Multi-degree-of-freedom mold operation manipulator for press-fitting forming of matched explosives

Abstract

The utility model discloses a multi-degree-of-freedom mould operation manipulator for matched explosive press-fitting forming, and relates to the technical field of explosive pressing mould manipulators, the multi-degree-of-freedom mould operation manipulator comprises a rotary driving device and a rotary chassis, a vertical telescopic beam is fixed on the rotary chassis, and the vertical telescopic beam comprises a vertical outer beam and a vertical inner beam; the lower end of the vertical inner beam is fixed to the rotating chassis, the vertical outer beam is connected to the outer side of the vertical inner beam in a sliding mode, the two ends of the vertical hydraulic cylinder are fixed to the vertical outer beam and the vertical inner beam respectively, a transverse telescopic beam is fixed to the outer wall of the vertical outer beam and comprises a transverse outer beam and a transverse inner beam, the transverse outer beam is fixed to the vertical outer beam, and the transverse inner beam is fixed to the transverse outer beam. The transverse inner beam is connected into the transverse outer beam in a sliding mode, the two ends of the transverse hydraulic cylinder are fixed to the transverse outer beam and the transverse inner beam respectively, and a clamping jaw assembly is fixed to one end of the transverse inner beam and can be used for clamping a mold. The mold can be driven to move at multiple angles, workers do not need to participate in themselves, and safety and working efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medicine pressing mould manipulators, in particular to a multi-freedom mould operating manipulator for supporting explosive pressing and forming. Background Art

[0002] Ammunition charge is a key factor in the performance and power indicators of the warhead. Unqualified or unstable charge may lead to a decrease in combat efficiency or even a safety accident. Therefore, the criticality of charge technology is self-evident.

[0003] In the traditional ammunition charging process, operators need to directly contact the explosive raw materials, which is not only highly dangerous, but also its volatile components can cause potential harm to human health. The traditional manual multiple intervention pressing process may also cause accidents such as explosions due to multiple coupling stimulation factors such as carrying around, static electricity generated by friction, or fatigue operation, misoperation, etc., all of which have high safety risks.

[0004] If the multi-degree-of-freedom mold-operating manipulator is remotely controlled and applied to the explosive pressing process, it will have the advantages of low safety risk, high consistency, and high production efficiency, and is one of the important development directions of future explosive charging technology. Therefore, this field urgently needs a multi-degree-of-freedom mold-operating manipulator for supporting explosive pressing and molding, so as to realize the precise operation, remote control, safe production, and efficient preparation of the explosive pressing process. Utility Model Content

[0005] The purpose of the utility model is to provide a multi-degree-of-freedom mold operating manipulator for supporting explosive pressing and molding, which is used to solve the technical problems existing in the above-mentioned prior art. It can drive the pressing mold to move from multiple degrees of freedom, isolate the staff and the explosives, thereby ensuring the personal safety of the staff and improving the work efficiency of pressing.

[0006] To achieve the above purpose, the utility model provides the following solutions:

[0007] The utility model discloses a multi-degree-of-freedom mold operating manipulator for supporting explosive press-fitting molding, comprising a rotary drive device and a rotating chassis, wherein the rotary drive device is used to drive the rotating chassis to rotate, a vertical telescopic beam is fixed on the rotating chassis, a vertical hydraulic cylinder is connected to the vertical telescopic beam, the vertical telescopic beam comprises a vertical outer beam and a vertical inner beam, the lower end of the vertical inner beam is fixed on the rotating chassis, the vertical outer beam is slidably connected to the outer side of the vertical inner beam, two ends of the vertical hydraulic cylinder are respectively fixed on the vertical outer beam and the vertical inner beam, a transverse telescopic beam is fixed on the outer wall of the vertical outer beam, a transverse hydraulic cylinder is connected to the transverse telescopic beam, the transverse telescopic beam comprises a transverse outer beam and a transverse inner beam, the transverse outer beam is fixed on the vertical outer beam, the transverse inner beam is slidably connected to the inside of the transverse outer beam, two ends of the transverse hydraulic cylinder are respectively fixed on the transverse outer beam and the transverse inner beam, one end of the transverse inner beam is fixed with a clamping claw assembly, and the clamping claw assembly can be used for clamping a mold.

[0008] Preferably, the rotary drive device comprises a drive motor, a driving gear is fixed on the output shaft of the drive motor, the driving gear is meshed with an outer ring gear of an external gear slewing bearing, and the outer ring gear of the external gear slewing bearing is fixed to the lower surface of the rotating chassis.

[0009] Preferably, the driving motor is fixed on a motor bracket, and the motor bracket is a C-shaped plate structure.

[0010] Preferably, two transverse telescopic beams are provided, and the two transverse telescopic beams are respectively arranged on both sides of the vertical outer beam.

[0011] Preferably, a fixing plate and two fixing strips are respectively provided on both sides of the transverse outer beam, the fixing plate is located between the transverse outer beam and the vertical outer beam, the fixing plate is fixedly connected to the vertical outer beam, the two fixing strips are located on a side surface of the transverse outer beam away from the vertical outer beam, and the fixing plate and the fixing strips are connected by bolts.

[0012] Preferably, the clamp assembly includes a clamp hydraulic cylinder, which is fixed to a clamp fixing plate, which is fixedly connected to one end of the transverse inner beam, and one end of two clamp connecting rods is hinged on the clamp fixing plate, and the other end of the clamp connecting rod is connected to a clamp body, and a hinged rod is also hinged on the clamp connecting rod, and a clamp driving block is fixed on the telescopic end of the clamp hydraulic cylinder, and one end of two driving connecting rods is hinged on the clamp driving block, and the other ends of the two driving connecting rods are respectively hinged to the two hinged rods.

[0013] Compared with the prior art, the utility model has achieved the following technical effects:

[0014] The utility model can drive the clamping assembly to rotate through the rotary drive device, the vertical hydraulic cylinder can drive the clamping assembly to move vertically, and the transverse hydraulic cylinder can drive the clamping assembly to move horizontally. The multi-degree-of-freedom movement of the clamping assembly can be achieved through the rotary drive device, the vertical hydraulic cylinder and the transverse hydraulic cylinder. During the whole process, the staff does not need to approach the operation, so the safety of the staff can be effectively guaranteed. In addition, the whole process is mechanically controlled, and its work efficiency will be significantly improved compared with manual compression. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is a schematic diagram of the structure of a multi-degree-of-freedom mold operating manipulator used for press-fitting of explosives according to an embodiment of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of a driving motor in a multi-degree-of-freedom mold operating manipulator used for press-fitting of explosives according to an embodiment of the utility model;

[0018] Figure 3 It is a partial enlarged view of the vertical telescopic beam and the transverse telescopic beam in the multi-degree-of-freedom mold operating manipulator used for press-fitting of explosives in the embodiment of the utility model;

[0019] Figure 4 It is a partial enlarged view of the clamping claw assembly of the multi-degree-of-freedom mold operating manipulator used for press-fitting of explosives according to the embodiment of the utility model;

[0020] In the figure: 1-driving motor; 101-motor bracket; 2-driving gear; 3-external gear slewing bearing; 4-rotating chassis; 5-vertical telescopic beam; 501-vertical outer beam; 502-vertical inner beam; 6-vertical hydraulic cylinder; 7-transverse telescopic beam; 701-transverse outer beam; 702-transverse inner beam; 8-transverse hydraulic cylinder; 9-grip assembly; 901-grip hydraulic cylinder; 902-grip fixing plate; 903-grip connecting rod; 904-grip driving block; 905-driving connecting rod; 906-hinged rod; 907-grip body. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] The purpose of the utility model is to provide a multi-degree-of-freedom mold operating manipulator for supporting explosive pressing and molding, which is used to solve the technical problems existing in the above-mentioned prior art. It can drive the pressing mold to move from multiple degrees of freedom, isolate the staff and the explosives, thereby ensuring the personal safety of the staff and improving the work efficiency of pressing.

[0023] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] like Figure 1-Figure 4As shown, this embodiment provides a multi-degree-of-freedom mold operating manipulator for supporting explosive press-fitting, including a rotary drive device and a rotating chassis 4, the rotating chassis 4 is a disc structure, and the rotary drive device is used to drive the rotating chassis 4 to rotate. A vertical telescopic beam 5 is fixed on the rotating chassis 4, and a vertical hydraulic cylinder 6 is connected to the vertical telescopic beam 5. The vertical hydraulic cylinder 6 is vertically arranged. As for the specific structure of the vertical telescopic beam 5, the vertical telescopic beam 5 includes a vertical outer beam 501 and a vertical inner beam 502. The vertical outer beam 501 and the vertical inner beam 502 are both rectangular tube structures. The cross-sectional size of the vertical outer beam 501 is larger than the cross-sectional size of the vertical inner beam 502. The lower end of the vertical inner beam 502 is welded and fixed to the rotating chassis 4, and the vertical outer beam 501 is slidably connected to the outer side of the vertical inner beam 502. The vertical outer beam 501 and the vertical inner beam 502 are both provided with hydraulic cylinder seats, and the two ends of the vertical hydraulic cylinder 6 are respectively fixed on the hydraulic cylinder seats on the vertical outer beam 501 and the vertical inner beam 502. As the vertical hydraulic cylinder 6 is extended or shortened, the vertical outer beam 501 can be raised or lowered in the vertical direction. A transverse telescopic beam 7 is fixed on the outer wall of the vertical outer beam 501, and the transverse telescopic beam 7 is horizontally arranged, and a transverse hydraulic cylinder 8 is connected to the transverse telescopic beam 7. As for the specific structure of the transverse telescopic beam 7, the transverse telescopic beam 7 includes a transverse outer beam 701 and a transverse inner beam 702. Both the transverse outer beam 701 and the transverse inner beam 702 are rectangular tube structures. The cross-sectional size of the transverse outer beam 701 is larger than the cross-sectional size of the transverse inner beam 702. The transverse outer beam 701 is fixed to the vertical outer beam 501, that is, the relative position of the transverse outer beam 701 and the vertical outer beam 501 remains unchanged. The transverse inner beam 702 is slidably connected to the inside of the transverse outer beam 701. The two ends of the transverse hydraulic cylinder 8 are respectively fixed to the transverse outer beam 701 and the transverse inner beam 702. Similarly, the transverse outer beam 701 and the transverse inner beam 702 are also provided with a hydraulic cylinder seat for fixing the end of the transverse hydraulic cylinder 8. When the transverse hydraulic cylinder 8 is extended or shortened, the transverse inner beam 702 will move left and right in the horizontal direction. A clamping jaw assembly 9 is fixed at one end of the transverse inner beam 702, and the clamping jaw assembly 9 can be used to clamp the mold. In addition, in the actual application process, a controller is also included. The controller can be a PLC controller, a single-chip microcomputer controller or a control host, and the electric drive elements in the above-mentioned rotation drive device, the transverse hydraulic cylinder and the vertical hydraulic cylinder 6 are all electrically connected to the controller to achieve remote control by the staff.

[0025] In actual use, the clamping jaw assembly 9 can be driven to rotate by operating the rotary drive device, and then the vertical hydraulic cylinder 6 is operated to drive the clamping jaw assembly 9 to adjust its height, and finally the horizontal hydraulic cylinder 8 is used to drive and adjust the horizontal position of the clamping jaw assembly 9, so that the clamping jaw assembly 9 is aligned with the medicine pressing mold, and the clamping jaw assembly 9 can be operated to clamp the medicine pressing mold. Then, the rotary drive device, the vertical hydraulic cylinder 6 and the horizontal hydraulic cylinder 8 can be driven again to drive the clamping jaw assembly 9 and the medicine pressing mold to move to the expected position, and perform operations related to medicine pressing.

[0026] The reason why the vertical hydraulic cylinder 6 and the horizontal hydraulic cylinder 8 are used to drive the clamping jaw assembly 9 to move vertically and horizontally in this embodiment, instead of using an electric telescopic rod or a linear motor, is to avoid the risk of explosives exploding due to electricity in the electric telescopic rod or the linear motor. The use of a hydraulic cylinder only requires the cylinder body to be installed, and the control components of the oil circuit connected to the hydraulic cylinder are far away from the equipment and will not have any impact.

[0027] In this embodiment, for the specific structure of the rotary drive device, the rotary drive device includes a drive motor 1, which can be electrically connected to a controller and controlled by the controller to switch it. A driving gear 2 is fixed on the output shaft of the drive motor 1, and the driving gear 2 is meshed with the outer ring gear of the external gear slewing bearing 3. The external gear slewing bearing 3 is a prior art, which includes an outer ring and an inner ring that can rotate relative to each other. The outer side of the outer ring is provided with a ring gear and meshes with the driving gear 2. The outer ring gear of the external gear slewing bearing 3 is fixed to the lower surface of the rotating chassis 4, so that when the outer ring gear of the external gear slewing bearing 3 rotates, it can drive the rotating chassis 4 to rotate. The inner ring of the external gear slewing bearing 3 can be fixed on the workbench to achieve its fixation.

[0028] In actual use, by turning on the drive motor 1, the output shaft of the drive motor 1 can drive the driving gear 2 to rotate, and the driving gear 2 is meshed with the outer ring gear of the external gear slewing bearing 3, thereby driving the outer ring gear of the external gear slewing bearing 3 to rotate, and finally driving the rotating chassis 4 and all the parts above the rotating chassis 4 to rotate together.

[0029] In addition, a protective shell (not shown) is provided on the outside of the external gear slewing support, and a window is provided on the protective shell to allow the driving gear 2 to mesh with the outer gear of the external gear slewing support 3. The protective shell can prevent foreign matter from entering the external gear slewing support, thereby extending the service life of the external gear slewing support; and can also prevent the staff from accidentally touching the outer gear of the external gear slewing support, thereby avoiding the occurrence of dangerous accidents.

[0030] In this embodiment, if Figure 2As shown, the driving motor 1 is fixed to the upper end of the motor bracket 101, the motor bracket 101 is a C-shaped plate structure, the driving gear 2 is arranged in the middle of the motor bracket 101, and the lower end of the motor bracket 101 can be fixed to the workbench by screws.

[0031] In this embodiment, if Figure 1 or Figure 3 As shown, two transverse telescopic beams 7 are provided, and the two transverse telescopic beams 7 are respectively arranged on both sides of the vertical outer beam 501 . The provision of two transverse telescopic beams 7 can further improve the supporting stability of the clamping jaw assembly 9 .

[0032] In this embodiment, in order to achieve the fixation between the transverse outer beam 701 and the vertical outer beam 501, a fixing plate and two fixing bars are respectively provided on both sides of the transverse outer beam 701, and the fixing plate is located between the transverse outer beam 701 and the vertical outer beam 501, and the fixing plate is fixedly connected to the vertical outer beam 501 by welding. The two fixing bars are located on a side surface of the transverse outer beam 701 away from the vertical outer beam 501, and the two fixing bars are arranged parallel to each other and correspond to the two sides of the fixing plate respectively. Finally, the fixing plate and the fixing bar are connected by bolts, that is, after the bolts pass through the corresponding through holes of the fixing bar, the transverse outer beam 701 and the fixing plate, they are tightened with nuts.

[0033] In this embodiment, regarding the specific structure of the clamping jaw assembly 9, Figure 4 : is a top view of the clamping jaw assembly 9. Specifically, the clamping jaw assembly 9 includes a clamping jaw hydraulic cylinder 901, which is fixed on a clamping jaw fixing plate 902. Both sides of the clamping jaw fixing plate 902 are respectively fixedly connected to the same end of two transverse inner beams 702. One end of two clamping jaw connecting rods 903 are hinged on the clamping jaw fixing plate 902. The clamping jaw connecting rod 903 is a T-shaped rod structure. The other end of the clamping jaw connecting rod 903 is connected to a clamping jaw body 907. The clamping jaw body 907 is a Y-shaped block structure. A pin shaft penetrates the clamping jaw body 907 and the clamping jaw connecting rod 903 at the same time, thereby realizing the connection between the clamping jaw body 907 and the clamping jaw connecting rod 903. A hinged rod 906 is also hinged at the middle position of the clamping jaw connecting rod 903, and a clamping jaw driving block 904 is fixed to the telescopic end of the clamping jaw hydraulic cylinder 901. The clamping jaw driving block 904 is hinged to one end of two driving connecting rods 905, and the other ends of the two driving connecting rods 905 are hinged to the two hinged rods 906 respectively.

[0034] When the two clamping jaw bodies 907 need to be opened, the clamping jaw hydraulic cylinder 901 is extended, and the clamping jaw hydraulic cylinder 901 pushes the clamping jaw driving block 904 upward (to Figure 4The two driving links 905 are then moved to both sides and push the hinge rods 906 (i.e., the jaw connecting rods 903) on both sides to move to both sides, thus finally making the two jaw bodies 907 move back to back, thereby opening the jaw bodies 907.

[0035] When the clamping jaw body 907 is to be retracted, it is only necessary to retract the clamping jaw hydraulic cylinder 901. The specific movement process is opposite to the above movement process, so it will not be described in detail.

[0036] This specification uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, according to the idea of ​​the utility model, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A multi-degree-of-freedom mold operating manipulator for press-fitting of explosives, characterized in that: The invention comprises a rotary drive device and a rotating chassis, wherein the rotary drive device is used for driving the rotating chassis to rotate, a vertical telescopic beam is fixed on the rotating chassis, a vertical telescopic beam is connected to the vertical telescopic beam, the vertical telescopic beam comprises a vertical outer beam and a vertical inner beam, the lower end of the vertical inner beam is fixed on the rotating chassis, the vertical outer beam is slidably connected to the outer side of the vertical inner beam, two ends of the vertical hydraulic cylinder are respectively fixed to the vertical outer beam and the vertical inner beam, a transverse telescopic beam is fixed on the outer wall of the vertical outer beam, a transverse hydraulic cylinder is connected to the transverse telescopic beam, the transverse telescopic beam comprises a transverse outer beam and a transverse inner beam, the transverse outer beam is fixed on the vertical outer beam, the transverse inner beam is slidably connected to the inside of the transverse outer beam, two ends of the transverse hydraulic cylinder are respectively fixed to the transverse outer beam and the transverse inner beam, a clamping jaw assembly is fixed at one end of the transverse inner beam, and the clamping jaw assembly can be used to clamp a mold.

2. The multi-degree-of-freedom mold operating manipulator for press-fitting of explosives according to claim 1 is characterized in that: The rotary drive device comprises a drive motor, an output shaft of which is fixed with a driving gear, the driving gear is meshed with an outer gear ring of an external gear slewing bearing, and the outer gear ring of the external gear slewing bearing is fixed to the lower surface of the rotating chassis.

3. The multi-degree-of-freedom mold operating manipulator for press-fitting of explosives according to claim 2 is characterized in that: The driving motor is fixed on a motor bracket, and the motor bracket is a C-shaped plate structure.

4. The multi-degree-of-freedom mold operating manipulator for press-fitting of explosives according to claim 1 is characterized in that: There are two transverse telescopic beams, and the two transverse telescopic beams are respectively arranged on both sides of the vertical outer beam.

5. The multi-degree-of-freedom mold operating manipulator for press-fitting of explosives according to claim 1 is characterized in that: A fixing plate and two fixing strips are respectively provided on both sides of the transverse outer beam, the fixing plate is located between the transverse outer beam and the vertical outer beam, the fixing plate is fixedly connected to the vertical outer beam, the two fixing strips are located on a side surface of the transverse outer beam away from the vertical outer beam, and the fixing plate and the fixing strips are connected by bolts.

6. The multi-degree-of-freedom mold operating manipulator for press-fitting of explosives according to claim 1 is characterized in that: The clamp assembly includes a clamp hydraulic cylinder, which is fixed to a clamp fixing plate, which is fixedly connected to one end of the transverse inner beam, and one end of two clamp connecting rods is hinged on the clamp fixing plate, and the other end of the clamp connecting rod is connected to a clamp body, and an articulated rod is also hinged on the clamp connecting rod. A clamp driving block is fixed on the telescopic end of the clamp hydraulic cylinder, and one end of two driving connecting rods is hinged on the clamp driving block, and the other ends of the two driving connecting rods are respectively hinged to the two articulated rods.

Images