Clamping manipulator for emulsion explosive

Abstract

The utility model discloses a clamping manipulator for emulsion explosives, which is used for reducing labor cost and realizing automation. The clamping manipulator comprises a storage table, a mechanical arm body, a first servo motor and a clamping assembly. The mechanical arm body and the first servo motor are placed on the first side of the storage table, the first servo motor is connected with the mechanical arm body, and the first servo motor is used for driving the mechanical arm body to move; the second side of the storage table is connected with an emulsion explosive production line; the top of the mechanical arm body is connected with the clamping assembly. Wherein the clamping assembly comprises a mounting assembly, a second servo motor and a plurality of clamping pieces; the upper end of the mounting assembly is connected with the top of the mechanical arm body, a second servo motor is mounted on the mounting assembly and connected with the clamping piece, the clamping piece is located at the lower end of the mounting assembly, and the second servo motor is used for driving the clamping assembly to rotate so as to adjust the clamping direction of the clamping piece.

Description

Technical Field

[0001] The present application relates to the field of clamping equipment, and in particular to a clamping manipulator for emulsion explosives. Background Art

[0002] Emulsion explosives are made by using emulsifiers to evenly disperse droplets of aqueous oxidant salt solutions in an oil-phase continuous medium containing porous substances such as dispersed bubbles or hollow glass microspheres, forming an oil-in-water type latex explosive.

[0003] Currently, in the emulsion explosive production line, the packing process is usually completed by manually carrying and placing the emulsion explosive in the packaging box. However, this manual carrying and packing method will increase the workload of the workers and the labor cost is high. Utility Model Content

[0004] In order to solve the above problems, the present application provides a clamping robot for emulsion explosives, which is used to reduce labor costs and achieve automation.

[0005] The clamping manipulator for emulsion explosives provided in the present application comprises:

[0006] A storage table, a mechanical arm body, a first servo motor and a clamping assembly;

[0007] The mechanical arm body and the first servo motor are placed on the first side of the storage table, the first servo motor is connected to the mechanical arm body, and the first servo motor is used to drive the mechanical arm body to move;

[0008] The second side of the storage platform is connected to a production line of emulsion explosives;

[0009] The top of the mechanical arm body is connected to the clamping assembly;

[0010] Wherein, the clamping assembly includes a mounting assembly, a second servo motor and a plurality of clamping members;

[0011] The upper end of the mounting assembly is connected to the top of the robotic arm body, the second servo motor is installed on the mounting assembly, the second servo motor is connected to the clamping member, the clamping member is located at the lower end of the mounting assembly, and the second servo motor is used to drive the clamping assembly to rotate to adjust the clamping direction of the clamping member.

[0012] Optionally, the mounting assembly includes a first mounting plate, a connecting rod and a second mounting plate;

[0013] The first mounting plate is connected to the top of the mechanical arm body, and the first mounting plate and the second mounting plate are connected via the connecting rod;

[0014] The second servo motor is located between the first mounting plate and the second mounting plate, and the second servo motor passes through the second mounting plate to be electrically connected to the clamping member, and the clamping member is located at the lower end of the second mounting plate.

[0015] Optionally, both the first mounting plate and the second mounting plate are provided with internal threaded holes;

[0016] Both ends of the connecting rod are provided with external threads;

[0017] The connecting rod is connected to the first mounting plate and the second mounting plate respectively through the external thread and the internal thread hole.

[0018] Optionally, the robot arm body includes a first robot arm section, a second robot arm section and a third robot arm section;

[0019] The bottom of the first section of the mechanical arm is connected to the first side of the storage table, the top of the first section of the mechanical arm is connected to the first end of the second section of the mechanical arm, the second end of the second section of the mechanical arm is connected to the third section of the mechanical arm, and the third section of the mechanical arm is connected to the clamping assembly;

[0020] The first section of the robotic arm, the second section of the robotic arm and the third section of the robotic arm are driven by the first servo motor to adjust the arm length and direction.

[0021] Optionally, universal wheels are provided at the bottom of the storage table.

[0022] Optionally, the storage platform is provided with a first track and a second track;

[0023] The first track and the second track are located on the second side platen of the storage table, so that the second side platen is connected to the production line of emulsion explosive through the first track and the second track.

[0024] Optionally, the clamping member is detachably connected to the mounting assembly.

[0025] Optionally, the clamping member is a vacuum suction cup;

[0026] Optionally, the clamping member is a clamping gripper.

[0027] Optionally, the number of the clamping members is at least 6.

[0028] It can be seen from the above technical solutions that this application has the following advantages:

[0029] The clamping robot of the present application includes a storage table, a robot arm body, a first servo motor and a clamping assembly; the robot arm body and the first servo motor are placed on the first side of the storage table, the first servo motor is connected to the robot arm body, and the first servo motor is used to drive the robot arm body to move; the second side of the storage table is connected to the production line of emulsion explosives; the top of the robot arm body is connected to the clamping assembly; the clamping assembly includes a mounting assembly, a second servo motor and a clamping piece; the upper end of the mounting assembly is connected to the top of the robot arm body, the second servo motor is installed on the mounting assembly, the second servo motor is connected to the clamping piece, the clamping piece is located at the lower end of the mounting assembly, and the second servo motor is used to drive the clamping assembly to rotate to adjust the clamping direction of the clamping piece.

[0030] The clamping robot of the present application can clamp the emulsion explosive on the production line, and transport it through the robot arm body based on the drive of the first servo motor. At the same time, based on the drive of the second servo motor, the clamping direction of the clamping piece is rotated to adjust the emulsion explosive in different directions, so as to clamp the emulsion explosive in different directions and adjust the direction of packing at the same time, eliminating the tedious manual handling and packing, realizing the automation of packing, and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic structural diagram of an embodiment of a clamping manipulator for emulsion explosives provided in the present application;

[0032] Figure 2 A schematic structural diagram of an embodiment of a clamping assembly in a clamping robot for emulsion explosives provided in the present application. DETAILED DESCRIPTION

[0033] The present application provides a clamping robot for emulsion explosives, which is used to realize automated packing and reduce labor costs.

[0034] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inside", "outside", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only used to illustrate the relative positional relationships between the various components or components, and do not particularly limit the specific installation orientations of the various components or components.

[0035] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

[0036] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0037] In addition, the structures, proportions, sizes, etc. drawn in the drawings in the present application are only used to match the contents disclosed in the specification so as to facilitate the understanding and reading of those skilled in the art, and are not used to limit the restrictive conditions under which the present application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present application without affecting the effects and purposes that can be achieved by the present application.

[0038] In addition, the terms "first", "second", "third", etc. (if any) mentioned in this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments described in this application can be implemented in an order other than that shown or described herein.

[0039] The following will be combined with the drawings in this application to clearly and completely describe the technical solutions in this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0040] See also Figure 1 and Figure 2 The clamping manipulator for emulsion explosive provided in the present application comprises:

[0041] A storage platform 1, a robot body 2, a first servo motor 3 and a clamping assembly 4; the robot body 2 and the first servo motor 3 are placed on the first side of the storage platform 1, the first servo motor 3 is connected to the robot body 2, and the first servo motor 3 is used to drive the robot body 2 to move; the second side of the storage platform 1 is connected to the production line of emulsion explosives; the top of the robot body 2 is connected to the clamping assembly 4; wherein the clamping assembly 4 includes a mounting assembly 41, a second servo motor 42 and a plurality of clamping members 43; the upper end of the mounting assembly 41 is connected to the top of the robot body 2, the mounting assembly 41 is equipped with a second servo motor 42, the second servo motor 42 is connected to the clamping member 43, the clamping member 43 is located at the lower end of the mounting assembly 41, and the second servo motor 42 is used to drive the clamping assembly 4 to rotate to adjust the clamping direction of the clamping member 43.

[0042] In this embodiment, the storage table 1 is composed of two support frames, and the first side support frame is lower than the second side support frame by a preset distance. The bottom of the mechanical arm body 2 is installed on the first side support frame of the storage table 1 and is movably connected to the first side support frame. The first servo motor 3 is placed on the first side of the storage table 1, and the first servo motor 3 is electrically connected to the mechanical arm body 2, and the mechanical arm body 2 can be driven to rotate and extend by the first servo motor 3. The production line of emulsion explosives is placed on the second side support frame of the storage table 1, and the emulsion explosives produced are transported to the top of the second support frame through the production line. The top of the mechanical arm body 2 is connected to the clamping assembly 4, which includes an installation assembly 41, a second servo motor 42 and a clamping member 43. Among them, the clamping member 43 can be a mechanical clamping gripper, through which the emulsion explosive package is grasped, or it can be a vacuum suction cup, and the vacuum suction cup cooperates with the cylinder to absorb the emulsion explosive package, or it can also be other clamping members 43, which are not specifically limited here. The number of the clamping members 43 may be single or multiple, for example, at least six, so that multiple emulsion explosive packages can be clamped at one time, thereby improving the clamping efficiency.

[0043] The mounting assembly 41 can be detachably connected to the clamping member 43, for example, by threading, so as to facilitate disassembly. Alternatively, the mounting assembly 41 can also be fixedly connected to the clamping member 43, which is not limited here.

[0044] In this embodiment, the clamping assembly 4 on the top of the robot arm body 2 clamps the emulsion explosive on the production line through the drive of the second servo motor 42, and transports it through the robot arm body 2 based on the drive of the first servo motor 3. At the same time, based on the drive of the second servo motor 42, the clamping direction of the clamping member 43 is rotated and adjusted to clamp the emulsion explosive in different directions and adjust the direction of packaging at the same time, eliminating the tedious manual handling and packaging, realizing packaging automation, and reducing labor costs.

[0045] Optionally, the mounting assembly 41 includes a first mounting plate 411, a connecting rod 412 and a second mounting plate 413; the first mounting plate 411 is connected to the top of the robotic arm body 2, and the first mounting plate 411 and the second mounting plate 413 are connected by the connecting rod 412; the second servo motor 42 is located between the first mounting plate 411 and the second mounting plate 413, and the second servo motor 42 passes through the second mounting plate 413 and is electrically connected to the clamp 43, and the clamp 43 is located at the lower end of the second mounting plate 413.

[0046] In this embodiment, the upper side of the first mounting plate 411 is connected to the top of the mechanical arm body 2, wherein the connection method can be a detachable connection, such as a bolted connection, or a buckle, hinge connection, etc.; it can also be a fixed connection, for example, the top of the mechanical arm body 2 is welded to the upper side of the first mounting plate 411; it can also be connected in other ways, which are not limited here. A second servo motor 42 is provided between the first mounting plate 411 and the second mounting plate 413, and the second servo motor 42 is electrically connected to the clamping member 43. The clamping direction of the clamping member 43 is adjusted by the drive of the second servo motor 42, so as to clamp the emulsion explosive in different directions.

[0047] Optionally, both the first mounting plate 411 and the second mounting plate 413 are provided with internal threaded holes; both ends of the connecting rod 412 are provided with external threads; the connecting rod 412 is connected to the first mounting plate 411 and the second mounting plate 413 respectively through the external threads and the internal threaded holes.

[0048] In this embodiment, an internal threaded hole is provided at the bottom of the first mounting plate 411, and an internal threaded hole is provided at the top of the second mounting plate 413. The connecting rod 412 is a threaded rod, and both the first end and the second end of the connecting rod 412 are provided with external threads that match the internal threaded hole. The first end of the connecting rod 412 is connected to the first mounting plate 411 through an external thread and the internal threaded hole, and the second end of the connecting rod 412 is also connected to the second mounting plate 413 through an external thread and the internal threaded hole. This embodiment is connected by a threaded connection, which is convenient for disassembly and improves the efficiency of disassembly and assembly control of the clamping assembly 4.

[0049] There may be at least four connecting rods 412 , which may be arranged around the first mounting plate 411 . The stability of the connection between the first mounting plate 411 and the second mounting plate 413 may be improved by the at least four connecting rods 412 .

[0050] Optionally, the robot body 2 includes a robot section 1 21, a robot section 22 and a robot section 3 23; the bottom of the robot section 1 21 is connected to the first side of the storage platform 1, the top of the robot section 1 21 is connected to the first end of the robot section 22, the second end of the robot section 22 is connected to the robot section 3 23, and the robot section 3 23 is connected to the clamping assembly 4; the robot section 1 21, the robot section 22 and the robot section 3 23 are driven by the first servo motor 3 to adjust the arm length and direction.

[0051] In this embodiment, the robot body 2 includes multiple robot arms. Based on the drive of the first servo motor 3, the arm length and direction of the robot body 2 can be adjusted by adjusting the extension and rotation of the first robot arm 21, the second robot arm 22 and the third robot arm 23, so as to clamp the emulsion explosives in different directions and adjust the direction of packaging at the same time, thereby eliminating the tedious manual handling and packaging and realizing the automation of packaging.

[0052] Optionally, universal wheels 5 are provided at the bottom of the storage table 1 .

[0053] In this embodiment, universal wheels 5 are installed at the bottom of the storage table 1, wherein the number of the universal wheels 5 can be at least four or at least six. The universal wheels 5 are arranged at the foot positions around the bottom of the storage table 1. The universal wheels 5 are used to realize the position movement and direction adjustment of the clamping manipulator, thereby improving the flexibility of the clamping manipulator.

[0054] Optionally, the storage table 1 is provided with a first track 11 and a second track 12 ; the first track 11 and the second track 12 are located on a second side platen 13 of the storage table 1 , so that the second side platen 13 is connected to the production line of the emulsion explosive through the first track 11 and the second track 12 .

[0055] In this embodiment, a first track 11 and a second track 12 are arranged in parallel on the second side platform 13 of the storage platform 1. The first track 11 and the second track 12 are used to fix the production line of emulsion explosives to improve the stability of the connection between the second side of the storage platform 1 and the production line.

[0056] It should be noted that the above description of the disclosed embodiments enables professionals and technicians in the field to implement or use the present application. Various modifications to these embodiments will be apparent to professionals and technicians in the field, and the general principles defined herein can be implemented in other embodiments without departing from the scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A clamping manipulator for emulsion explosives, characterized in that: The gripping manipulator comprises: A storage table, a mechanical arm body, a first servo motor and a clamping assembly; The mechanical arm body and the first servo motor are placed on the first side of the storage table, the first servo motor is connected to the mechanical arm body, and the first servo motor is used to drive the mechanical arm body to move; The second side of the storage platform is connected to a production line of emulsion explosives; The top of the mechanical arm body is connected to the clamping assembly; Wherein, the clamping assembly includes a mounting assembly, a second servo motor and a plurality of clamping members; The upper end of the mounting assembly is connected to the top of the robotic arm body, the second servo motor is installed on the mounting assembly, the second servo motor is connected to the clamping member, the clamping member is located at the lower end of the mounting assembly, and the second servo motor is used to drive the clamping assembly to rotate to adjust the clamping direction of the clamping member.

2. The gripping robot according to claim 1, characterized in that: The mounting assembly includes a first mounting plate, a connecting rod and a second mounting plate; The first mounting plate is connected to the top of the mechanical arm body, and the first mounting plate and the second mounting plate are connected via the connecting rod; The second servo motor is located between the first mounting plate and the second mounting plate, and the second servo motor passes through the second mounting plate to be electrically connected to the clamping member, and the clamping member is located at the lower end of the second mounting plate.

3. The gripping robot according to claim 2, characterized in that: The first mounting plate and the second mounting plate are both provided with internal threaded holes; Both ends of the connecting rod are provided with external threads; The connecting rod is connected to the first mounting plate and the second mounting plate respectively through the external thread and the internal thread hole.

4. The gripping robot according to claim 1, characterized in that: The robot arm body includes a first robot arm section, a second robot arm section and a third robot arm section; The bottom of the first section of the mechanical arm is connected to the first side of the storage table, the top of the first section of the mechanical arm is connected to the first end of the second section of the mechanical arm, the second end of the second section of the mechanical arm is connected to the third section of the mechanical arm, and the third section of the mechanical arm is connected to the clamping assembly; The first section of the robotic arm, the second section of the robotic arm and the third section of the robotic arm are driven by the first servo motor to adjust the arm length and direction.

5. The gripping robot according to claim 1, characterized in that: Universal wheels are arranged at the bottom of the storage table.

6. The gripping robot according to any one of claims 1 to 5, characterized in that: The storage platform is provided with a first track and a second track; The first track and the second track are located on the second side platen of the storage table, so that the second side platen is connected to the production line of emulsion explosive through the first track and the second track.

7. The gripping robot according to any one of claims 1 to 5, characterized in that: The clamping member is detachably connected to the mounting assembly.

8. The gripping robot according to any one of claims 1 to 5, characterized in that: The clamping member is a vacuum suction cup.

9. The gripping robot according to any one of claims 1 to 5, characterized in that: The clamping piece is a clamping gripper.

10. The gripping robot according to any one of claims 1 to 5, characterized in that: The number of the clamping members is at least 6.

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