A robotic arm for loading emulsion explosives onto trucks

Abstract

This utility model discloses a robotic arm for loading emulsion explosives onto vehicles in the field of bagged emulsion explosive transfer technology. The arm includes a main body with a hinge frame mounted at one end. A support plate is mounted at the bottom of the hinge frame. Two first electric push rods are mounted on the inner side of the support plate. A bag-holding claw is bolted to one end of each first electric push rod. A clamping component for securing the packaging bag is mounted at the bottom of the support plate. A discharge component for pushing the packaging bag is mounted at the bottom of the clamping component. The first electric push rods can extend and retract the bag-holding claw. The clamping component then presses down on the packaging bag held by the bag-holding claw. The main body then drives the packaging bag held by the bag-holding claw to transfer it. Finally, the clamping component is released, and the discharge component pushes the packaging bag to transfer and unload it.

Description

Technical Field

[0001] This utility model relates to the field of bagged emulsion explosive transfer, specifically a robotic arm for loading emulsion explosives onto vehicles. Background Technology

[0002] In the production and transportation of emulsion explosives, the loading operation places extremely high demands on the safety and stability of automated equipment. Since emulsion explosives are flammable and explosive hazardous materials, the handling of their packaging bags must avoid violent collisions and friction. Therefore, as the core equipment for automated loading, the gripping performance and structural reliability of the robotic arm directly affect the efficiency and safety of the operation.

[0003] Existing robotic arms for loading emulsion explosives have significant shortcomings in their gripping operations: on the one hand, the grippers lack precise control over the tightness and fixation of the packaging bags, either gripping too loosely, causing the bags to shake or even fall off during transport, or gripping too tightly, causing damage to the bags and posing a safety risk; on the other hand, the handling and unloading actions lack flexibility and are difficult to adapt to packaging bags in different stacking states, easily resulting in "grabbing empty" or "grabbing too many" bags, and failing to accurately place the bags in the designated positions during unloading, requiring manual adjustment, which seriously affects loading efficiency. Meanwhile, due to the large weight of emulsion explosive packaging bags and the need for frequent and repetitive gripping actions during loading, existing grippers mostly adopt a single rigid connection structure. After long-term exposure to the weight load of the packaging bags and the impact of opening and closing, problems such as gripper deformation are likely to occur. Especially when the grippers are closed and tightened, the force is concentrated at the root of the gripper. If the material strength is insufficient or the structural design is unreasonable, fatigue fracture can easily lead to gripper damage, which not only interrupts the operation but may also cause safety accidents due to the packaging bags falling. Furthermore, the existing gripper disassembly and replacement operation is cumbersome. When the gripper is worn or damaged, multiple bolts need to be removed, and some connecting parts are located inside the robot arm, resulting in narrow operating space. Each replacement takes several minutes, seriously affecting the continuous operation of the production line. For hazardous materials handling equipment that requires regular maintenance, this inefficient maintenance method significantly increases downtime and labor costs. With the advancement of automation and intelligent production in the emulsion explosives industry, the shortcomings of existing robotic arms in terms of gripping convenience, structural durability, and maintenance efficiency have become key bottlenecks restricting the upgrading of automated loading. Therefore, designing a robotic arm for loading emulsion explosives that can achieve precise gripping and fixing, rapid unloading, and whose gripper structure is resistant to impact and easy to disassemble and replace is of great significance for improving the safety, stability, and efficiency of loading operations and reducing the risk of human intervention. It is a necessary technological innovation to meet the stringent requirements of automated transportation of hazardous materials. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm for loading emulsion explosives onto vehicles, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm for loading emulsion explosives, comprising a robotic arm body, a hinge frame mounted at one end of the body, a support plate mounted at the bottom of the hinge frame, two first electric push rods mounted on the inner side of the support plate, a bag-holding claw fixedly mounted at one end of each first electric push rod by bolts, a clamping component for fixing the packaging bag mounted at the bottom of the support plate, a unloading component for pushing the packaging bag mounted at the bottom of the clamping component, a support rod slidably connected through one side of the support plate, the support rod being fixedly mounted to the bag-holding claw by an mounting component, the mounting component being used for disassembling and installing the bag-holding claw.

[0006] Preferably, the clamping member includes a support block fixedly connected to the bottom of the support plate, a second electric push rod is installed on the inner side of the support plate and near the bottom, a pressure plate is fixedly installed on the bottom of the second electric push rod, the pressure plate wraps around the outside of the support block and is slidably connected to it, and two pressure claws are hinged to the bottom of the pressure plate through a fixed shaft.

[0007] Preferably, the unloading component includes two third electric push rods installed at the bottom of the support block, and each third electric push rod is fixedly mounted with a push plate.

[0008] Preferably, the mounting component includes a retaining ring welded to the outside of the support rod and near one end, a screw rod screwed to one end of the support rod, and a clamping ring fitted onto the outside of the screw rod through a fixing part, the fixing part being rotatably connected to the clamping ring.

[0009] Preferably, a star bolt is screwed to the top of the clamping ring, and a locking groove for fixing the star bolt is provided on the top of the support rod.

[0010] Preferably, a guide block is fixedly connected to one side of the pressure plate, and the guide block is embedded in one side of the support block and slidably connected to it.

[0011] Preferably, a blocking strip is welded to the bottom of the pressure plate and to one side of the pressure claw.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. The bag gripper has an L-shaped cross-section and its body can change angles and extend and retract. The hinged frame drives two first electric push rods to extend and retract through the support plate. The first electric push rods can extend and retract the bag gripper. Then, the clamping component presses down on the packaging bag held by the bag gripper. Then, the main body drives the packaging bag held by the bag gripper to transfer. Then, the clamping component is released and the packaging bag is pushed to transfer and unloaded through the unloading component. When the bag gripper is damaged, the mounting component is used to disassemble and install the bag gripper to facilitate the operator to disassemble and install the bag gripper.

[0013] 2. The support block and the support plate are set vertically. The pressure plate has a T-shaped cross section. The second electric push rod drives the pressure plate to slide on the outside of the support block. The two pressure claws at the bottom of the pressure plate can press down and limit the packaging bag to prevent the packaging bag from shifting or shaking. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 Left sectional stereoscopic view of the overall structure of this utility model Figure 1 ; Figure 3 Left sectional stereoscopic view of the overall structure of this utility model Figure 2 ; Figure 4 The overall structure of this utility model Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the structure of the support block, pressure plate claw, third electric push rod, push plate and anti-reverse ring in the overall structure of this utility model.

[0015] In the diagram: 1. Body; 2. Hinge frame; 3. Support plate; 4. First electric push rod; 5. Bag gripper; 6. Support rod; 7. Support block; 8. Second electric push rod; 9. Pressure plate; 10. Fixed shaft; 11. Pressure gripper; 12. Third electric push rod; 13. Push plate; 14. Anti-reverse ring; 15. Screw; 16. Fixing part; 17. Pressure ring; 18. Star bolt; 19. Locking groove; 20. Guide block; 21. Blocking strip. Detailed Implementation

[0016] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0017] Example 1

[0018] Please refer to Figure 1-5As shown, this utility model provides a robotic arm for loading emulsion explosives, including a robotic arm body 1. A hinge frame 2 is installed at one end of the body 1. A support plate 3 is installed at the bottom of the hinge frame 2. Two first electric push rods 4 are installed on the inner side of the support plate 3. A bag gripper 5 is fixedly installed at one end of the first electric push rod 4 by bolts. A clamping component for fixing the packaging bag is installed at the bottom of the support plate 3. A material unloading component for pushing the packaging bag is installed at the bottom of the clamping component. A support rod 6 is slidably connected through one side of the support plate 3. The support rod 6 is installed and fixed to the bag gripper 5 by an installation component. The installation component is used to disassemble and install the bag gripper 5. A blocking strip 21 is welded to the bottom of the pressure plate 9 and on the side of the pressure gripper 11.

[0019] It should be added that the bag gripper 5 has an L-shaped cross-section, and the body 1 can change and extend at multiple angles. The hinge frame 2 drives the two first electric push rods 4 to extend and retract through the support plate 3. The first electric push rods 4 can extend and retract the bag gripper 5. Then, the clamping component presses down on the packaging bag held by the bag gripper 5. Then, the body 1 drives the packaging bag held by the bag gripper 5 to transfer. Then, the clamping component is released, and the packaging bag is transferred and unloaded by the unloading component. When the bag gripper 5 is damaged, the mounting component is used to disassemble and install the bag gripper 5 to facilitate the disassembly and installation of the bag gripper 5 by the operator.

[0020] Specifically, the clamping component includes a support block 7 fixedly connected to the bottom of the support plate 3. A second electric push rod 8 is installed on the inner side of the support plate 3 near the bottom. A pressure plate 9 is fixedly installed at the bottom of the second electric push rod 8. The pressure plate 9 wraps around the outside of the support block 7 and is slidably connected to it. Two pressure claws 11 are hinged to the bottom of the pressure plate 9 through a fixed shaft 10. The unloading component includes two third electric push rods 12 installed at the bottom of the support block 7. A push plate 13 is fixedly installed on the third electric push rod 12. A guide block 20 is fixedly connected to one side of the pressure plate 9. The guide block 20 is embedded in one side of the support block 7 and is slidably connected to it.

[0021] The support block 7 is perpendicular to the support plate 3, the pressure plate 9 has a T-shaped cross section, the second electric push rod 8 drives the pressure plate 9 to slide on the outside of the support block 7, the pressure plate 9 drives the guide block 20 to slide on one side of the support block 7, and the two pressure claws 11 at the bottom of the pressure plate 9 can press down and limit the packaging bag to prevent the packaging bag from shifting or shaking.

[0022] Furthermore, the third electric push rod 12 can drive the push plate 13 to extend and retract, and the push plate 13 can squeeze and push the packaging bag on the bag gripper 5, improving the convenience and practicality of the bag gripper 5 in unloading operations.

[0023] More specifically, the mounting components include a retaining ring 14 welded to the outside of the support rod 6 near one end, a screw rod 15 screwed to one end of the support rod 6, a clamping ring 17 fitted on the outside of the screw rod 15 through the fixing part 16, the fixing part 16 and the clamping ring 17 being rotatably connected, a star bolt 18 screwed to the top of the clamping ring 17, and a locking groove 19 for fixing the star bolt 18 being opened on the top of the support rod 6.

[0024] Furthermore, the anti-reverse ring 14 can block and limit the bag gripper 5. The screw 15 is screwed to the support rod 6 and rotated. Then, the screw 15 drives the clamping ring 17 to move through the fixing part 16, so that the clamping ring 17 squeezes the gripper and the anti-reverse ring 14 tightly. Then, the star screw 15 is screwed to the clamping ring 17 and rotated, and then inserted into the locking groove 19 to lock and fix the clamping ring 17, which improves the convenience and stability of disassembling and installing the bag gripper 5 for replacement.

[0025] Working principle: First, the first drive rod on one side of the main body 1 retracts, and the bag gripper 5 moves after gripping the packaging bag. At this time, the second electric push rod 8 drives the pressure plate 9 to slide on the outside of the support block 7. At the same time, the two pressure claws 11 at the bottom of the pressure plate 9 press down and limit the packaging bag to fix it. Meanwhile, the guide block 20 guides and limits the pressure plate 9, so that the main body 1 can transfer the packaging bag by clamping and fixing it with the bag gripper 5. Then, the third electric push rod 12 is activated, which drives the push plate 13 to extend and move. Then, the push plate 13 squeezes and pushes the packaging bag on the bag gripper 5 to unload the material.

[0026] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0027] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm for loading emulsion explosives, comprising the body of the robotic arm (1), characterized in that: The main body (1) is equipped with a hinge frame (2) at one end, and a support plate (3) is installed at the bottom of the hinge frame (2). Two first electric push rods (4) are installed on the inner side of the support plate (3). A bag gripper (5) is fixedly installed at one end of the first electric push rod (4) by bolts. A clamping component for fixing the packaging bag is installed at the bottom of the support plate (3). A material unloading component for pushing the packaging bag is installed at the bottom of the clamping component. A support rod (6) is slidably connected through one side of the support plate (3). The support rod (6) is installed and fixed to the bag gripper (5) by an installation component. The installation component is used to disassemble and install the bag gripper (5).

2. The robotic arm for loading emulsion explosives according to claim 1, characterized in that: The clamping component includes a support block (7) fixedly connected to the bottom of the support plate (3). A second electric push rod (8) is installed on the inner side of the support plate (3) and near the bottom. A pressure plate (9) is fixedly installed on the bottom of the second electric push rod (8). The pressure plate (9) wraps around the outside of the support block (7) and is slidably connected to it. Two pressure claws (11) are hinged to the bottom of the pressure plate (9) through a fixed shaft (10).

3. The robotic arm for loading emulsion explosives according to claim 2, characterized in that: The unloading component includes two third electric push rods (12) installed at the bottom of the support block (7), and the third electric push rods (12) are fixedly mounted with push plates (13).

4. The robotic arm for loading emulsion explosives according to claim 3, characterized in that: The mounting component includes a backstop ring (14) welded to the outside of the support rod (6) and near one end. A screw rod (15) is screwed to one end of the support rod (6). A clamping ring (17) is fitted on the outside of the screw rod (15) through the fixing part (16). The fixing part (16) and the clamping ring (17) are rotatably connected.

5. The robotic arm for loading emulsion explosives according to claim 4, characterized in that: The top of the clamping ring (17) is screwed with a star bolt (18), and the top of the support rod (6) is provided with a locking groove (19) for fixing the star bolt (18).

6. The robotic arm for loading emulsion explosives according to claim 3, characterized in that: A guide block (20) is fixedly connected to one side of the pressure plate (9), and the guide block (20) is embedded in one side of the support block (7) and slidably connected to it.

7. The robotic arm for loading emulsion explosives according to claim 6, characterized in that: A blocking strip (21) is welded to the bottom of the pressure plate (9) and to one side of the pressure claw (11).

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