Automatic lead wire loading device

Abstract

The utility model relates to a kind of automatic filling device of lead ring, comprising: the box of batch of lead ring to be used is placed, the mechanical hand support of lead ring transfer, the transfer module installed on mechanical hand support, the lead ring visual identification camera and flexible gripper installed on transfer module, the transfer module is used to drive lead ring visual identification camera and flexible gripper motion between the box and lead ring filling seat, the lead ring visual identification camera is used to identify lead ring center point position, the flexible gripper is used to grasp the lead ring in the box and place lead ring on lead ring filling seat;The utility model has the advantages that: through transfer module cooperation flexible gripper, the automatic stratification of lead ring is grasped and transported, then lead ring is identified by lead ring visual identification camera, improve grasping efficiency and accuracy, and then improve work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of explosives loading technology, and in particular to an automatic lead ring loading device. Background Technology

[0002] Currently, lead rings are typically installed on the outside of explosive tubes to encase them. The loading of these lead rings is a crucial step in explosive production, directly impacting the safety of the explosives. With the increasing automation of explosive production, the current speed of manual lead ring transport is insufficient to keep pace with the loading process. Furthermore, lead rings are fragile and easily damaged by mechanical transport. Therefore, there is an urgent need for an automated lead ring loading device to improve transport efficiency while minimizing damage. Utility Model Content

[0003] In view of the above problems, the purpose of this utility model is to provide an automatic lead ring loading device for transferring lead rings to the loading process position, so as to overcome the shortcomings of the prior art.

[0004] This utility model provides an automatic lead ring loading device, comprising: a holding box for stacking a batch of lead rings to be used, a robotic arm support for transferring lead rings, a transfer module mounted on the robotic arm support, a lead ring visual recognition camera and a flexible gripper mounted on the transfer module. The transfer module is used to drive the lead ring visual recognition camera and the flexible gripper to move between the holding box and the lead ring loading seat. The lead ring visual recognition camera is used to identify the center point position of the lead ring, and the flexible gripper is used to grab the lead ring in the holding box and place the lead ring on the lead ring loading seat.

[0005] As a preferred embodiment of this utility model, the flexible gripper includes: a gripper rod fixedly connected to the transfer module, a petal-shaped expansion finger clamp mounted on the gripper rod, and an expansion airbag mounted at the center of the petal-shaped expansion finger clamp. The petal-shaped expansion finger clamp extends into the inner ring of the lead ring, and the expansion airbag inflates and compresses the multiple fingers of the petal-shaped expansion finger clamp to open and grip the inner ring of the lead ring.

[0006] As a preferred embodiment of this invention, the transfer module includes: a Y-axis displacement guide rail assembly mounted on a robotic arm support, an X-axis displacement guide rail assembly mounted on the Y-axis displacement guide rail assembly, and a Z-axis displacement guide rail assembly mounted on the X-axis displacement guide rail assembly. The lead ring visual recognition camera and the flexible gripper are mounted on the Z-axis displacement guide rail assembly. The Y-axis displacement guide rail assembly is used to drive the X-axis displacement guide rail assembly to move back and forth in the horizontal direction. The X-axis displacement guide rail assembly is used to drive the Z-axis displacement guide rail assembly to move left and right in the horizontal direction. The Z-axis displacement guide rail assembly is used to drive the lead ring visual recognition camera and the flexible gripper to move vertically up and down, supporting layer-by-layer grasping.

[0007] As a preferred embodiment of this invention, two X-axis displacement guide rail assemblies are installed on one Y-axis displacement guide rail assembly. The two independent X-axis displacement guide rail assemblies share the Y-axis platform, forming a dual robotic arm that can grasp simultaneously, saving space, improving grasping efficiency, and reducing costs.

[0008] As a preferred embodiment of this invention, the lead ring filling seat is provided with multiple rows of positioning grooves for installing lead rings, and the positioning grooves are V-shaped holes.

[0009] The beneficial effects of this utility model are as follows:

[0010] 1. This utility model achieves automatic grasping and transportation of lead rings by using a transfer module in conjunction with a flexible gripper, and then uses a lead ring visual recognition camera to identify the lead rings, thereby improving grasping efficiency and accuracy, and thus improving work efficiency.

[0011] 2. The dual independent X-axis displacement guide rail assembly of this utility model shares a Y-axis platform, forming a dual robotic arm that can grasp simultaneously, saving space, improving grasping efficiency, and reducing costs. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the installation structure of the transfer module, lead ring visual recognition camera, and flexible gripper of this utility model.

[0013] Figure 2 This is a schematic diagram of the flexible gripper structure of this utility model.

[0014] Figure 3 This is a cross-sectional view of the flexible gripper structure of this utility model.

[0015] Figure 4 This is a schematic diagram of the lead ring filling seat and flexible gripper structure of this utility model.

[0016] Figure 5 This is a schematic diagram of a lead ring visual recognition camera in existing technology.

[0017] Figure 6 This is a hardware layout diagram of a lead ring visual recognition camera in the prior art.

[0018] Figure reference numerals: 1. Lead ring visual recognition camera; 2. Flexible gripper; 201. Gripper rod; 202. Petal-shaped expansion finger clamp; 3. Lead ring filling seat; 4. Y-axis displacement guide rail assembly; 5. X-axis displacement guide rail assembly; 6. Positioning groove; 7. Lifting pressure block frame; 8. Shaping pressure block; 9. Rotating seat; 10. Detailed Implementation

[0019] See Figure 1-4As shown, this embodiment provides an automatic lead ring loading device, including: a storage box (not shown) for stacking a batch of lead rings to be used, a robotic arm support for transferring lead rings, a transfer module mounted on the robotic arm support, a lead ring visual recognition camera 1 and a flexible gripper 2 mounted on the transfer module. The transfer module is used to drive the lead ring visual recognition camera 1 and the flexible gripper 2 to move between the storage box and the lead ring loading seat 3. The lead ring visual recognition camera 1 is used to identify the center point position of the lead ring, and the flexible gripper 2 is used to grab the lead ring in the storage box and place the lead ring on the lead ring loading seat 3. The flexible gripper 2 includes: a gripper rod 201 fixedly connected to the transfer module, a petal-shaped expansion finger clip 202 mounted on the gripper rod 201, and an expansion airbag mounted at the center of the petal-shaped expansion finger clip 202. The petal-shaped expansion finger clip 202 extends into the inner ring of the lead ring, and the expansion airbag inflates and compresses the multiple fingers of the petal-shaped expansion finger clip 202 to open and grip the inner ring of the lead ring. The transfer module includes: a Y-axis displacement guide rail assembly 4 mounted on a robotic arm bracket, two X-axis displacement guide rail assemblies 5 mounted on the Y-axis displacement guide rail assembly 4, and a Z-axis displacement guide rail assembly 6 mounted on the X-axis displacement guide rail assembly 5. The lead ring visual recognition camera 1 and the flexible gripper 2 are mounted on the slider seat of the Z-axis displacement guide rail assembly 6. The Y-axis displacement guide rail assembly 4 is used to drive the two X-axis displacement guide rail assemblies 5 to move back and forth in the horizontal direction. Each X-axis displacement guide rail assembly 5 is used to drive one Z-axis displacement guide rail assembly 6 to move left and right in the horizontal direction. The Z-axis displacement guide rail assembly 6 is used to drive the lead ring visual recognition camera 1 and the flexible gripper 2 to move vertically up and down.

[0020] The Y-axis displacement guide rail assembly, X-axis displacement guide rail assembly, and Z-axis displacement guide rail assembly can employ one or more of the following: lead screw drive, rack and pinion drive, synchronous belt drive, and ball screw drive.

[0021] The working principle of the lead screw drive is that the motor drives the lead screw to rotate, and the lead screw nut moves linearly along the lead screw axis, which drives the slider to rise and fall; the guide shaft cooperates with the slider to ensure smooth movement and prevent rotational deviation.

[0022] The working principle of gear and rack transmission is that the motor drives the gear to rotate, and the gear meshes with the rack, converting the rotational motion into the linear lifting motion of the rack or gear mounting base, and the guide rail slider constrains the direction of motion.

[0023] The working principle of synchronous belt drive is that the motor drives the synchronous belt pulley to rotate, and the synchronous belt is connected to the load through the slider, which drives the load to rise and fall under the constraint of the guide rail.

[0024] The working principle of ball screw transmission is that the motor drives the screw to rotate, and the nut seat converts the rotational motion into linear motion by meshing the steel balls with the spiral groove of the screw.

[0025] Furthermore, the lead ring visual recognition camera 1 in this embodiment is existing technology, and the lead ring visual recognition camera 1 is an MV-HPM2500GM industrial camera.

[0026] Furthermore, in this embodiment, the lead ring filling seat 3 is equipped with multiple rows of positioning grooves 7 for installing lead rings. The positioning grooves 7 are V-shaped holes. The lead ring filling seat 3 is provided with a shaping and pressing mechanism above the multiple positioning grooves 7. The shaping and pressing mechanism includes: a lifting pressure block frame 8 driven by a lifting cylinder, and a shaping pressure block 9 installed on the lifting pressure block frame 8 and corresponding to the positions of the multiple positioning grooves 7. The lifting cylinder is installed on the rotating seat 10 through a lifting cylinder seat. The rotating seat drives the lifting cylinder seat to adjust its position between the two rows of positioning grooves 7 of the lead ring filling seat 3.

[0027] Working principle: The lead ring visual recognition camera 1 on the transfer module captures and identifies the position of the center hole of the lead ring to be transferred in the holding box. Then, the Y-axis displacement guide rail assembly 4 and the X-axis displacement guide rail assembly 5 of the transfer module drive the flexible gripper 2 to move directly above the center hole of the lead ring. The Z-axis displacement guide rail assembly 6 of the transfer module drives the petal-shaped expansion finger clip 202 of the flexible gripper 2 to extend into the center hole of the lead ring. The expansion airbag is activated and expands the multiple fingers of the petal-shaped expansion finger clip 202 to press against the inner ring of the lead ring. The flexible gripper 2 has completed the gripping. The transfer module drives the flexible gripper 2 holding the lead ring to move to the positioning groove 7 of the lead ring loading seat 3. The expansion airbag depressurizes and contracts, causing the petal-shaped expansion finger clip 202 to separate from the finger clip pressing against the inner ring of the lead ring. The lead ring falls into the positioning groove 7 by gravity. The above operation is repeated to complete the loading of the lead ring. The lead ring loading seat 3 with the lead ring is then used in the next process to complete the installation of the lead ring and explosives.

[0028] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the scope of the claims.

Claims

1. An automatic lead ring loading device, characterized in that, include: The system includes a robotic arm support for transferring lead rings, a transfer module mounted on the robotic arm support, a lead ring vision recognition camera mounted on the transfer module, and a flexible gripper. The transfer module is used to move the lead ring vision recognition camera and the flexible gripper between the lead ring holding box and the lead ring filling seat. The lead ring vision recognition camera is used to identify the center point position of the lead ring, and the flexible gripper is used to grab the lead ring in the holding box and place the lead ring on the lead ring filling seat in the next process.

2. The automatic lead ring loading device according to claim 1, characterized in that, The flexible gripper includes: a gripper rod fixedly connected to the transfer module, a petal-shaped expansion finger clamp mounted on the gripper rod, and an expansion airbag mounted in the center of the petal-shaped expansion finger clamp. The petal-shaped expansion finger clamp extends into the inner ring of the lead ring, and the expansion airbag inflates and compresses the multiple fingers of the petal-shaped expansion finger clamp to open and grip the lead ring.

3. The automatic lead ring loading device according to claim 1, characterized in that, The transfer module includes: a Y-axis displacement guide rail assembly mounted on a robotic arm bracket, an X-axis displacement guide rail assembly mounted on the Y-axis displacement guide rail assembly, and a Z-axis displacement guide rail assembly mounted on the X-axis displacement guide rail assembly. The lead ring visual recognition camera and the flexible gripper are mounted on the Z-axis displacement guide rail assembly. The Y-axis displacement guide rail assembly is used to drive the X-axis displacement guide rail assembly to move back and forth in the horizontal direction. The X-axis displacement guide rail assembly is used to drive the Z-axis displacement guide rail assembly to move left and right in the horizontal direction. The Z-axis displacement guide rail assembly is used to drive the lead ring visual recognition camera and the flexible gripper to move vertically up and down.

4. The automatic lead ring loading device according to claim 3, characterized in that, Two X-axis displacement guide assemblies are mounted on one of the Y-axis displacement guide assemblies.

5. The automatic lead ring loading device according to claim 1, characterized in that, The lead ring loading seat is equipped with multiple rows of positioning grooves for installing lead rings, and the positioning grooves are V-shaped holes.

Images