Steel ball gripper for grenade automatic production

Abstract

The utility model discloses a steel ball gripper for grenade automation production includes gripper fixed plate, robot connecting piece, a plurality of pneumatic magnetic chuck unit, a plurality of pneumatic magnetic chuck units set in the lower part of gripper fixed plate. The pneumatic magnetic chuck unit includes connecting column, upper fixed plate, buffer spring, limit switch, lower connecting plate and pneumatic magnetic chuck, and the pneumatic magnetic chuck includes chuck body, steel ball ration cover. The utility model discloses a design through steel ball ration cover, will form independent magnetic force pipeline in the magnetic field restraint in steel ball ration cover each through -hole, has guaranteed the accurate adsorption of single steel ball, has effectively avoided the problem of steel ball cluster gathering, and the buffer spring structure of independent combination each pneumatic magnetic chuck unit, has guaranteed that the unevenness of steel ball heap surface can be self -adapted in the process of gripping of gripper, makes all chuck head can effectively contact steel ball. The device can be conveniently integrated to the automatic production line, realizes the efficient ration of steel ball and is grabbed.

Description

Technical Field

[0001] This utility model relates to the field of automated assembly equipment for military products, specifically a steel ball gripper for automated production of hand grenades. Background Technology

[0002] In the automated assembly line of hand grenades, precisely filling the grenade body with a predetermined number of steel balls is a key process to ensure the consistency of its warhead's power and performance.

[0003] Currently, commonly used quantitative methods include volumetric quantitative testing and mechanical counting quantitative testing. Volumetric quantitative testing controls the volume of steel balls fed in a single batch by designing a cavity with a specific volume, thereby indirectly controlling the quantity. However, its accuracy is easily affected by the dimensional tolerances and arrangement of the steel balls. Mechanical counting quantitative testing uses mechanical mechanisms (such as dials and pawls) to separate the steel balls one by one and count them using sensors. Its structure is complex, with many moving parts, and its failure rate is relatively high. Summary of the Invention

[0004] The purpose of this invention is to provide a steel ball gripper for automated grenade production, in order to solve the problems existing in the prior art.

[0005] To achieve the above objectives, the present invention provides a steel ball gripper for automated grenade production, comprising a gripper fixing plate, a robot connector, and several pneumatic magnetic suction cup units. The gripper fixing plate is made of sheet metal, and the robot connector is fixedly mounted in the center by bolts. Several pneumatic magnetic suction cup units are arranged at the lower part of the gripper fixing plate.

[0006] Furthermore, the pneumatic magnetic suction cup unit includes a connecting column, an upper fixing plate, a buffer spring, a limit switch, a lower connecting plate, and a pneumatic magnetic suction cup; the upper fixing plate is fixed to the lower surface of the gripper fixing plate by the connecting column; the upper fixing plate and the lower connecting plate are connected by the buffer spring; the limit switch includes a proximity switch and a trigger plate; the proximity switch is mounted on the lower connecting plate, and the trigger plate is disposed on the upper fixing plate above the proximity switch.

[0007] Furthermore, the pneumatic magnetic chuck includes a chuck body and a steel ball metering cover; the steel ball metering cover is fixed to the bottom of the chuck body by means of threaded connection or adhesive bonding, and multiple circular through holes distributed in an array are machined on the bottom surface of the steel ball metering cover.

[0008] Furthermore, a preset distance is formed between the bottom surface of the steel ball metering cover and the adsorption surface of the suction cup body, the preset distance being 1 / 2 to 3 / 4 of the diameter of a single steel ball.

[0009] Furthermore, the bottom surface of the steel ball metering cover has a specific thickness, which is equal to a preset distance.

[0010] Furthermore, a gap is provided between the bottom surface of the steel ball metering cover and the adsorption surface of the suction cup body, and the sum of the gap and the thickness of the bottom surface of the steel ball metering cover is a preset distance.

[0011] Furthermore, the pneumatic magnetic chuck also includes an outer protective ring for the metering cover, which surrounds the outer side of the outer wall of the steel ball metering cover.

[0012] This invention utilizes a steel ball metering cover design to confine the magnetic field within each through-hole of the cover, forming independent magnetic channels. This ensures precise adsorption of individual steel balls and effectively prevents them from clustering together. Combined with the independent buffer spring structure of each pneumatic magnetic suction cup unit, the gripper can adapt to uneven surfaces of the steel ball pile during the gripping process, ensuring effective contact between all suction cup heads and the steel balls. This device can be easily integrated into automated production lines, enabling efficient and quantitative gripping of steel balls using industrial robots. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0014] Figure 2 This is a schematic diagram of a single pneumatic magnetic chuck unit.

[0015] Figure 3 This is an enlarged schematic diagram of the steel ball metering hood area. 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] The following is in conjunction with the appendix Figure 1-3 The preferred embodiment of this utility model will be described in detail below. The steel ball gripper for automated production of hand grenades includes a gripper fixing plate 1, a robot connector 2, and several pneumatic magnetic suction cup units 3.

[0018] The gripper fixing plate 1 is made of sheet metal, and the robot connector 2 is fixedly mounted at its center by bolts for connection to the end flange of the industrial robot. Multiple pneumatic magnetic chuck units are disposed at the lower part of the gripper fixing plate 1.

[0019] As attached Figure 1 , 2As shown, the pneumatic magnetic chuck unit 3 includes a connecting column 31, an upper fixing plate 32, a buffer spring 33, a limit switch 34, a lower connecting plate 35, and a pneumatic magnetic chuck 36. The upper fixing plate 32 is fixed to the lower surface of the gripper fixing plate 1 via the connecting column 31. The upper end of the connecting column 31 is connected to the upper fixing plate 32, which can be fixed by threaded connection or welding, preferably by bolt connection. The position of the pneumatic magnetic chuck unit 3 can be flexibly set and adjusted according to the production line conditions. The lower end of the connecting column 31 is fixedly connected to the upper fixing plate 32.

[0020] The upper fixing plate 32 and the lower connecting plate 35 are connected by the buffer spring 33, with both ends of the spring fixed to the upper fixing plate 32 and the lower connecting plate 35 respectively.

[0021] The limit switch 34 includes a proximity switch 341 and a trigger plate 342. The proximity switch 341 is mounted on the lower connecting plate 35, and the trigger plate 342 is disposed on the upper fixed plate 32 above the proximity switch 341. When the lower connecting plate 35 compresses the spring 33 and moves upward to the preset position, it will trigger the limit switch 34 and send a positioning signal.

[0022] As attached Figure 2 As shown in Figure 3, the pneumatic magnetic chuck 36 includes a chuck body 361, a steel ball metering cover 362, and an outer protective ring 363 for the metering cover. The steel ball metering cover 362 is made of non-magnetic materials such as stainless steel, copper, or engineering plastics, and is fixed to the bottom of the chuck body 361 by threaded connection or adhesive bonding, so that a predetermined distance is formed between the bottom surface of the steel ball metering cover 362 and the adsorption surface (bottom surface) of the chuck body 361. Multiple circular through holes 3621 are machined in an array on the bottom surface of the steel ball metering cover 362. The diameter of the circular through holes 3621 is slightly larger than the diameter D of the steel ball; in one embodiment by the applicant, the diameter of the through holes 3621 is 120% of the diameter D of the steel ball.

[0023] The outer protective ring 363 of the metering hood is also made of non-magnetic material, and it surrounds the outer wall of the steel ball metering hood 362. The suction cup body 361 is a commercially available product, and its matching air circuit and related control components are also existing technology.

[0024] The preset distance L between the bottom surface of the steel ball metering cover and the adsorption surface of the suction cup body 361 is 1 / 2 to 3 / 4 of the diameter D of a single steel ball. This distance L is achieved through one of the following two structural methods: Method 1, the bottom surface of the steel ball metering cover has a specific thickness, directly constituting the distance L; Method 2, the thickness of the bottom surface of the steel ball metering cover and the gap between the bottom surface and the adsorption surface of the pneumatic magnetic suction cup together constitute the distance L.

[0025] Working principle: The robot moves its gripper above the steel ball hopper and descends, causing the bottom protective rings 363 and the bottom surfaces of each pneumatic magnetic chuck 36 to contact or slightly penetrate the steel ball pile. Subsequently, the pneumatic magnetic chuck 36 is activated to generate an adsorption force. Magnetic lines of force pass through the through-holes 3621 on the bottom surface of the steel ball metering cover 362, attracting the steel balls directly opposite the through-holes. Due to the gaps and the presence of the non-magnetic metering cover, the magnetic field is "constrained" at each through-hole, effectively preventing the steel balls from clustering together. The protective rings 363 prevent steel balls on the sides from being accidentally attracted.

[0026] Meanwhile, the buffer spring 33 enables each suction cup unit to adapt to the surface of the steel ball stack, and its independent floating capability ensures that each suction cup head maintains good contact with the steel ball surface, thereby ensuring that the magnetic lines of force at all target workstations can be effectively penetrated, avoiding adsorption failure caused by the pneumatic magnetic suction cups at individual points being suspended. The displacement can be monitored by the limit switch 34 to indirectly determine whether the adsorption is abnormal. Abnormal signals can be used to trigger alarms or shutdowns, realizing simple fault diagnosis.

[0027] After the suction is completed, the robot lifts the gripper and transfers a fixed amount of steel balls to the top of the grenade casing. The pneumatic magnetic suction cup moves 36, and the steel balls fall neatly off by gravity, completing the filling.

[0028] It should be noted that, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," "fixing," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

Claims

1. A steel ball gripper for automated grenade production, characterized in that, It includes a gripper fixing plate, a robot connector, and several pneumatic magnetic suction cup units. The gripper fixing plate is made of sheet metal, and the robot connector is fixedly installed in the center by bolts. The multiple pneumatic magnetic suction cup units are arranged at the lower part of the gripper fixing plate.

2. The steel ball gripper according to claim 1, characterized in that, The pneumatic magnetic suction cup unit includes a connecting column, an upper fixing plate, a buffer spring, a limit switch, a lower connecting plate, and a pneumatic magnetic suction cup; the upper fixing plate is fixed to the lower surface of the gripper fixing plate by the connecting column; the upper fixing plate and the lower connecting plate are connected by the buffer spring; the limit switch includes a proximity switch and a trigger plate; the proximity switch is mounted on the lower connecting plate, and the trigger plate is disposed on the upper fixing plate above the proximity switch.

3. The steel ball gripper according to claim 2, characterized in that, The pneumatic magnetic chuck includes a chuck body and a steel ball metering cover; the steel ball metering cover is fixed to the bottom of the chuck body by means of threaded connection or adhesive bonding, and multiple circular through holes distributed in an array are processed on the bottom surface of the steel ball metering cover.

4. The steel ball gripper according to claim 3, characterized in that, A preset distance is formed between the bottom surface of the steel ball metering cover and the adsorption surface of the suction cup body, and the preset distance is 1 / 2 to 3 / 4 of the diameter of a single steel ball.

5. The steel ball gripper according to claim 4, characterized in that, The bottom surface of the steel ball metering hood has a specific thickness, which is equal to a preset distance.

6. The steel ball gripper according to claim 4, characterized in that, A gap is provided between the bottom surface of the steel ball metering cover and the adsorption surface of the suction cup body, and the sum of the gap and the thickness of the bottom surface of the steel ball metering cover is a preset distance.

7. The steel ball gripper according to claim 2, characterized in that, The pneumatic magnetic chuck also includes an outer protective ring for the metering cover, which surrounds the outer side of the outer wall of the steel ball metering cover.

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