A non-slip and wear-resistant robotic arm for a smart production line of perforating bullets

Abstract

A non-slip, wear-resistant robotic arm for an intelligent production line of perforated projectiles is disclosed, belonging to the field of perforated projectile packaging equipment. A mounting base is fixedly connected to the upper end of a frame. Two transverse guide rails are arranged parallel to the long side of an elongated opening on the mounting base and fixed to both sides of the opening. A transverse cylinder is fixed to the mounting base, and its piston rod is connected to a transverse base plate. The transverse base plate reciprocates along the transverse guide rails. Multiple guide shafts slide through the lower ends of the transverse base plate and are fixed to a gripper lifting mounting plate. A lifting cylinder is fixed to the transverse base plate, and its piston rod is connected to the gripper lifting mounting plate. At least one gripper cylinder is fixed to the lower end of the gripper lifting mounting plate. The two piston rods of the gripper cylinders are horizontally arranged and each is fixedly connected to a gripper fixing plate. At least one pair of grippers is fixedly installed at the lower ends of the two gripper fixing plates. This invention is used for gripping and stacking projectiles.

Description

Technical Field

[0001] This utility model belongs to the field of perforated bullet packaging equipment, specifically a non-slip and wear-resistant robotic arm for a perforated bullet intelligent production line. Background Technology

[0002] Perforation shells are explosives used to penetrate casing, cement sheaths, and formations during oil perforation. They are a relatively common product in the oil extraction industry, with huge annual demand both domestically and internationally.

[0003] In the automated manufacturing process of perforating projectiles, the pre-positioning process is crucial, directly impacting overall production efficiency and safety. Current production technologies typically require manual loading of the projectiles, placing operators in a highly hazardous, flammable, and explosive working environment for extended periods. This also results in high labor costs and low work efficiency.

[0004] Therefore, there is an urgent need for a non-slip, wear-resistant robotic arm for perforating ammunition, capable of automatically and accurately grasping and orderly stacking the ammunition. Replacing high-risk manual labor with intelligent operation can not only significantly reduce safety hazards but also substantially improve production efficiency and effectively reduce labor costs. Summary of the Invention

[0005] The purpose of this invention is to solve the above-mentioned problems existing in the prior art and to provide a non-slip and wear-resistant robotic arm for a smart production line for perforating bullets.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A non-slip and wear-resistant robotic arm for a smart production line of perforating projectiles includes a mounting base plate, a transverse base plate, a lifting cylinder, multiple guide shafts, a transverse cylinder, a gripper lifting mounting plate, at least one gripper cylinder, at least one pair of grippers, at least two gripper fixing plates, and two transverse guide rails; the gripper cylinder is a double piston rod gripper cylinder;

[0008] The mounting base plate is fixedly connected to the upper end of the frame. An elongated opening is provided in the middle of the mounting base plate along its length. Two transverse guide rails are set parallel to the long side of the elongated opening and fixed on both sides of the elongated opening on the mounting base plate. A transverse cylinder is fixed on the mounting base plate. The piston rod of the transverse cylinder is connected to the transverse base plate. The transverse base plate moves back and forth along the transverse guide rails. The lower ends of multiple guide shafts slide through the transverse base plate and are fixed on the gripper lifting mounting plate. A lifting cylinder is fixed on the transverse base plate. The piston rod of the lifting cylinder is connected to the gripper lifting mounting plate. At least one gripper cylinder is fixed on the lower end face of the gripper lifting mounting plate. The two piston rods of the gripper cylinder are horizontally arranged and each is fixedly connected to a gripper fixing plate. At least one pair of grippers are fixedly installed on the lower ends of the two gripper fixing plates.

[0009] Furthermore, the transverse base plate is provided with four through holes arranged in a matrix, and four linear bearings are fixedly installed in the four through holes. Each linear bearing has a guide shaft slidingly passing through it, and the lower ends of the four guide shafts are fixed to the gripper lifting mounting plate.

[0010] Furthermore, there are multiple gripper cylinders, which are evenly spaced and arranged in a straight line along the length of the mounting base plate; there are multiple pairs of grippers, and the number of gripper fixing plates is twice the number of gripper cylinders. Multiple gripper fixing plates are arranged side by side, and multiple pairs of grippers are fixed to the lower end of the two gripper fixing plates that are fixedly connected to the two piston rods of each gripper cylinder.

[0011] Furthermore, a gripper sleeve is tightly fitted onto the gripper.

[0012] Furthermore, the gripper sheath is made of polyurethane material.

[0013] Furthermore, the middle part of the gripping surface of the claw sheath is 'V' shaped.

[0014] Furthermore, the 'V'-shaped clamping surface of the gripper sleeve is provided with a serrated structure.

[0015] Furthermore, the lower end face of the gripper lifting mounting plate is fixed with an optical axis fixing seat, the optical axis is fixedly passed through the optical axis fixing seat, the optical axis is horizontally set, the gripper fixing plate is provided with a through hole that matches the optical axis, and the gripper fixing plate is slidably connected to the optical axis through the through hole.

[0016] The advantages of this utility model over the prior art are:

[0017] 1. The robotic arm of this utility model can completely replace manual labor in the grasping and stacking of perforating bullets, avoiding direct contact between operators and dangerous areas, thereby greatly reducing the probability of safety accidents and ensuring the personal safety of operators.

[0018] 2. By using the robotic arm of this invention to grasp and stack perforating bullets, the automated and precise grasping and orderly stacking of perforating bullets is achieved, which significantly improves production efficiency and effectively reduces labor costs. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the anti-slip and wear-resistant robotic arm used in the intelligent production line of perforating projectiles according to this utility model. Figure 1 ;

[0020] Figure 2 This is a schematic diagram of the anti-slip and wear-resistant robotic arm used in the intelligent production line of perforating projectiles according to this utility model. Figure 2 ;

[0021] Figure 3This is a block diagram showing the signal connection between the PLC and the lifting cylinder, gripper cylinder, and transverse cylinder.

[0022] Figure 4 yes Figure 1 Enlarged view of a portion at point A;

[0023] Figure 5 yes Figure 1 A magnified view of section B;

[0024] Figure 6 This is a schematic diagram of the gripper sheath.

[0025] Figure 7 This is a schematic diagram of the anti-slip and wear-resistant robotic arm used in the intelligent production line of perforating projectiles according to this utility model. Figure 3 .

[0026] The component names and reference numerals in the above figures are as follows:

[0027] Mounting base plate 1, transverse base plate 3, lifting cylinder 4, guide shaft 5, linear bearing 6, transverse cylinder 7, gripper lifting mounting plate 8, optical axis 9, gripper cylinder 10, optical axis fixing seat 11, gripper 12, gripper sleeve 13, gripper fixing plate 14, transverse guide rail 15, elongated opening 16, PLC 17, spring body 18, connecting rod 19. Detailed Implementation

[0028] like Figures 1-7 As shown, this embodiment describes an anti-slip and wear-resistant robotic arm for an intelligent production line of perforating projectiles, including a mounting base plate 1, a transverse base plate 3, a lifting cylinder 4, multiple guide shafts 5, a transverse cylinder 7, a gripper lifting mounting plate 8, at least one gripper cylinder 10, at least one pair of grippers 12, at least two gripper fixing plates 14, and two transverse guide rails 15; the gripper cylinder 10 is a double piston rod cylinder (an outsourced product).

[0029] Mounting base plate 1 is fixedly connected to the upper end of the frame. An elongated opening 16 is provided in the middle of the mounting base plate 1 along the length direction. Two transverse guide rails 15 are set parallel to the long side of the elongated opening 16 and fixed on both sides of the elongated opening 16 on the mounting base plate 1. A transverse cylinder 7 is fixed on the mounting base plate 1. The piston rod of the transverse cylinder 7 is connected to the transverse base plate 3. The transverse base plate 3 moves back and forth along the transverse guide rails 15. The lower ends of multiple guide shafts 5 slide through the transverse base plate 3 (the transverse base plate 3 has multiple through holes, and the lower ends of multiple guide shafts 5 slide through the corresponding through holes) and are fixed on the gripper lifting mounting plate 8. A lifting cylinder 4 is fixed on the transverse base plate 3. The piston rod of the lifting cylinder 4 is connected to the gripper lifting mounting plate 8. At least one gripper cylinder 10 is fixed on the lower end face of the gripper lifting mounting plate 8. The two piston rods of the gripper cylinder 10 are horizontally arranged and each is fixedly connected to a gripper fixing plate 14. At least one pair of grippers 12 are fixedly installed on the lower ends of the two gripper fixing plates 14.

[0030] Furthermore, such as Figure 1 As shown, the transverse base plate 3 has four through holes arranged in a matrix. Four linear bearings 6 are fixedly installed in the four through holes. Each linear bearing 6 has a guide shaft 5 slidingly passing through it. The lower ends of the four guide shafts 5 are fixed on the gripper lifting mounting plate 8.

[0031] Furthermore, such as Figure 1 As shown, there are multiple gripper cylinders 10, which are evenly spaced and arranged in a straight line along the length of the mounting base plate 1; there are multiple pairs of grippers 12, and the number of gripper fixing plates 14 is twice the number of gripper cylinders 10. Multiple gripper fixing plates 14 are arranged side by side, and multiple pairs of grippers 12 are fixed at the lower end of the two gripper fixing plates 14 that are fixedly connected to the two piston rods of each gripper cylinder 10, which can greatly improve production efficiency.

[0032] Furthermore, such as Figure 1 , Figure 5 As shown, a gripper sleeve 13 is tightly fitted onto the gripper 12. This not only prevents wear and tear on the gripper 12 during long-term use, but also improves the stability of the gripping action.

[0033] Furthermore, such as Figure 1 , Figure 5 As shown, the gripper sleeve 13 is made of polyurethane material (preferably imported polyurethane material with moderate softness). It can protect the projectile 18 during the gripping process.

[0034] Furthermore, such as Figure 6 As shown, the center of the gripping surface of the gripper sleeve 13 is V-shaped. This improves gripping stability during the gripping process and prevents the projectile 18 from slipping.

[0035] Furthermore, such as Figure 6 As shown, the 'V'-shaped gripping surface of the gripper sleeve 13 has a serrated structure. It can firmly fit the projectile 18, increase the contact friction between the gripper 12 and the projectile 18, prevent the projectile 18 from slipping when it is gripped, and is safe, reliable and easy to replace.

[0036] Furthermore, such as Figure 1 As shown, a light axis fixing seat 11 is fixed to the lower end face of the gripper lifting mounting plate 8. The light axis 9 is fixedly passed through the light axis fixing seat 11 and is horizontally set. The gripper fixing plate 14 is provided with a through hole that matches the light axis 9. The gripper fixing plate 14 is slidably connected to the light axis 9 through the through hole. During the process of gripping and opening the projectile 18 by the gripper 12, the gripper fixing plate 14 can slide along the light axis 9, which improves the stability of the operation process.

[0037] Furthermore, the two guide shafts 5 arranged side by side along the length direction are connected at their upper ends by a connecting rod 19 to improve the stability of the guide shafts 5 and limit the upper ends of the guide shafts 5.

[0038] The lifting cylinder 4, the lateral moving cylinder 7, and the gripper cylinder 10 are all connected to the air source and are supplied with air by the air source respectively.

[0039] The lifting cylinder 4, the lateral cylinder 7, and the gripper cylinder 10 are all connected to the PLC17 signal, and the PLC17 controls the start and stop of these three cylinders respectively. When there are multiple gripper cylinders 10, the multiple gripper cylinders 10 are controlled to move synchronously through the PLC17.

[0040] In use, the anti-slip and wear-resistant robotic arm is mounted on top of the conveyor belt via a frame.

[0041] The working process of the anti-slip and wear-resistant robotic arm used in the intelligent production line for perforating projectiles of this invention is as follows:

[0042] In the initial state, the lifting cylinder 4 retracts, then the piston rod of the gripper cylinder 10 moves, causing the gripper 12 to be in the open state. After that, the lateral movement cylinder 7 moves to drive the lateral movement base plate 3 to move above the gripping position.

[0043] When a projectile 18 needs to be grasped, the piston rod of the lifting cylinder 4 extends, and then the gripper cylinder 10 closes to clamp the projectile 18. Next, the lifting cylinder 4 retracts, and the lateral movement cylinder 7 drives the lateral movement base plate 3 and the gripper 12 to move laterally above the position where the projectile 18 is placed. At this time, the piston rod of the lifting cylinder 4 extends, the gripper cylinder 10 opens the gripper 12, releases the projectile 18, and places the projectile 18 on the fixture. The piston rod of the lifting cylinder 4 retracts, and the lateral movement cylinder 4 drives the lateral movement base plate 3 and the gripper 12 to move laterally above the grasping position, completing one round of grasping action.

Claims

1. A kind of anti-skid wear-resistant mechanical hand for intelligent production line of perforating bullet, it is characterized by: It includes a mounting base plate (1), a transverse base plate (3), a lifting cylinder (4), multiple guide shafts (5), a transverse cylinder (7), a gripper lifting mounting plate (8), at least one gripper cylinder (10), at least one pair of grippers (12), at least two gripper fixing plates (14), and two transverse guide rails (15); the gripper cylinder (10) is a double piston rod gripper cylinder; The mounting base plate (1) is fixedly connected to the upper end of the frame. An elongated opening (16) is provided in the middle of the mounting base plate (1) along the length direction. Two transverse guide rails (15) are set parallel to the long side of the elongated opening (16) and fixed on both sides of the elongated opening (16) on the mounting base plate (1). The transverse cylinder (7) is fixed on the mounting base plate (1). The piston rod of the transverse cylinder (7) is connected to the transverse base plate (3). The transverse base plate (3) moves back and forth along the transverse guide rails (15). The lower ends of multiple guide shafts (5) slide through. A horizontally moving base plate (3) is fixed on a gripper lifting mounting plate (8). A lifting cylinder (4) is fixed on the horizontally moving base plate (3). The piston rod of the lifting cylinder (4) is connected to the gripper lifting mounting plate (8). At least one gripper cylinder (10) is fixed on the lower end face of the gripper lifting mounting plate (8). The two piston rods of the gripper cylinder (10) are horizontally arranged and each is fixedly connected to a gripper fixing plate (14). At least one pair of grippers (12) are fixedly installed on the lower ends of the two gripper fixing plates (14).

2. The anti-slip and wear-resistant robotic arm for the intelligent production line of perforating bullets according to claim 1, characterized in that: The transverse base plate (3) is provided with four through holes arranged in a matrix. Four linear bearings (6) are fixedly installed in the four through holes. Each linear bearing (6) has a guide shaft (5) sliding through it. The lower ends of the four guide shafts (5) are fixed on the gripper lifting mounting plate (8).

3. The anti-slip and wear-resistant robotic arm for the intelligent production line of perforating bullets according to claim 1, characterized in that: The number of gripper cylinders (10) is multiple, and the multiple gripper cylinders (10) are evenly spaced along the length direction of the mounting base plate (1) and arranged in a straight line; the number of grippers (12) is multiple pairs, and the number of gripper fixing plates (14) is twice the number of gripper cylinders (10). The multiple gripper fixing plates (14) are arranged side by side, and the lower ends of the two gripper fixing plates (14) which are fixedly connected to the two piston rods of each gripper cylinder (10) are fixed with multiple pairs of grippers (12).

4. The anti-slip and wear-resistant robotic arm for the intelligent production line of perforating bullets according to claim 1 or 3, characterized in that: The gripper (12) is tightly fitted with a gripper sleeve (13).

5. The anti-slip and wear-resistant robotic arm for the intelligent production line of perforating projectiles according to claim 4, characterized in that: The gripper sleeve (13) is made of polyurethane material.

6. The anti-slip and wear-resistant robotic arm for the intelligent production line of perforating projectiles according to claim 5, characterized in that: The clamping surface of the gripper sleeve (13) has a 'V' shape in the middle.

7. The anti-slip and wear-resistant robotic arm for the intelligent production line of perforating projectiles according to claim 6, characterized in that: The gripper sleeve (13) has a serrated structure on its 'V' shaped clamping surface.

8. The anti-slip and wear-resistant robotic arm for the intelligent production line of perforating bullets according to claim 1 or 3, characterized in that: The lower end face of the gripper lifting mounting plate (8) is fixed with an optical axis fixing seat (11), and the optical axis (9) is fixedly passed through the optical axis fixing seat (11). The optical axis (9) is horizontally set, and the gripper fixing plate (14) is provided with a through hole that matches the optical axis (9). The gripper fixing plate (14) is slidably connected to the optical axis (9) through the through hole.

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