A detonator holder feeding and grabbing system

Abstract

A detonator seat feeding and grabbing system comprises a pair of feeding devices and an automatic grabbing machine, the feeding device comprises a feeding shell (1), a stepped pushing mechanism, a translation conveyor (2) and a discharge conveyor (3), the stepped pushing mechanism is installed in the feeding shell (1), the translation conveyor (2) is installed in the feeding shell (1) and located above the stepped pushing mechanism, and the stepped pushing mechanism is used for pushing the detonator seat (100) in the feeding shell (1) to the translation conveyor (2); the advantages are that the detonator seat is arranged at a high speed, the machine is not blocked, the maintenance cost is reduced, and the production efficiency of the factory is improved. The detonator seat is grabbed at a high speed in batches, and the automatic grabbing reduces the labor intensity of workers.

Description

Technical Field

[0001] This utility model relates to the field of detonator charge production equipment, specifically to a detonator holder feeding and gripping system. Background Technology

[0002] Currently, on the seismic source charge production line, a feeding device is needed to organize the messy detonator holders into a vertically arranged sequence for easier subsequent installation. Existing feeding devices are mostly tray-type, which, due to the long length of the detonator holders, have a slow feeding speed, are prone to jamming, and affect factory production efficiency. The detonator holders delivered by the feeding device need to be arranged in a ring, forming inner and outer ring detonator holder assemblies, in preparation for subsequent centralized installation into the seismic source charge casing. There is a lack of an automated gripper capable of clamping and transferring the outer and inner ring detonator holders in batches to the material handling unit. Utility Model Content

[0003] The purpose of this invention is to address the above-mentioned shortcomings by providing a detonator holder feeding and gripping system.

[0004] This utility model includes a pair of feeding devices and an automatic gripper.

[0005] The feeding device includes a feeding shell, a stepped pushing mechanism, a horizontal conveyor, and a discharge conveyor.

[0006] The stepped pushing mechanism is installed inside the loading shell, and the translation conveyor is installed inside the loading shell and located above the stepped pushing mechanism. The stepped pushing mechanism is used to push the detonator seat inside the loading shell onto the translation conveyor. The discharge conveyor is installed on one side of the loading shell through the frame, and the feed end of the discharge conveyor is connected to the discharge end of the translation conveyor.

[0007] The automated gripper includes a gripping frame and a pair of transfer components.

[0008] A material handling tube assembly is installed in the middle of the base plate of the gripper frame.

[0009] The transfer assembly includes a rotary table, a feeding conveyor, and a slide table. A set of evenly distributed receiving slots are arranged in a ring on the rotary table. The discharge end of the feeding conveyor is connected to the feed inlet of the rotary table. A lifting cylinder is installed at the bottom of the slide block of the slide table, and a set of grippers corresponding to the receiving slots are evenly distributed in a ring at the end of the lifting cylinder.

[0010] The rotary table and the feed conveyor are respectively installed on the bottom plate of the gripper frame, the slide is installed at the bottom of the top plate of the gripper frame, and the material handling tube assembly is located between a pair of transfer components;

[0011] The discharge port of the discharge conveyor is connected to the inlet of the feed conveyor.

[0012] The stepped feeding mechanism includes a primary feeding plate, a transfer plate, and a secondary feeding plate arranged in an inclined stepped pattern. The transfer plate is fixedly installed inside the feeding housing. The feeding housing is equipped with a support plate and a feeding plate, forming a V-shaped storage area between the support plate and the feeding plate. A pushing device drives the primary feeding plate and the secondary feeding plate to move synchronously up and down along the feeding plate, pushing the detonator seat in the V-shaped storage area onto the translational conveyor. The primary feeding plate, the transfer plate, and the secondary feeding plate are all L-shaped plates.

[0013] The pushing device is installed inside the feeding housing via a support frame. The pushing device is a pneumatic slide table. An L-shaped slider is provided at the end of the piston rod of the pneumatic slide table. The L-shaped slider slides along the top surface of the cylinder of the pneumatic slide table. The first-stage pusher plate is installed at the tail of the L-shaped slider, and the second-stage pusher plate is installed at the head of the L-shaped slider. The pneumatic slide table simultaneously drives the first-stage pusher plate and the second-stage pusher plate to rise or fall.

[0014] A pair of chutes are provided on the inner walls of both sides of the feeding shell, and the primary pusher plate and the secondary pusher plate are located in the corresponding chutes. The discharge end of the feeding plate is located on one side of the translation conveyor, and the discharge end of the feeding plate is higher than the conveying surface of the translation conveyor. A return chute is provided on the side wall of the feeding shell. The inlet of the return chute is located on the side of the connection between the translation conveyor and the discharge conveyor, and the outlet of the return chute is connected to the V-shaped storage area.

[0015] The return chute is inclined to the inside of the feed housing, and a triangular feed baffle is provided on the inside of the feed inlet of the return chute.

[0016] The discharge conveyor is a double-row synchronous belt conveyor; the translation conveyor is a belt conveyor, and the top of the feeding shell is equipped with a discharge baffle, which is located on the outside of the translation conveyor.

[0017] A pair of transfer components consists of an outer ring transfer component and an inner ring transfer component. The diameter of the rotating disk of the outer ring transfer component is larger than that of the rotating disk of the inner ring transfer component. The material handling tube group consists of a set of outer ring feeding tubes and a set of inner ring feeding tubes evenly distributed in a ring.

[0018] The rotating disk includes a servo motor, a planetary reducer, a turntable frame, and a disk body. The power output shaft of the servo motor is connected to the power input shaft of the planetary reducer. The power output shaft of the planetary reducer is fixedly connected to the center of the disk body. The turntable frame consists of a chassis and a limiting ring. The limiting ring is mounted on the chassis via a set of support columns. The planetary reducer is mounted on the chassis. The disk body is located inside the limiting ring. A set of receiving grooves are evenly distributed in a ring on the outer circumference of the disk body.

[0019] The receiving trough is a circular trough, and a set of grippers extending into the trough are evenly distributed in a ring on the inner wall of the receiving trough; the limiting ring of the turntable frame has a feed port, and the feeding conveyor is connected to the corresponding receiving trough through the feed port; the limiting ring of the turntable frame has a set of gripper compensation grooves that are evenly distributed in a ring and coupled with the gripper extension grooves.

[0020] The feeding conveyor is a double-row chain conveyor, with a detonator holder accommodating area formed between the two conveyor chains; the piston rod end of the lifting cylinder is equipped with a clamping plate, and a set of grippers are evenly distributed in a ring at the bottom of the clamping plate; the grippers are pneumatic three-finger grippers, and the slide is a pneumatic slide.

[0021] The advantages of this invention are: fast detonator holder material handling speed, no machine jamming, reduced maintenance costs, and improved factory production efficiency. The rapid batch grasping of detonator holders and the automatic grasping reduce the labor intensity of workers. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the feeding device of this utility model.

[0023] Figure 2 This is a schematic diagram of the structure of the return material chute of this utility model.

[0024] Figure 3 This is a side view of the stepped feeding mechanism of this utility model when it moves to the bottom.

[0025] Figure 4 This is a side view of the stepped feeding mechanism of this utility model for lifting the detonator seat.

[0026] Figure 5 This is a structural schematic diagram of the automatic gripper of this utility model.

[0027] Figure 6 This is a schematic diagram of the outer ring transfer component of this utility model.

[0028] Figure 7 This is a schematic diagram of the inner ring transfer component of this utility model.

[0029] Figure 8 This is a schematic diagram of the structure of the slide table of this utility model.

[0030] Figure 9 This is a schematic diagram of the main structure of the automatic gripper of this utility model. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0032] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0034] In the description of the embodiments of this invention, it should be noted that if terms such as "upper," "lower," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use, they are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, if terms such as "first" or "second" appear in the description of this invention, they are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention based on the specific circumstances.

[0036] As shown in the attached drawings, this utility model includes a pair of feeding devices and an automatic gripper.

[0037] The feeding device includes a feeding shell 1, a stepped pushing mechanism, a horizontal conveyor 2, and a discharge conveyor 3.

[0038] A stepped pushing mechanism is installed inside the loading housing 1, and a translation conveyor 2 is installed inside the loading housing 1 and located above the stepped pushing mechanism. The stepped pushing mechanism is used to push the detonator seat 100 inside the loading housing 1 onto the translation conveyor 2. The discharge conveyor 3 is installed on one side of the loading housing 1 through a frame, and the feed end of the discharge conveyor 3 is connected to the discharge end of the translation conveyor 2.

[0039] The automated gripper includes a gripping frame 21 and a pair of transfer components.

[0040] A material handling tube assembly 22 is installed in the middle of the base plate of the gripper frame 21.

[0041] The transfer assembly includes a rotating disk 23, a feeding conveyor 24, and a slide table 25. A set of receiving grooves 26 are evenly distributed in a ring on the rotating disk 23. The discharge end of the feeding conveyor 24 is connected to the feed inlet of the rotating disk 23. A lifting cylinder 27 is installed at the bottom of the slider of the slide table 25. A set of grippers 28 corresponding to the receiving grooves 26 are evenly distributed in a ring at the end of the lifting cylinder 27.

[0042] The rotating disk 23 and the feeding conveyor 24 are respectively installed on the bottom plate of the gripper frame 21, the slide table 25 is installed at the bottom of the top plate of the gripper frame 21, and the material handling tube assembly 22 is located between a pair of transfer components;

[0043] The discharge port of the discharge conveyor 3 is connected to the inlet of the feed conveyor 24.

[0044] The stepped feeding mechanism includes a primary feeding plate 4, a transfer plate 5, and a secondary feeding plate 6 arranged in an inclined stepped manner. The transfer plate 5 is fixedly installed inside the feeding housing 1. The feeding housing 1 is provided with a support plate 7 and a feeding plate 8. A V-shaped storage area 9 is formed between the support plate 7 and the feeding plate 8. The primary feeding plate 4 and the secondary feeding plate 6 are driven by the pushing device 10 to move synchronously up and down along the feeding plate 8, pushing the detonator seat 100 in the V-shaped storage area 8 onto the translational conveyor 2. The primary feeding plate 4, the transfer plate 5, and the secondary feeding plate 6 are all L-shaped plates.

[0045] The pushing device 10 is installed inside the feeding housing 1 via a support frame. The pushing device 10 is a pneumatic slide table. An L-shaped slider 11 is provided at the end of the piston rod of the pneumatic slide table. The L-shaped slider 11 slides along the top surface of the cylinder of the pneumatic slide table. The first-stage pusher plate 4 is installed at the tail of the L-shaped slider 11, and the second-stage pusher plate 6 is installed at the head of the L-shaped slider 11. The pneumatic slide table simultaneously drives the first-stage pusher plate 4 and the second-stage pusher plate 6 to rise or fall.

[0046] A pair of chutes are provided on the inner walls of both sides of the feeding housing 1, and the primary pusher plate 4 and the secondary pusher plate 6 are located in the corresponding chutes. The discharge end of the feeding plate 8 is located on one side of the translation conveyor 2, and the discharge end of the feeding plate 8 is higher than the conveying surface of the translation conveyor 2. A return chute 12 is provided on the side wall of the feeding housing 1. The inlet of the return chute 12 is located on the side of the connection between the translation conveyor 2 and the discharge conveyor 3, and the outlet of the return chute 12 is connected to the V-shaped storage area 9.

[0047] The return chute 12 is inclined to the inside of the feed housing 1, and a triangular feed baffle 13 is provided on the inside of the feed inlet of the return chute 12.

[0048] The discharge conveyor 3 is a double-row synchronous belt conveyor; the translation conveyor 2 is a belt conveyor, and the top of the feeding housing 1 is equipped with a discharge baffle, which is located outside the translation conveyor 2.

[0049] A pair of transfer components consists of an outer ring transfer component and an inner ring transfer component. The diameter of the rotating disk 23 of the outer ring transfer component is larger than the diameter of the rotating disk 23 of the inner ring transfer component. The material handling tube group 22 consists of a set of outer ring feeding tubes and a set of inner ring feeding tubes evenly distributed in a ring.

[0050] The rotating disk 23 includes a servo motor 29, a planetary reducer 30, a turntable frame 31, and a disk body 32. The power output shaft of the servo motor 29 is connected to the power input shaft of the planetary reducer 30. The power output shaft of the planetary reducer 30 is fixedly connected to the center of the disk body 32. The turntable frame 31 consists of a chassis and a limiting ring. The limiting ring is mounted on the chassis via a set of support columns. The planetary reducer 30 is mounted on the chassis. The disk body 32 is located inside the limiting ring. A set of receiving grooves 26 are evenly distributed in a ring on the outer circumference of the disk body 32.

[0051] The receiving groove 26 is a circular groove, and a set of gripper extension grooves 33 are evenly distributed in a ring on the inner wall of the receiving groove 26; the limiting ring of the turntable frame 31 has a feed port, and the feeding conveyor 24 is connected to the corresponding receiving groove 26 through the feed port; a set of gripper compensation grooves 34 coupled with the gripper extension grooves 33 are evenly distributed in a ring on the limiting ring of the turntable frame 31.

[0052] The feeding conveyor 24 is a double-row chain conveyor, and a detonator seat accommodating area is formed between the two conveying chains; the piston rod end of the lifting cylinder 27 is provided with a clamping plate 35, and a set of grippers 28 are evenly distributed in a ring at the bottom of the clamping plate 35; the grippers 28 are pneumatic three-finger grippers, and the slide table 25 is a pneumatic slide table.

[0053] Example 1: Workers pour a full box of detonator holders 100 into the V-shaped storage area 9. The pushing device 10 simultaneously raises or lowers the primary pusher plate 4 and the secondary pusher plate 6. The primary pusher plate 4 pushes the detonator holders 100 in the V-shaped storage area 9 to the end plate of the transfer plate 5 for temporary storage. The secondary pusher plate 6 moves to its highest point and then lowers, with its end plate aligned with the end plate of the transfer plate 5. Under gravity, the detonator holders 100 fall onto the end plate of the secondary pusher plate 6. The secondary pusher plate 6 then moves upward, pushing the detonator holders 100 into the translation conveyor 2. Driven by the translation conveyor 2, the randomly arranged detonator holders 100 are conveyed to the discharge conveyor 3. Detonator holders 100 in suitable positions fall into the conveying area of ​​the discharge conveyor 3 and are sequentially conveyed to the next workstation. If multiple detonator holders 100 that are misaligned or clustered together enter the feed end of the discharge conveyor 3, they will fall into the return chute 12 and slide along the return chute 12 into the V-shaped storage area 9, waiting to be reloaded.

[0054] Two feeding devices simultaneously feed materials to the corresponding feeding conveyor 24. The feeding conveyor 24 transports the sequentially arranged detonator seats 100 to the feed inlet of the limiting ring of the turntable frame 31. The servo motor 29 drives the disc body 32 to rotate continuously at a specified angle through the planetary reducer 30. The detonator seats 100 pass through the feed inlet and enter the corresponding receiving slot 26. When all the receiving slots 26 on the disc body 32 contain detonator seats 100, the servo motor 29 stops running. The lifting cylinder 27 drives a set of grippers 28 to move down and extend into the corresponding gripper slot 33. The grippers 28 clamp the detonator seats 100. The lifting cylinder 27 rises and resets, lifting the detonator seats 100. Driven by the slide table 25, the detonator seats 100 are moved horizontally above the material handling tube group 22. The lifting cylinder 27 lowers, the grippers 28 are released, and the detonator seats 100 fall into the material handling tube group 22 and enter the next station.

[0055] As attached Figure 5 As shown, the left-hand transfer component is used to grab detonator holders 100 with a smaller number of inner rings. The left-hand transfer component moves to the right to place the detonator holders 100 into a set of inner ring feeding tubes of the material handling tube group 22. The right-hand transfer component is used to grab detonator holders 100 with a larger number of outer rings. The right-hand transfer component moves to the left to place the detonator holders 100 into a set of outer ring feeding tubes of the material handling tube group 22.

[0056] The gripper compensation groove 34 is coupled with the two gripper extension grooves 33 on the outside to form a whole. This can reduce the thickness of the limiting ring of the turntable frame 31, and can also be used to check whether the rotation angle of the servo motor 29 is accurate.

Claims

1. A detonator holder feeding and gripping system, characterized in that... Includes a pair of feeding devices and an automatic gripper. The feeding device includes a feeding shell (1), a stepped pushing mechanism, a translational conveyor (2), and a discharge conveyor (3). The stepped pushing mechanism is installed inside the loading shell (1), and the translation conveyor (2) is installed inside the loading shell (1) and located above the stepped pushing mechanism. The stepped pushing mechanism is used to push the detonator seat (100) inside the loading shell (1) onto the translation conveyor (2). The discharge conveyor (3) is installed on one side of the loading shell (1) through the frame. The feed end of the discharge conveyor (3) is connected to the discharge end of the translation conveyor (2). The automated gripper includes a gripping frame (21) and a pair of transfer components. A material handling tube assembly (22) is provided in the middle of the base plate of the gripper frame (21). The transfer assembly includes a rotating disk (23), a feeding conveyor (24), and a slide (25). A set of receiving grooves (26) are evenly distributed in a ring on the rotating disk (23). The discharge end of the feeding conveyor (24) is connected to the feed port of the rotating disk (23). A lifting cylinder (27) is provided at the bottom of the slider of the slide (25). A set of grippers (28) corresponding to the receiving grooves (26) are evenly distributed in a ring at the end of the lifting cylinder (27). The rotating disk (23) and the feeding conveyor (24) are respectively installed on the bottom plate of the gripper frame (21), the slide table (25) is installed at the bottom of the top plate of the gripper frame (21), and the material handling tube assembly (22) is located between a pair of transfer components; The discharge port of the discharge conveyor (3) is connected to the inlet of the feed conveyor (24); The discharge conveyor (3) is a double-row synchronous belt conveyor; the translation conveyor (2) is a belt conveyor, and the top of the loading shell (1) is equipped with a discharge baffle, which is located outside the translation conveyor (2); The feeding conveyor (24) is a double-row chain conveyor, and a detonator seat accommodating area is formed between the two conveying chains; the piston rod end of the lifting cylinder (27) is provided with a clamping plate (35), and a set of grippers (28) are evenly distributed in a ring at the bottom of the clamping plate (35); the grippers (28) are pneumatic three-finger grippers, and the slide (25) is a pneumatic slide.

2. The detonator holder feeding and gripping system according to claim 1, characterized in that, The stepped pushing mechanism includes a first-stage pushing plate (4), a transfer plate (5), and a second-stage pushing plate (6) arranged in an inclined stepped manner. The transfer plate (5) is fixedly installed inside the loading shell (1). The loading shell (1) is provided with a support plate (7) and a loading plate (8). A V-shaped storage area (9) is formed between the support plate (7) and the loading plate (8). The first-stage pushing plate (4) and the second-stage pushing plate (6) are driven to move synchronously up and down along the loading plate (8) by the pushing device (10), pushing the detonator seat (100) in the V-shaped storage area (9) onto the translation conveyor (2). The first-stage pushing plate (4), the transfer plate (5), and the second-stage pushing plate (6) are all L-shaped plates.

3. The detonator holder feeding and gripping system according to claim 2, characterized in that, The pushing device (10) is installed in the loading housing (1) through the support frame. The pushing device (10) is a pneumatic slide table. The piston rod end of the pneumatic slide table is provided with an L-shaped slider (11). The L-shaped slider (11) slides along the top surface of the cylinder of the pneumatic slide table. The first-stage pusher plate (4) is installed at the tail of the L-shaped slider (11), and the second-stage pusher plate (6) is installed at the head of the L-shaped slider (11). The pneumatic slide table simultaneously drives the first-stage pusher plate (4) and the second-stage pusher plate (6) to rise or fall.

4. The detonator holder feeding and gripping system according to claim 3, characterized in that, A pair of chutes are provided on the inner walls of both sides of the feeding shell (1), and the first-stage pusher plate (4) and the second-stage pusher plate (6) are located in the corresponding chutes. The discharge end of the feeding plate (8) is located on one side of the translation conveyor (2), and the discharge end of the feeding plate (8) is higher than the conveying surface of the translation conveyor (2). A return chute (12) is provided on the side wall of the feeding shell (1). The inlet of the return chute (12) is located on one side of the connection between the translation conveyor (2) and the discharge conveyor (3). The outlet of the return chute (12) is connected to the V-shaped storage area (9).

5. The detonator holder feeding and gripping system according to claim 4, characterized in that, The return chute (12) is inclined to the inside of the feed housing (1), and a triangular feed baffle (13) is provided on the inside of the feed inlet of the return chute (12).

6. The detonator holder feeding and gripping system according to claim 1, characterized in that, A pair of transfer components consists of an outer ring transfer component and an inner ring transfer component. The diameter of the rotating disk (23) of the outer ring transfer component is larger than the diameter of the rotating disk (23) of the inner ring transfer component. The material handling tube group (22) consists of a set of outer ring feeding tubes and a set of inner ring feeding tubes evenly distributed in a ring.

7. The detonator holder feeding and gripping system according to claim 6, characterized in that, The rotating disk (23) includes a servo motor (29), a planetary reducer (30), a turntable frame (31), and a disk body (32). The power output shaft of the servo motor (29) is connected to the power input shaft of the planetary reducer (30). The power output shaft of the planetary reducer (30) is fixedly connected to the center of the disk body (32). The turntable frame (31) consists of a chassis and a limiting ring. The limiting ring is mounted on the chassis via a set of support columns. The planetary reducer (30) is mounted on the chassis. The disk body (32) is located inside the limiting ring. A set of receiving grooves (26) are evenly distributed in a ring on the outer circumference of the disk body (32).

8. The detonator holder feeding and gripping system according to claim 7, characterized in that, The receiving groove (26) is a circular groove, and a set of gripper extension grooves (33) are evenly distributed in a ring on the inner wall of the receiving groove (26); the limiting ring of the turntable frame (31) has a feed port, and the feeding conveyor (24) is connected to the corresponding receiving groove (26) through the feed port; a set of gripper compensation grooves (34) coupled with the gripper extension grooves (33) are evenly distributed in a ring on the limiting ring of the turntable frame (31).

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