cartridge positioning plate (303) and fixed on the table top of the control cabinet (6).

5. The automatic transfer and placement device for explosives according to claim 4 is characterized in that: The layout size of a tray positioning block of one anti-dumping assembly on the table top of a control cabinet (6) matches the size of a large tray (2), and the layout size of a tray positioning block of another anti-dumping assembly on the table top of a control cabinet (6) matches the size of a small tray (3); the large tray (2) and the small tray (3) are installed in the anti-dumping assembly via the tray positioning blocks.

6. The automatic transfer and placement device for explosives according to claim 5, characterized in that: Also includes: A lower visual camera (4); wherein the lower visual camera (4) is installed on the short side of the tabletop of the control cabinet (6) close to the anti-dumping component (30), and is used to accurately position the large material tray (2) and the small material tray (3) by taking photos when the large material tray (2) and the small material tray (3) are placed in the anti-dumping component, so as to ensure that the large material tray (2) and the small material tray (3) are placed stably and safely on the material tray positioning block.

7. The automatic transfer and placement device for explosives according to claim 1 is characterized in that: Also includes: An audible and visual alarm (5); wherein the audible and visual alarm (5) is installed at a corner of the table of the control cabinet (6) and is used to provide alarm prompts for production tasks and faults.

8. The automatic transfer and placement device for explosives according to claim 1, characterized in that: Also includes: Optical communication module (8); wherein the optical communication module (8) is installed around the upper part of the AGV chassis (7) and is used to achieve point-to-point confidential communication with the communication module in the application scene.

9. The automatic transfer and placement device for explosives according to claim 1, characterized in that: Also includes: The integrated machine (10) is installed in an embedded manner on one side of the short side of the control cabinet (6) and is used as a human-machine interface of the device.

10. The automatic transfer and placement device for explosives according to claim 1, characterized in that: The AGV chassis (7) has been modified to be explosion-proof and has explosion-proof, laser navigation and obstacle avoidance functions.

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