Cartridge clamping mechanical claw
By designing a gripping and stabilizing mechanism for the explosive cartridge clamping machine, the difficult problem of gripping and transferring explosive cartridges in the production of emulsion explosives was solved, achieving stable gripping and safe transfer.
Patent Information
- Application Number
- CN202520308334.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-25
- Publication Date
- 2026-01-02
- Estimated Expiration
- 2035-02-25
AI Technical Summary
In the production of emulsion explosives, the smooth structure and soft texture of the explosive cartridges make them difficult to grasp and transport, and existing mechanical grippers are unable to stably hold and transport them.
A mechanical gripper for holding medicine rolls was designed, including a gripping mechanism and a stabilizing mechanism. The gripping mechanism uses claws to encircle both ends of the medicine roll, while the stabilizing mechanism uses protective plates to cover the medicine roll from both sides, achieving stable gripping and transfer.
It improves the stability of drug roll transportation, reduces interference during the grasping process, and ensures that the drug roll does not fall in the air. The design is reasonable and safe.
Smart Images
Figure CN223749657U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical claw technical field especially relates to cartridge clamping mechanical claw. BACKGROUND
[0002] When emulsion explosive cartridge production is carried out, in order to improve work efficiency, mechanical arm and mechanical claw are configured to grab cartridge, due to the structural features of cartridge, general cartridge is cylindrical structure, its structure surface is smooth, and because emulsion explosive is filled in cartridge, the texture is relatively soft, leads to uneven distribution of emulsion explosive in cartridge, improves the transfer difficulty after grabbing, in order to solve the grabbing and transfer difficulty of cartridge, cartridge clamping mechanical claw is designed. SUMMARY
[0003] The utility model aims at at least one of the technical problems in the related art is solved to some extent. Therefore, one purpose of the utility model is to propose cartridge clamping mechanical claw transfer stability, reasonable in design, safe and reliable.
[0004] According to the cartridge clamping mechanical claw provided by the utility model, the inside of the machine box is provided with a grabbing mechanism and a stable mechanism.
[0005] The grabbing mechanism comprises a first electric push rod fixed symmetrically on the upper surface of the machine cover, the bottom moving end of the first electric push rod penetrates the machine cover and extends into the machine box, the bottom of the first electric push rod is fixed with a synchronous plate, the lower surfaces of the two ends of the synchronous plate are fixed with toothed plates symmetrically, claw pieces are symmetrically arranged on the two sides of the toothed plates, and deflection gears are fixed symmetrically on the top of the two sides of the claw pieces.
[0006] The stable mechanism comprises a bidirectional screw rod movably installed in the inside of the machine box and a sliding groove plate fixed symmetrically on the outer side wall of the machine box, the surface of the bidirectional screw rod is provided with translation pieces symmetrically, the surfaces of the translation pieces are movably installed with protection plates symmetrically, the lower surfaces of the sliding groove plate are movably installed with sliding pieces symmetrically, springs are fixed one by one between the sliding pieces and the protection plates at the same position on the same side, and the second electric push rods are arranged between the protection plates and the lower surface of the machine cover.
[0007] Preferably, the inside of the machine box is fixed with mounting plates symmetrically, limit gears are movably installed between the mounting plates and the inner side wall of the machine box, the deflection gears are movably installed between the mounting plates and the machine box, the limit gears are engaged with the deflection gears, and the deflection gears are engaged with the toothed plates.
[0008] Preferably, the side wall of the limit gear is fixed with a limit plate.
[0009] Preferably, the side wall of the toothed plate is provided with a waist hole, the bidirectional screw rod penetrates through the waist hole, and one end of the bidirectional screw rod extends out of the cabinet and is fixed with a rotating disc.
[0010] Preferably, the inside of the cabinet is symmetrically provided with a limiting rod, the translating part is slidingly installed on the surface of the limiting rod, the inside of the translating part is fixed with a screw nut, and the screw nut is threadedly installed on the surface of the bidirectional screw rod.
[0011] Preferably, the bottom of the cabinet is provided with a first groove, the holding plate moves in the first groove, the inside of the cabinet and the two sides of the first groove are symmetrically provided with a second groove, and the claw part on the same side moves in the second groove.
[0012] The beneficial effects of the utility model are:
[0013] 1. The mechanical claw is provided with a grabbing mechanism and a stabilizing mechanism, the claw part of the grabbing mechanism embraces and lifts the cartridge, at this time, only the two ends of the cartridge are lifted, and then the holding plate of the stabilizing mechanism covers the cartridge from both sides, so that the cartridge of emulsion explosive is tightly held, the covering area of the cartridge during grabbing is large, and the transfer stability is improved.
[0014] 2. The mechanical claw divides the process into two steps of grabbing and covering, the claw part is arranged at both ends of the mechanical claw during grabbing, the interference of the cartridge outside the target on the mechanical claw during clamping is reduced, the grabbing process is simpler, the cartridge is covered and clamped in the air after grabbing, the stability of the subsequent transfer process is improved, the cartridge is prevented from falling, the design is reasonable, and the safety is reliable. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 It is a whole structure schematic view of the cartridge clamping mechanical claw.
[0016] Figure 2 It is a local sectional view of the cartridge clamping mechanical claw.
[0017] Figure 3 It is an explosion view of the whole structure of the cartridge clamping mechanical claw.
[0018] Figure 4 It is a structure schematic view of the grabbing mechanism of the cartridge clamping mechanical claw.
[0019] Figure 5 It is a structure schematic view of the stabilizing mechanism of the cartridge clamping mechanical claw.
[0020] In the figure: 1, case; 2, cover; 3, docking piece; 4, grabbing mechanism; 401, first electric push rod; 402, synchronous plate; 403, toothed plate; 404, claw piece; 405, deflection gear; 406, limit gear; 407, limit plate; 408, waist hole; 5, stabilizing mechanism; 501, bidirectional screw; 502, sliding groove plate; 503, translation piece; 504, holding plate; 505, sliding piece; 506, spring; 507, second electric push rod; 508, limit rod; 6, mounting plate; 7, first through slot; 8, second through slot. DETAILED DESCRIPTION
[0021] Referring to Figures 1-5 The cigarette clamping mechanical claw comprises a case 1, the top of the case 1 is fixed with a cover 2, the upper surface of the cover 2 is fixed with a docking piece 3 in the middle, and the inside of the case 1 is provided with a grabbing mechanism 4 and a stabilizing mechanism 5;
[0022] The grabbing mechanism 4 comprises first electric push rods 401 fixed symmetrically on the upper surface of the cover 2, the bottom moving ends of the first electric push rods 401 penetrate through the cover 2 and extend into the case 1, the bottom of the first electric push rods 401 is jointly fixed with a synchronous plate 402, the lower surfaces of the two ends of the synchronous plate 402 are fixed symmetrically with toothed plates 403, the two sides of the toothed plates 403 are symmetrically provided with claw pieces 404, and the top of the claw pieces 404 is fixed symmetrically with deflection gears 405 on both sides.
[0023] The stabilizing mechanism 5 comprises a bidirectional screw 501 movably mounted in the inside of the case 1 and a sliding groove plate 502 fixed symmetrically on the outer side wall of the case 1, the surface of the bidirectional screw 501 is symmetrically provided with translation pieces 503, the surface of the translation pieces 503 is movably mounted with holding plates 504 symmetrically, the lower surface of the sliding groove plate 502 is movably mounted with sliding pieces 505 symmetrically, the sliding pieces 505 and the holding plates 504 at the same position on the same side are fixed with springs 506 one by one, the holding plates 504 and the lower surface of the cover 2 are provided with second electric push rods 507, the bottom moving end of the second electric push rod 507 is movably connected with the holding plate 504, the top of the second electric push rod 507 is movably connected with the lower surface of the cover 2, the second electric push rod 507 is extended and contracted to drive the holding plate 504 to deflect, and then the stability of the holding plate 504 when deflecting is improved through the installation of the spring 506.
[0024] The inside of the case 1 is fixed symmetrically with a mounting plate 6, the limit gear 406 is movably mounted between the mounting plate 6 and the inner side wall of the case 1, the deflection gear 405 is movably mounted between the mounting plate 6 and the case 1, the limit gear 406 is engaged with the deflection gear 405, and the deflection gear 405 is engaged with the toothed plate 403.
[0025] The side wall of the limiting gear 406 is fixed with a limiting plate 407, the position of the deflection gear 405 is limited by arranging the limiting gear 406 and the limiting plate 407, the operation stability is improved, and the claw part 404 part can grab the cigarette with larger mass.
[0026] The side wall of the tooth plate 403 is provided with a waist hole 408, the bidirectional screw rod 501 penetrates the waist hole 408, one end of the bidirectional screw rod 501 extends out of the cabinet 1 and is fixed with a rotating disc, the position of the holding plate 504 is manually adjusted by rotating the rotating disc before operation.
[0027] The inside of the cabinet 1 is fixed with a limiting rod 508 symmetrically, the translation part 503 is slidingly installed on the surface of the limiting rod 508, the inside of the translation part 503 is fixed with a screw nut, the screw nut is screwedly installed on the surface of the bidirectional screw rod 501, the movement stability of the translation part 503 is improved by arranging the limiting rod 508, and the limiting rod 508 is arranged in the cabinet 1 to avoid the tooth plate 403 and the deflection gear 405.
[0028] The bottom of the cabinet 1 is provided with a first groove, the holding plate 504 moves in the first groove 7, the inside of the cabinet 1 and the two sides of the first groove 7 are symmetrically provided with a second groove 8, and the claw part 404 moves in the second groove 8.
[0029] When the device is used, the butt joint 3 at the top of the mechanical claw is connected with the mechanical arm, and each electrical element in the mechanical claw is electrically connected with the mechanical arm, the terminal controller is used for controlling and operating the mechanical claw, after the assembly and power supply are completed, the rotating disc is rotated to drive the bidirectional screw 501 to rotate, and then the two side translation pieces 503 are synchronously and reversely moved, the two groups of protection plates 504 are synchronously and reversely moved, simultaneously, the sliding piece 505 moves horizontally in the sliding groove plate 502 according to the position of the translation piece 503, and the preliminary adjustment of the stable mechanism 5 is completed, during work, the mechanical arm is used to drive the mechanical claw to move to the position of the cartridge, the grabbing mechanism 4 works, the moving end of the first electric push rod 401 is elongated to drive the synchronous plate 402 to move downwards, the synchronous plate 402 drives the two side toothed plates 403 to move downwards, since the toothed plates 403 are engaged with the deflection gear 405, the toothed plates 403 are driven to rotate by the deflection gear 405, the deflection gear 405 is rotated to drive the claw pieces 404 to deflect, the toothed plates 403 are engaged with the deflection gears 405 on the two sides, the claw pieces 404 on the two sides are synchronously deflected, the bottoms of the claw pieces 404 are deflected away from each other, the claw pieces 404 are in an open state, the mechanical arm drives the mechanical claw to further move downwards, the two groups of claw pieces 404 are located outside the cartridge, the moving end of the first electric push rod 401 is retracted, the claw pieces 404 are deflected towards each other, the cartridge is tightly held, the mechanical arm drives the mechanical claw to move upwards, the cartridge is lifted, the stable mechanism 5 works, the bottom moving end of the second electric push rod 507 is elongated, the moving end of the second electric push rod 507 is pressed downwards to drive the protection plate 504 to deflect, the protection plate 504 covers the cartridge from the two sides to provide support for the cartridge, and the cartridge is prevented from slipping out of the mechanical claw, when the mechanical arm takes the cartridge to the next working position, the protection plate 504 is loosened, and then the claw pieces 404 are released, the cartridge is placed, and the transfer of the cartridge is completed.
Claims
1. A cartridge holding mechanical gripper, characterized by: Including the machine case, the top of the machine case is fixed with the machine cover, the upper surface of the machine cover is fixed with the docking piece, the inside of the machine case is provided with the grab mechanism and the stable mechanism; The grab mechanism includes the first electric push rod fixed symmetrically on the upper surface of the machine cover, the bottom moving end of the first electric push rod penetrates the machine cover and extends into the machine case, the bottom of the first electric push rod is fixed with the synchronization plate, the lower surfaces of the two ends of the synchronization plate are fixed with the toothed plate symmetrically, the two sides of the toothed plate are symmetrically provided with the claw piece, and the top of the claw piece is fixed with the deflection gear symmetrically. The stable mechanism includes the bidirectional screw rod movably installed in the inside of the machine case and the sliding groove plate fixed symmetrically on the outside wall of the machine case, the surface of the bidirectional screw rod is provided with the translation piece symmetrically, the surface of the translation piece is movably provided with the protection plate symmetrically, the lower surface of the sliding groove plate is movably provided with the sliding piece symmetrically, the sliding piece and the protection plate at the same position on the same side are fixed with the spring one by one, and the protection plate and the lower surface of the machine cover are provided with the second electric push rod.
2. The cartridge holding mechanical gripper according to claim 1, characterized in that: The inside of the machine case is fixed with the mounting plate symmetrically, the mounting plate and the inner side wall of the machine case are movably provided with the limiting gear, the deflection gear is movably installed between the mounting plate and the machine case, the limiting gear is engaged with the deflection gear, and the deflection gear is engaged with the toothed plate.
3. The cartridge holding mechanical gripper according to claim 2, characterized in that: The side wall of the limiting gear is fixed with the limiting plate.
4. The cartridge holding mechanical gripper of claim 1, wherein: The side wall of the toothed plate is provided with the waist hole, the bidirectional screw rod penetrates the waist hole, and one end of the bidirectional screw rod extends out of the machine case and is fixed with the rotating disc.
5. The cartridge holding mechanical gripper of claim 1, wherein: The inside of the machine case is fixed with the limiting rod symmetrically, the translation piece is slidably installed on the surface of the limiting rod, the inside of the translation piece is fixed with the screw nut, and the screw nut is threadedly installed on the surface of the bidirectional screw rod.
6. The cartridge holding mechanical gripper of claim 1, wherein: The bottom of the machine case is provided with the first through groove, the protection plate moves in the first through groove, the inside of the machine case and the two sides of the first through groove are symmetrically provided with the second through groove, and the claw pieces on the same side move in the second through groove.