CN106643346A - Bullet pulling device and method - Google Patents
Bullet pulling device and method Download PDFInfo
- Publication number
- CN106643346A CN106643346A CN201611081679.7A CN201611081679A CN106643346A CN 106643346 A CN106643346 A CN 106643346A CN 201611081679 A CN201611081679 A CN 201611081679A CN 106643346 A CN106643346 A CN 106643346A
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- China
- Prior art keywords
- bullet
- mechanical hand
- guide rail
- slide unit
- card
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B33/00—Manufacture of ammunition; Dismantling of ammunition; Apparatus therefor
- F42B33/06—Dismantling fuzes, cartridges, projectiles, missiles, rockets or bombs
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention relates to a bullet pulling device and method. The bullet pulling device comprises a bullet supplying mechanism, a bullet grasping mechanical arm, a bullet pulling base, multiple bullet pulling machines which are all fixed on the bullet base and bullet feeding mechanisms which have the same number as that of the bullet pulling machines; the bullet grasping mechanical arm is arranged on the bullet pulling base; each bullet feeding mechanism can move to the position, below one of the bullet pulling machine, on the bullet pulling base; each bullet pulling machine is provided with multiple clamping mechanisms. The bullet pulling device and method have the advantages that an operator just needs to regularly place bullets to be pulled on the bullet supplying mechanism, the bullet grasping mechanical arm can convey the bullets to be pulled on the bullet supply mechanism to the bullet feeding mechanisms, the bullet feeding mechanisms further convey the bullets into the bullet machines, and bullet head and cartridge separation is completed through the bullet pulling machines. Accordingly, bullet taking, bullet feeding and bullet pulling processes are automatically performed, manual intervention is not needed, and human health cannot be affected; in addition, power is provided mainly in a hydraulic mode, and bullet pulling treatment can be conducted on multiple bullets simultaneously.
Description
Technical field
The present invention relates to ammunition disposal device field, more particularly to one kind pull out bullet device and bullet-wound prescription method.
Background technology
Processs is scrapped more for place the time limit and exceed do the shell of safe-use period by current army, scrap process mainly by
Bullet is extracted from cylinder separates bullet and cylinder, so as to being destroyed or being reclaimed.At present the country is carried out to large caliber ball cartridge
There is problems with when scrapping process：(1) automatization's filling difficulty is big, realizes bullet by mixed and disorderly state to the attitude to specify
Deliver to pull out bullet station difficulty it is larger；(2) when separating bullet, cylinder, bullet, the process of falling medicine are pulled out and is both needed to manually participate in, high labor intensive,
Efficiency is low and operator lack quarantine measures and security protection, and easily health is caused to damage；(3) because pulling out bullet needed for strength
It is larger, single bullet can only be carried out pulling out bullet process every time.
The content of the invention
The technical problem to be solved is to provide one kind and pulls out bullet device and bullet-wound prescription method, solves bullet by mixed and disorderly
State to specify attitude deliver to pull out bullet station difficulty it is larger, pulling out bullet, the process of falling medicine need to manually move, and efficiency is low, operator
Member lacks quarantine measures and security protection, easily health is caused to damage and can only single bullet be carried out pulling out bullet to process and is asked
Topic.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：
According to one aspect of the present invention, there is provided one kind pulls out bullet device, including ammunition feed mechanism, grab bullet mechanical hand, pull out bullet
Pedestal, multiple pull out bullet machine；Described multiple bullet machines that pull out are each attached to described pulling out on bullet pedestal；Also include and pull out bullet machine quantity phase
Deng and for fixation bullet to be drawn guns and transport the Song Dan mechanisms of bullet to be drawn guns；The bullet mechanical hand of grabbing is movably disposed at
It is described to pull out on bullet pedestal, and for the bullet to be drawn guns on ammunition feed mechanism to be transported to into each Song Dan mechanism；Each Song Dan mechanism
Be moved to one of them lower section for pulling out bullet machine on pedestal pulling out to play；Each pull out be equipped with bullet machine it is multiple for clamping bullet
The clamp system of bullet.
Further：Each Song Dan mechanism includes that card plays slide unit, card and plays slide unit guide rail and first driving means；The card bullet
Slide unit is movably disposed at the card and plays on slide unit guide rail, and the card plays slide unit and first driving means connection, described
Card plays slide unit guide rail and is fixed on described pulling out on bullet pedestal.
The beneficial effect of above-mentioned further scheme is：Realize automatically to play mechanical hand and being transported to and pull out bullet bullet to be drawn guns from grabbing
Machine lower section, without the need for artificial participation, and blocks and plays slide unit and can will wait bullet cylinder grips of drawing guns, and is easy to pull out bullet machine during bullet is pulled out
Cylinder part will not follow and moved on bullet.
Further：The bullet pedestal that pulls out includes base and grabs bullet mechanical hand guide rail；It is described to grab the one end for playing mechanical hand guide rail
It is connected with the base, the other end extends to the top of ammunition feed mechanism；The bullet mechanical hand of grabbing is movably disposed at described grabbing
Play on mechanical hand guide rail；Multiple bullet machine and card bullet slide unit guide rails of pulling out are each attached on the base.
The beneficial effect of above-mentioned further scheme is：Grabbing bullet mechanical hand in the course of the work can play on mechanical hand guide rail grabbing
Mobile and card plays slide unit and can move on card bullet slide unit guide rail；When bullet robot movement is grabbed to card bullet slide unit, bullet is grabbed
The bullet that mechanical hand can complete to be captured is transferred on card bullet slide unit.
Further：The bullet mechanical hand of grabbing includes the first connecting plate, multiple first jaws, the second driving means and the 3rd drive
Dynamic device；First connecting plate and the first jaw are connected with second driving means, and second driving means are used to control
Each first jaw is moved up and down with drive for each first jaw folding；First connecting plate is movably disposed at described grabbing
Play on mechanical hand guide rail, first connecting plate is also connected with the 3rd driving means.
The beneficial effect of above-mentioned further scheme is：Second driving means are used to drive the first jaw to move up and down, and are easy to
Crawl send the bullet to be drawn guns played on rotating disk, the second driving means to be additionally operable to drive the folding of the first jaw, grips the first jaw
Bullet to be drawn guns, it is to avoid slide；3rd driving means are used to drive the first connecting plate to slide on bullet mechanical hand guide rail is grabbed, and first connects
The bullet to be drawn guns that fishplate bar is further driven on the first jaw moves to card and plays slide unit position.
Further：The ammunition feed mechanism includes sending bullet rotating disk, rotary actuator and multiple for placing bullet to be drawn guns
Play pallet；The outfan of rotary actuator is connected with the center of rotation for playing rotating disk is sent；Multiple bullet pallets are distributed in and send bullet to turn
On disk.
The beneficial effect of above-mentioned further scheme is：By arranging multiple bullet pallets, operator only need to be by bullet to be drawn guns
Regular is placed on multiple bullet pallets, and rotary actuator will drive and send bullet turntable rotation, until will be equipped with its of bullet
In one play pallet be placed in grab play mechanical hand guide rail underface.
Further：Also include playing mechanical hand for pour out in the ammunition in cylinder.
The beneficial effect of above-mentioned further scheme is：Ammunition in cylinder is recycled, it is to avoid resource wave occur
Take phenomenon.
Further：The mechanical hand that plays includes that the second connecting plate, multiple second jaws, rotating mechanism, the 4th drive dress
Put and the 5th driving means；Second connecting plate, multiple second jaws and rotating mechanism are connected with the four-drive device, institute
Four-drive device is stated for controlling each second jaw folding and driving each second jaw to move up and down；Second connection
Plate is also connected with the 5th driving means.
Further：Described pulling out is additionally provided with down bullet mechanical hand guide rail on bullet pedestal, the mechanical hand guide rail that plays is grabbed with described
Play mechanical hand guide rail to be oppositely arranged, it is described to grab the projection and the bullet mechanical hand guide rail for playing mechanical hand guide rail on the base
Projection on the base has lap, and second connecting plate is movably disposed at the bullet mechanical hand guide rail
On.
It is above-mentioned enter two step schemes beneficial effect be：Four-drive device is used to drive the second jaw to move up and down, and is easy to
Crawl card plays the cylinder of bullet of having drawn guns on slide unit, and four-drive device is additionally operable to drive the folding of the second jaw, makes the second jaw
Grip cylinder, it is to avoid slide；5th driving means are used to driving the second connecting plate slide on mechanical hand guide rail to play, when bullet
When mechanical hand reaches ammunition collecting box top, rotating mechanism can into be poured in the ammunition in cylinder by control the second jaw rotation
In ammunition collecting box.
Further：The mechanical hand guide rail lower section that plays is provided with ammunition collecting box.
The beneficial effect of above-mentioned further scheme is：Ammunition in the cylinder of bullet of drawing guns is reclaimed, it is to avoid occur
Wasting of resources phenomenon.
Another aspect of the present invention, there is provided a kind of based on the above-mentioned bullet-wound prescription method pulled out and play device, comprises the following steps：
Step S01：Ammunition feed mechanism working link, staff is placed on bullet to be drawn guns on bullet pallet, rotary drive dress
Putting drive send bullet rotating disk to rotate, and makes one that fills bullet to be drawn guns to play pallet and enters into process state；
Step S02：Bullet robot work link is grabbed, bullet mechanical hand is grabbed and is moved on bullet mechanical hand guide rail is grabbed, arrived into
The bullet pallet top of process state, the second driving means drive the first jaw to move down and promptly play on pallet after bullet of drawing guns
Upper shifting, grabs afterwards bullet mechanical hand and continues to be moved on bullet mechanical hand guide rail is grabbed, to the surface of Dacca bullet slide unit guide rail；
Step S03：Song Dan mechanisms working link, card plays slide unit and moves on card bullet slide unit guide rail, until it reaches grab bullet machine
The underface of tool handss, now grabs bullet mechanical hand and moves down and bullet to be drawn guns is placed on card bullet slide unit；Card plays slide unit and will wait to draw guns
Cartridge clip is tight and block to play again the underface until bullet machine is pulled out in arrival is continued to move on slide unit guide rail；
Step S04：Bullet machine working link is pulled out, bullet machine is pulled out and first card is played into slide unit compression, then clamp system clamps and waits to draw guns
Warhead section is played, bullet and cylinder mask work is carried out；
Step S05：Card plays slide unit and removes the bullet machine that pulls out with the cylinder of bullet of drawing guns, enters and play robot work link,
Play mechanical hand to move on bullet mechanical hand guide rail, until it reaches card plays the surface of slide unit, mechanical hand is played afterwards and is captured
Cylinder simultaneously continues playing the movement of mechanical hand guide rail, and when ammunition collecting box top is moved to, rotating mechanism controls the second jaw
Rotate to an angle, the ammunition in cylinder is poured out；So far complete to pull out bullet work.
The invention has the beneficial effects as follows：Operator need to only complete being placed on bullet to be drawn guns rule on ammunition feed mechanism,
Grabbing bullet mechanical hand will be by bullet the to be drawn guns transport on ammunition feed mechanism to Song Dan mechanisms, and Song Dan mechanisms are further by bullet fortune to be drawn guns
It is defeated to pulling out in bullet machine, pull out bullet machine and complete gun bullet and cylinder mask work；Taking bullet, send bullet, pull out and bounce Cheng Quan in the present invention
Automatic operating, without the need for artificial participation, will not impact, the side separately based on hydraulic system, supplemented by electric power to health
Formula provides power, and multiple bullets can be carried out simultaneously to pull out bullet process.
Description of the drawings
Fig. 1 is to pull out the top view for playing device in the present invention；
Fig. 2 is to pull out the front view for playing device in the present invention；
Fig. 3 is the graphics in the direction that the card in the present invention plays slide unit；
Fig. 4 is the graphics of the other direction that the card in the present invention plays slide unit；
Fig. 5 is that pulling out in bullet device in the present invention pulls out bullet machine structural representation；
Fig. 6 is that pulling out in bullet device in the present invention pulls out bullet base construction schematic diagram；
Fig. 7 is the graphics for grabbing bullet mechanical hand that pulling out in the present invention is played in device；
Fig. 8 is that pulling out in bullet device in the present invention sending bullet turntable structure schematic diagram；
Fig. 9 is the graphics for playing mechanical hand that pulling out in the present invention is played in device；
Specific embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, example is served only for explaining the present invention, and
It is non-for limiting the scope of the present invention.
Refer to Fig. 1 to Fig. 9, it should however be clear that structure, ratio, size depicted in this specification institute accompanying drawings etc., only to
Coordinate the content disclosed in description, so that those skilled in the art understands and reads, being not limited to the present invention can be real
The qualificationss applied, therefore do not have technical essential meaning, the tune of the modification of any structure, the change of proportionate relationship or size
It is whole, in the case where effect that can be generated of the invention and the purpose to be reached is not affected, all should still fall in disclosed skill
In the range of art content can cover.Meanwhile, in this specification it is cited as " on ", D score, "left", "right", " centre " and
The term of " one " etc., is merely convenient to understanding for narration, and is not used to limit enforceable scope of the invention, its relativeness
It is altered or modified, under without essence change technology contents, when being also considered as enforceable category of the invention.
Embodiment one, one kind pulls out bullet device, and bullet device is pulled out to one kind that the present embodiment is provided below in conjunction with Fig. 1 to Fig. 9
It is described in detail.
As shown in Figures 1 to 9, one kind pulls out bullet device, including ammunition feed mechanism 100, grabs bullet mechanical hand 200, pulls out bullet pedestal
300th, it is multiple to pull out bullet machine 400；Described multiple bullet machines 400 that pull out are each attached to described pulling out on bullet pedestal 300；Also include and pull out bullet machine
400 quantity are equal and for fixation bullet to be drawn guns and transport the Song Dan mechanisms 500 of bullet to be drawn guns；It is described to grab bullet mechanical hand 200
It is movably disposed at described pulling out to play on pedestal 300, and bullet is sent for the bullet to be drawn guns on ammunition feed mechanism 100 to be transported to into each
In mechanism 500；Each Song Dan mechanism 500 be moved to one of them lower section for pulling out bullet machine 400 on pedestal 300 pulling out to play；Often
Individual pulling out is equipped with multiple clamp systems 411 for clamping gun bullet on bullet machine 400.Each described clamp system 411 includes
First clamping cylinder and the first clamping head, first clamping cylinder is connected with first clamping head.The clamp system 411
Quantity be four to 20, preferably four to eight, preferably eight.
As shown in Figures 1 to 4, Song Dan mechanisms 500 are improved further, its concrete improvement is as follows：
Each Song Dan mechanism 500 includes that card plays slide unit 510, card and plays slide unit guide rail 520 and first driving means；The card
Play slide unit 510 to be movably disposed on the card bullet slide unit guide rail 520, the card plays slide unit 510 and described first and drives dress
Connection is put, the card plays slide unit guide rail 520 and is fixed on described pulling out on bullet pedestal 300.The outfan of the first driving means connects
Connect the input that the card plays slide unit 510；First driving means are used to play the offer power of slide unit 510 for card；Described first drives
Device includes multiple cylinders 531 and multiple air cylinder supports 532；The outfan of the cylinder 531 plays slide unit 510 and connects with the card
Connect, move for driving the card to play slide unit 510；The cylinder 531 is arranged on the air cylinder support 532, the cylinder
Frame 532 is fixed on base 310；Cylinder sleeve pipe is arranged with the cylinder 531, the cylinder sleeve pipe is fixed on base 310.
Card play slide unit guide rail 520 be chosen as it is multiple, for guarantee to pull out bullet apparatus structure it is simple and block play slide unit 510 can be in card bullet slide unit guide rail
Steadily move on 520, card plays slide unit guide rail 520 and is preferably two, below mention is that slide unit guide rail 520 is played to card is two
The analysis that individual situation is carried out；The two ends for playing slide unit guide rail 520 in the card are provided with buffer, and buffer plays slide unit 510 to card
Play buffering, make card bullet slide unit 510 more stably be parked in the two ends that card plays slide unit guide rail 520.
The card plays slide unit 510 includes multiple sheaths 511,512, two clamps 513 of the second pressing plate, slide unit base plate 514, use
In the gentle finger 516 of starting of pneumatic-finger body 515 for driving multiple clamps 513 to be clamped bullet；The card of multiple sheaths 511 sets
In the second pressing plate 512；Two clamps 513 are arranged in the second pressing plate 512, and on the relative one side of two clamps 513
Multiple semicircle arc flutings are provided with, multiple semicircle arc flutings are used for clamping bullet；Connecting hole is additionally provided with two clamps 513；It is pneumatic
Finger body 515 is connected with pneumatic-finger head 516, in the connecting hole of the insertion clamp 513 of pneumatic-finger head 516；Card is played on slide unit 510
Also include playing the contiguous block 517 and multiple slide blocks 518 of the bottom of slide unit 510 located at card, contiguous block 517 is connected with first driving means
Connect, play in card for driving card bullet slide unit 510 and moved on slide unit guide rail 520, multiple slide blocks 518 are provided with groove, for card
Play slide unit guide rail 520 to be connected.
When in use, first card plays slide unit 510 and will grab the bullet to be drawn guns that bullet mechanical hand 200 is conveyed for the Song Dan mechanisms 500
It is clamped, bullet to be drawn guns is placed in multiple sheaths 511, the bottom of bullet to be drawn guns is placed between two clamps 513；Then it is pneumatic
The drive gas of finger body 515 finger 516 of starting is moved, and it is close that pneumatic-finger head 516 is further driven to two clamps 513, and will treat
Cartridge clip of drawing guns is tight, and afterwards card bullet slide unit 510 drives to be moved to and pulls out immediately below bullet machine 400 in cylinder 531, enters into and pulls out bullet machine
400 working links；Card plays slide unit 510 can be with directly by the way of the second clamping cylinder and the second clamping head coordinate to bullet
It is clamped.
As shown in figure 5, being improved further to pulling out bullet machine 400, its concrete improvement is as follows：
The bullet machine 400 that pulls out also includes multiple the first pressing plates 430 for compressing card bullet slide unit 510, each first pressing plate
430 pull out on the close surface for pulling out bullet pedestal 300 side of bullet machine 400 located at described.Bullet machine 400 can be prevented from pulling out and bounce journey pulling out
In, card plays slide unit 510 can follow gun bullet to move up, and bullet work is pulled out in impact.The bullet machine 400 that pulls out also includes pulling out bullet oil cylinder
420, the outfan for pulling out bullet oil cylinder 420 is connected with the Ba Dan mechanisms 410, for driving the Ba Dan mechanisms 410 upwards
Movement completes the bullet of bullet to be drawn guns and cylinder mask work, and pulling out bullet oil cylinder 420 and being additionally operable to drive Ba Dan mechanisms 410 to move down makes folder
Tight mechanism 411 can put to the sticking position to be drawn guns on Dacca bullet slide unit 510；Ba Dan mechanisms 410 also include balladeur train 412 and for giving
First clamping cylinder provides the oil circuit device 413 of hydraulic oil, the oil circuit device 413 and first clamping cylinder and the cunning
Frame 412 connects, and the balladeur train 412 is connected away from the side of the oil circuit device 413 with the outfan for pulling out bullet oil cylinder 420.Institute
It is integrated oil path block to state oil circuit device 413, and the integrated oil path block is provided with the plug for sealing the integrated oil path block；Institute
Stating plug can elect interior hexagonal flange plug as, and the clamp system 411 is Φ with the fit system of the integrated oil path block
40H9/d9；The oil circuit device 413 can also elect oil pipe as, and when oil circuit device 413 elects oil pipe as, clamp system 411 can be straight
Connect and be fixed on balladeur train 412.
It is described to pull out the guider 450 that bullet machine 400 also includes for being oriented to balladeur train 412, the guider 450
Coordinate with the balladeur train 412, the guider 450 is fixed on described pulling out on the entablature 441 and sill 442 of bullet machine 400；
The guider 450 is preferably lead column, and to make lead column relatively firm being fixed on pull out on bullet machine 400, lead column lower end can
It is fixed by setting up the method for gland, the quantity of lead column and gland is two, lead column and is pulled out between bullet machine 400
Fit system is Φ 50H8/e7, and gland and the fit system pulled out between bullet machine 400 are Φ 50H8/e7；The guider 450
The screwed screw rod of upper and lower ends can also be elected as, screw rod two ends are fixed on the entablature 441 for pulling out bullet machine 400 by nut
On sill 442.
The balladeur train 412 is provided with self-lubricating bearing 4121, the self-lubricating bearing 4121 be arranged on the balladeur train 412 with
On the inner surface of the matching part of the guider 450；The length range of the self-lubricating bearing 4121 is 92mm to 109mm,
98mm to 102mm, preferably 100mm or so can be elected as；Fit system between self-lubricating bearing 4121 and balladeur train 412 is Φ
65E7/m7；Fit system between self-lubricating bearing 4121 and guider 450 is Φ 50F8/e7.On the balladeur train 412 also
It is provided with cover plate 4122, the cover plate 4122 is fixed on the upper and lower ends face at the balladeur train 412 and the cooperation of the guider 450
On, the setting of cover plate 4122 is easy to that self-lubricating bearing 4121 is fixed between balladeur train 412 and guider 450.
The middle part for pulling out bullet oil cylinder 420 is provided with fixed plate, and the upper end for pulling out bullet oil cylinder 420 is fixed on by fixed plate
The top of bullet machine 400 is pulled out, the outfan for pulling out bullet oil cylinder 420 is by pulling out the piston rod of bullet oil cylinder 420 and the top of the balladeur train 412
Portion connects, and the bullet machine 400 that pulls out also includes axle and baffle plate, and the axle is used to connect piston rod and balladeur train 412, and the baffle wedge sets
In the draw-in groove of axle, locked by baffle plate after axle connection piston rod and balladeur train 412；Pull out between bullet oil cylinder 420 and balladeur train 412
It is attached by axle and baffle plate, is easy to dismounting；Axle and the fit system pulled out between bullet oil cylinder 420 and balladeur train 412 are Φ
30H9/d9。
The bullet machine 400 that pulls out also includes the left support frame that is oppositely arranged and right support frame, left support frame and right support frame it
Between be attached by entablature 441 and sill 442；Left support frame, right support frame, entablature 441 and sill 442 are enclosed
Into region in for placing balladeur train 412, oil circuit device 413 and clamp system 411, make balladeur train 412, oil circuit device 413 and folder
Tight mechanism 411 can the activity in the region that this is surrounded；Left support frame and right support frame upper end are fixed with a gripper shoe with holes,
Pull out the fixed plate played on oil cylinder 420 to be connected with gripper shoe, make to pull out and play oil cylinder 420 and will not rock in the course of the work.
It is described to pull out bullet machine 400 when in use：The card bullet slide unit 510 for filling bullet is moved to first pulls out the lower section of bullet machine 400,
And compressed on card bullet slide unit 510 with the first pressing plate 430；Then pull out the piston rod played on oil cylinder 420 and drive Ba Dan mechanisms 410
Move downward, the stop motion when the first clamping head moves to gun bullet with shell case boundary, first clamps head clamping bullet
Bullet, pulls out afterwards bullet oil cylinder 420 and drives piston rod to move upwards, and piston rod further drives Ba Dan mechanisms 410 to move upwards, completes
Gun bullet and the mask work of shell case, participate in without the need for artificial, safe and reliable.
As shown in Figure 2 and Figure 6, it is improved further to pulling out bullet pedestal 300, its concrete improvement is as follows：
The bullet pedestal 300 that pulls out includes base 310 and grabs bullet mechanical hand guide rail 320；Described grabbing plays mechanical hand guide rail 320
One end is connected with the base 310, and the other end extends to the top of ammunition feed mechanism 100；It is described grab bullet mechanical hand 200 it is moveable
It is arranged on described grabbing on bullet mechanical hand guide rail 320；Multiple bullet machine 400 and card bullet slide unit guide rails 520 of pulling out are each attached to the base
On 310, card plays slide unit guide rail 520 and is fixed on the base 310 for pulling out the lower section of bullet machine 400, it is ensured that card plays slide unit 510 and can slide in card bullet
It is moved on platform guide rail 310 and pulls out the lower section of bullet machine 400, the lower section of bullet machine 400 of pulling out also is placed with bullet collection device.The base
310 are provided with multiple columns 311, and the lower end of multiple columns 311 is each attached on the base 310, the upper end of multiple columns 311
It is connected with the one end for grabbing bullet mechanical hand guide rail 320, the other end for grabbing bullet mechanical hand guide rail 320 extends to ammunition feed mechanism 100
Top；The quantity of the column 311 is chosen as four, five, six, seven, eight etc.；To make to pull out the structure letter for playing device
It is single, and ensure to grab the bullet even running of mechanical hand 200, the quantity of column 311 is preferably four；Here slide unit guide rail 520 is played to card
Quantity is two, and the quantity of column 311 is that the situation of four is further detailed：Four lower ends of column 311 are chosen as uniformly
It is arranged in two cards to play on the base 310 of the both sides of slide unit guide rail 520；Four lower ends of column 311 are also chosen as being evenly arranged
Play on the base 310 in the middle of slide unit guide rail 520 in two cards；Four lower ends of column 311 are also chosen as two of which arrangement
Play in the middle of slide unit guide rail 520 in two cards, two other is arranged therein the bottom of the guide rail away from centre position side
On seat 310；It is described grab play mechanical hand guide rail 320 quantity be chosen as it is multiple, it is simple and grab bullet machinery to make to pull out bullet apparatus structure
Handss 200 can steadily be moved grabbing to play on mechanical hand guide rail 320, grabbed bullet mechanical hand guide rail 320 and be preferably two；Each two column
311 are used to fix the one end for grabbing bullet mechanical hand guide rail 320, and each other end for grabbing bullet mechanical hand guide rail 320 stretches out；
Grab bullet mechanical hand guide rail 320 for two to be arranged in parallel, it is ensured that grabbing bullet mechanical hand 200 can grab flat on bullet mechanical hand guide rail 320 at two
Steady activity；Each is grabbed and plays the length that the right-hand member of mechanical hand guide rail 320 stretches out and play pallet more than the right-hand member of base 310 to nearest
The distance of 110 low order end, it is ensured that grab to play mechanical hand 200 and can capture and closest play being needed of placing on pallet 110
Draw guns bullet.
Described pulling out be additionally provided with the first travel switch on bullet pedestal 300；First travel switch is arranged on the card bullet and slides
On the base 310 of the front end of platform guide rail 520；Can be card bullet slide unit 510 when card plays slide unit 510 and runs to bullet mechanical hand 200 is grabbed
Load wait sticking position of drawing guns put and fall to play mechanical hand 600 card can be played draw guns on slide unit 510 play cylinder and carry out processing position when, the
One stroke switch can play slide unit 510 and lock to card so as to be precisely parked in and be easy to play mechanical hand 600 and grab bullet mechanical hand
The position of 200 operations.
Described pulling out be additionally provided with the second travel switch on bullet pedestal 300；Second travel switch is arranged on the card bullet and slides
On the base 310 of the rear end of platform guide rail 520；Run when pulling out at bullet machine 400 when card plays slide unit 510, the second travel switch will
Card plays slide unit 510 and locks so as to be precisely parked in the position for being easy to pull out the operation of bullet machine 400.
It is described to pull out bullet pedestal 300 when in use：Card plays slide unit 510 and moves on card bullet slide unit guide rail 520, grabs bullet mechanical hand
200 move on bullet mechanical hand guide rail 320 is grabbed, and run when bullet 200 underface of mechanical hand is grabbed when card plays slide unit 510, the first row
Cheng Kaiguan locks on card bullet slide unit 510, grabs bullet mechanical hand 200 and bullet to be drawn guns is placed on card bullet slide unit 510；Then the first row
Cheng Kaiguan unclamps, and the driving card bullet slide unit 510 of cylinder 531 is moved, and bullet is delivered to and pulls out the lower section of bullet machine 400, and the second travel switch will
Card bullet slide unit 510 is locked at and pulls out the position directly below of bullet machine 400；Pull out bullet machine 400 to complete to pull out after bullet work, the second travel switch pine
Open, the driving card bullet slide unit 510 of cylinder 531 is back moved, now play mechanical hand 600 move on mechanical hand guide rail 330 can play
Dynamic, when card plays slide unit 510 is moved to down bullet 600 underface of mechanical hand, the first travel switch locks on card bullet slide unit 510,
Play mechanical hand 600 to remove the cylinder of bullet of drawing guns and process the ammunition in cylinder；And block play slide unit 510 then continue by
First stroke switch locking, wait is grabbed bullet mechanical hand 200 and is conveyed through by bullet to be drawn guns, to carry out the next working cycle.
As shown in Figure 2 and Figure 7, it is improved further to grabbing bullet mechanical hand 200, its concrete improvement is as follows：
The bullet mechanical hand 200 of grabbing includes the first connecting plate 210, multiple first jaws 220, the second driving means and the 3rd
Driving means；First connecting plate 210 and first jaw 220 are connected with second driving means；Second drives
Device includes the first mechanical finger 231 for controlling the folding of the first jaw 220 and for driving the first jaw 220 to move up and down
The first sliding cylinder 232；First jaw 220 includes the first left claw and the first right pawl being oppositely arranged；Described first connects
Fishplate bar 210 is movably disposed at described grabbing and plays on mechanical hand guide rail 320, and first connecting plate 210 also drives with the described 3rd
Dynamic device connection；3rd driving means are used to drive the first connecting plate 210 to move on bullet mechanical hand guide rail 320 is grabbed, from
And realize that will play bullet to be drawn guns on pallet 110 is transported on card bullet slide unit 510.To ensure that grabbing bullet mechanical hand 200 smoothly completes work
Make, described grabbing is additionally provided with the first air passage block on bullet mechanical hand 200, the first air passage block is the cunning of first mechanical finger 231, first
Cylinder 232 of taking offence provides raw material.
As shown in figure 8, being improved further to ammunition feed mechanism 100, its concrete improvement is as follows：
The ammunition feed mechanism 100 includes sending bullet rotating disk 120, rotary actuator 130 and multiple bullets for placing bullet
Pallet 110；The outfan of rotary actuator 130 is connected with the center of rotation for playing rotating disk 120 is sent；Multiple bullet pallets 110 are equal
It is distributed in and send on bullet rotating disk 120.In the present embodiment, each plays and bullet placement hole array is equipped with pallet 110, wherein, rifle
Play putting hole and be adapted to bullet of the bore for 12.7mm or 14.5mm, it can be 4*4,4*6,6*8,8*6,9* that bullet places hole array
9th, the form such as 8*9 or 8*8, in the present embodiment in the form of 8*6.Play pallet 110 quantity can for three, four, six
Individual situations such as, illustrated as a example by playing the quantity of pallet 110 for six in the present embodiment；Six play pallet 110 in a ring,
And being distributed in for isogonism is sent on bullet rotating disk 120, wherein, six centers of circle for playing the loop configuration that pallet 110 is constituted turn with bullet is sent
With one heart, six bullet pallets 110 are fixed by screws in and send on bullet rotating disk 120 center of rotation of disk 120.
Rotary actuator 130 includes frame 131 and slewing 132；Slewing 132 is fixed in frame 131.Machine
The bottom of frame 131 is provided with least four backing plates 170, so after regulation send bullet rotating disk 120 to install, can adjust and send bullet rotating disk
Plane and mounting plane plane-parallel degree on 120, it is to avoid affect follow-up manufacturing procedure.
Be provided with travel control device 140 between rotating disk 120 and frame 131 sending to play.Travel control device 140 includes collision block
141 and roller plunger type travel switch 142；Because the quantity in the present embodiment, playing pallet 110 is six, therefore Stroke Control
Device 140 can be to constitute by six collision blocks 141 and by six roller plunger type travel switches 142, it is also possible to be to be touched by six
Block 141 and it is made up of a roller plunger type travel switch 142.It is by six collision blocks 141 and by six in travel control device 140
When individual roller plunger type travel switch 142 is constituted, each collision block 141 is engaged with each roller plunger type travel switch 142,
Travel control device 140 is each collision block 141 by six collision blocks 141 and when being made up of a roller plunger type travel switch 142
It is engaged with roller plunger type travel switch 142.Collision block 141 is fixed on and send the lower surface for playing rotating disk 120, roller plunger type row
Cheng Kaiguan 142 is fixed in frame 131, or collision block 141 is fixed in frame 131, and roller plunger type travel switch 142 is fixed
Send play rotating disk 120 lower surface, also, collision block 141 and send bullet rotating disk 120 or frame 131 between fixed by screw, roll
Take turns plunger type travel switch 142 and send and fixed by screw between bullet rotating disk 120 or frame 131；Roller plunger type stroke is opened
Close 142 to electrically connect with the electric-control system of slewing 132.Additionally, travel control device 140 can also be by emitter and reception
The photoswitch that device is constituted, its mounting means and above-mentioned collision block 141 and the mounting means phase of roller plunger type travel switch 142
Together.
Four or six are additionally provided between rotating disk 120 and frame 131 for support sending bullet rotating disk 120 sending to play, and are allowed and is sent
Play rotating disk 120 keeps the wheel for balancing to support 150 in rotation process.Also, take turns and support 150 can adjust bottom when in use
Put and angle.
Wheel supports 150 to include support 151 and roller 152；One end of support 151 is movably fixed in frame 131, support
151 are provided with screw portion, are fixed in frame 131 using the cooperation of nut, so as to adjust upper-lower position when in use
And angle；Roller 152 is fixed on the one end of support 151 away from frame 131 by rotating shaft.When sending bullet rotating disk 120 to rotate, each wheel
Support the roller 152 on 150 with sending the lower surface for playing rotating disk 120 to contact and the rotary motion trace with bullet rotating disk 120 is sent is tangent.
Send and be connected by pallet 160 between bullet rotating disk 120 and slewing 132.So later stage conveniently send bullet rotating disk 120
Dismounted between slewing 132.
Shell is covered with the side of frame 131, can effectively prevent the rotation that dust enters into the lower section of frame 131 from setting
In standby 132, their service life is affected, further, it is also possible to isolate the noise for working and producing because of slewing 132.
Slewing 132 includes servomotor 1311, worm speed reducer 1322, transition connecting disc 1323, driving shaft 1324
With bearing block 1325；The outfan of servomotor 1311 passes through the input phase of transition connecting disc 1323 and worm speed reducer 1322
Connection, servomotor 1311 is connected to electric-control system.The outfan of worm speed reducer 1322 is connected with driving shaft 1324, driving shaft
1324 outfan is connected with pallet 160, is fixedly connected by the way of welding between driving shaft 1324 and pallet 160.Axle
Bearing 1325 is set on the driving shaft 1324 between worm speed reducer 1322 and pallet 160, and one end of bearing block 1325
If being fixedly connected by bolt stem with frame 131, the other end of bearing block 1325 is movable end, wherein, movable end is near turbine
Reductor 1322.Three bearings are provided between the inwall of driving shaft 1324 and bearing block 1325, additionally, driving shaft 1324 and bearing
Circlip for shaft is additionally provided between the inwall of seat 1325.In order to prevent dust from entering in driving shaft 1324, in driving shaft
1324 away from worm speed reducer 1322 one end engaging have dust cover.
Servomotor 1311 is installed for convenience, is bolted in frame 131 and electric baseboard is installed, servomotor
If 1311 are fixedly mounted on electric baseboard by bolt stem.
When using ammunition feed mechanism 100：Pending bullet is put in the bullet putting hole played on pallet 110, is opened
Servomotor 1311 is opened, the lateral rotation of servomotor 1311 is changed into worm speed reducer 1322 rotation of vertical direction, whirlpool
Wheel reductor 1322 drives again driving shaft 1324 to rotate, and driving shaft 1324 is then driven by pallet 160 and send bullet rotating disk 120 to rotate,
Send and play rotating disk 120 and then drive bullet pallet 110 thereon to rotate, and the cooperation of collision block 141 and roller plunger type travel switch 142
Then control to send the rotational angle for playing rotating disk 120, it is ensured that send that to play the angle that rotating disk 120 rotates every time equal, and be 60 °,
Command information can be transferred to electric-control system by roller plunger type travel switch 142, and electric-control system then controls servomotor 1311, this
Just subsequent handling accurately takes the bullet played on pallet 110 away to sample prescription.After treating that a bullet played on pallet 110 all takes,
Whether can by workman go observation, it is also possible to go setting time according to producting rule if taking, by electric control system controls servo electricity
Machine 1311 is rotated again so that is sent bullet rotating disk 120 to rotate 60 ° again, is carried out taking bullet, the rest may be inferred, repeated work.
As shown in Fig. 1 and Fig. 9, guided missile mechanical hand 600 is improved further, its concrete improvement is as follows：
A kind of bullet device that pulls out also includes playing mechanical hand 600 for pour out in the ammunition in cylinder.The machinery of falling bullet
Handss 600 include that the second connecting plate 610, multiple second jaws 620, rotating mechanism 630, four-drive device and the 5th drive dress
Put；Second connecting plate 610, multiple second jaws 620 and rotating mechanism 630 are connected with the four-drive device；4 wheel driven
Dynamic device includes the second mechanical finger 641 for controlling the folding of the second jaw 620 and move down on the second jaw 620 for driving
The second dynamic sliding cylinder 642, second jaw 620 includes the second left claw and the second right pawl being oppositely arranged；Described second
Connecting plate 610 is also connected with the 5th driving means, play mechanical hand 600 playing mechanical hand guide rail 330 for driving
It is mobile.Rotating mechanism 630 includes rotary cylinder and rotary shaft, and rotary cylinder is connected with rotary shaft, rotary shaft and the second mechanical hand
Refer to that 641 connect；When needing to pour out in the ammunition in cylinder, rotary cylinder drives rotary shaft rotation, rotary shaft and then drive second
The jaw 620 of mechanical finger 641 and second rotates, and completes to pour out in the ammunition in cylinder.To ensure that bullet mechanical hand 600 is smoothly complete
Into work, described bullet is additionally provided with the second air passage block on mechanical hand 600, the second air passage block be second mechanical finger 641, the
Two sliding cylinders 642 and rotary cylinder provide raw material.
As shown in figure 1, being improved further to pulling out to play pedestal 300 and play mechanical hand 600, it specifically improves as follows：
Described pulling out is additionally provided with down bullet mechanical hand guide rail 330 on bullet pedestal 300, it is described play mechanical hand guide rail 330 with it is described
Grab bullet mechanical hand guide rail 320 to be oppositely arranged, it is described grab play projection of the mechanical hand guide rail 320 on the base 310 and it is described fall
Play projection of the mechanical hand guide rail 330 on the base 310 and there is lap, second connecting plate 610 movably sets
Put and played on mechanical hand guide rail 330 described.The quantity for playing mechanical hand guide rail 330 be chosen as it is multiple, to make structure letter
It is single and play mechanical hand 600 can steadily activity, play mechanical hand guide rail 330 and be preferably two, bullet mechanical hand is fallen in analysis here
Guide rail 330 is two, the situation when quantity of column 311 is four, and each two column 311 fixes one and plays mechanical hand guide rail
330 one end, plays the other end of mechanical hand guide rail 330 to away from the direction extension grabbed and play mechanical hand guide rail 320；Pull out bullet
Pedestal 300 also includes for supporting the gantry support for playing mechanical hand guide rail 330, the gantry support located at it is described fall bullet
The one end of mechanical hand guide rail 330 away from the base 310.The bullet mechanical hand guide rail 330 and described grabbing play mechanical hand guide rail
320 across the base 310, and mechanical hand guide rail 330 and the bullet mechanical hand guide rail 320 of grabbing of playing be not in same plane
It is interior, it is ensured that to grab bullet mechanical hand 200 and conflict with playing mechanical hand 600 and will not produce in the course of the work；The mechanical hand that plays is led
Rail 330 is provided with the ammunition collecting box for collecting ammunition in cylinder away from the lower section of base 310.
As depicted in figs. 1 and 2, it is improved further to pulling out bullet device, its concrete improvement is as follows：
Each is played on pallet 110, and often the quantity of row bullet putting hole is less than or equal to the quantity of first jaw 220, described
The quantity of the first jaw 220 is less than or equal to the quantity of the clamp system 411, and the quantity of the clamp system 411 is less than or equal to
The quantity of second jaw 620, in order to make full use of resource, each play on pallet 110 often the quantity of row bullet putting hole, the
It is 8 that the quantity of the quantity, the quantity of clamp system 411 and the second jaw 620 of one jaw 220 is preferably all equal and quantity
It is individual.
Bullet machine 400 and the quantity of card bullet slide unit 510 of pulling out is both preferably two, here to there is two to pull out the He of bullet machine 400
The situation of two card bullet slide units 510 is described：Each pulls out one card of the correspondence of bullet machine 400 and plays slide unit 510, when grabbing bullet mechanical hand
200 to one of card play slide unit 510 convey play wait drawing guns when, play mechanical hand 600 and another card played on slide unit 510
The cylinder of process bullet is removed and carries out ammunition collection process, is pulled out bullet machine 400 using two and is operated, and can effectively improve work effect
Rate.
The part of the ammunition feed mechanism 100 is in safety zone 000, and the safety zone 000 plays respectively setting for device with pulling out
Working link between standby is kept apart；Bullet to be drawn guns only need to be placed on bullet pallet by staff in safety zone 000
On 110, afterwards rotary actuator 130 will drive and send bullet rotating disk 120 to rotate, and enter into the bullet pallet 110 for filling bullet
Process state, it is ensured that the safety of staff.
A kind of embodiment two, bullet-wound prescription method is below carried out a kind of bullet-wound prescription method provided the present embodiment specifically
It is bright.
A kind of bullet-wound prescription method, comprises the following steps：
Step S01：The working link of ammunition feed mechanism 100, staff is placed on bullet to be drawn guns on bullet pallet 110, rotation
Actuating device 130 drives and send bullet rotating disk 120 to rotate, and makes one that fills bullet to be drawn guns to play pallet 110 and enters into process state；
Step S02：The bullet working link of mechanical hand 200 is grabbed, bullet mechanical hand 200 is grabbed and is moved on bullet mechanical hand guide rail 320 is grabbed,
The top of bullet pallet 110 of process state is arrived into, the second driving means drive the first jaw 220 to move down and promptly playing pallet
The upper shifting after bullet of drawing guns on 100, grabs afterwards bullet mechanical hand 200 and continues to be moved on bullet mechanical hand guide rail 320 is grabbed, to Dacca bullet
The surface of slide unit guide rail 520；
Step S03：The working link of Song Dan mechanisms 500, card plays slide unit 510 and moves on card bullet slide unit guide rail 520, until arriving
Up to the underface for grabbing bullet mechanical hand 200, now grab bullet mechanical hand 200 and move down and bullet to be drawn guns is placed on card bullet slide unit 510；
Card play slide unit 510 by cartridge clip to be drawn guns it is tight and block again play continue to move on slide unit guide rail 520 until reach pull out bullet machine 400 just under
Side；
Step S04：The working link of bullet machine 400 is pulled out, bullet machine 400 is pulled out and is first compressed on card bullet slide unit 510, then clamp system
411 clamp bullet warhead section to be drawn guns, and carry out bullet and cylinder mask work；
Step S05：Card plays slide unit 510 and removes the bullet machine 400 that pulls out with the cylinder of bullet of drawing guns, enters and play mechanical hand 600
Working link, plays mechanical hand 600 and moves on bullet mechanical hand guide rail 330, until it reaches card plays the surface of slide unit 510,
The crawl cylinder of mechanical hand 600 is played afterwards and continues to move playing mechanical hand guide rail 330, when being moved to above ammunition collecting box
When, rotating mechanism 630 controls the second jaw 620 and rotates to an angle, and the ammunition in cylinder is poured out；So far complete to pull out bullet work
Make.
Preferably, the bullet mechanical hand 200 of grabbing mentioned in step S02 continues to be moved on bullet mechanical hand guide rail 320 is grabbed, and reaches
Card plays the surface of slide unit guide rail 520；Refer to grab bullet mechanical hand 200 move to down bullet mechanical hand 600 cylinder part is taken away,
Card plays and the surface that card of anything plays slide unit guide rail 520 is not placed with slide unit 510.During original state, two
Card plays slide unit 520 and is in grabbing the lower section of bullet mechanical hand guide rail 520, and does not place the cylinder portion of need to be drawn guns bullet or bullet of having drawn guns
Point, now grab bullet mechanical hand 200 and any one card bullet slide unit 520 therein may be selected and bullet to be drawn guns is put.
Preferably, in step S04, pull out bullet machine 400 working link be described in further detail for：Pull out bullet machine 400 and first pass through pressing plate
430 are compressed on card bullet slide unit 510, are then pulled out bullet oil cylinder 420 and are driven Ba Dan mechanisms 410 to move down until clamp system 411 is arrived
The bullet of the bullet to be drawn guns placed on Dacca bullet slide unit 510 and cylinder sub-department, now, the first clamping cylinder control first is clamped
Head clamping bullet warhead section to be drawn guns, pulls out and is moved in the bullet control Ba Dan of oil cylinder 420 mechanisms 410, completes bullet and cylinder mask work.
The invention has the beneficial effects as follows：Operator only need to be in interior being placed on bullet to be drawn guns rule in safety zone 000
Play on pallet 110, grabbing bullet mechanical hand 200 will slide bullet the to be drawn guns transport played on pallet 110 to card bullet slide unit 510, card bullet
Platform 510 further transports bullet to be drawn guns to pulling out in bullet machine 400, pulls out bullet machine 400 and completes gun bullet and cylinder mask work；This
Taking bullet, send bullet, pull out and bounce journey full-automatic operation in invention, without the need for artificial participation, will not impact, separately to health
Mode based on hydraulic system, supplemented by electric power provides power, and multiple bullets can be carried out simultaneously to pull out bullet process.
The foregoing is only presently preferred embodiments of the present invention, not to limit the present invention, all spirit in the present invention and
Within principle, any modification, equivalent substitution and improvements made etc. should be included within the scope of the present invention.
Claims (10)
1. one kind pulls out bullet device, it is characterised in that：Including ammunition feed mechanism (100), grab bullet mechanical hand (200), pull out bullet pedestal
(300) it is, multiple to pull out bullet machine (400)；Described multiple bullet machines (400) that pull out are each attached to described pulling out on bullet pedestal (300)；Also include
Song Dan mechanisms (500) equal with bullet machine (400) quantity is pulled out and for fixing bullet to be drawn guns and transport bullet to be drawn guns；It is described
Grab bullet mechanical hand (200) be movably disposed at it is described pull out on bullet pedestal (300), and for by treating on ammunition feed mechanism (100)
Bullet of drawing guns is transported in each Song Dan mechanism (500)；Each Song Dan mechanism (500) can be moved to pulling out to play on pedestal (300)
One of them pulls out the lower section of bullet machine (400)；Each pulls out and multiple clamping machines for clamping gun bullet is equipped with bullet machine (400)
Structure (411).
2. according to claim 1 one kind pulls out bullet device, it is characterised in that：Each Song Dan mechanism (500) is slided including card bullet
Platform (510), card play slide unit guide rail (520) and first driving means；The card plays slide unit (510) and is movably disposed at the card
Play on slide unit guide rail (520), the card plays slide unit (510) and first driving means connection, the card plays slide unit guide rail
(520) it is fixed on described pulling out on bullet pedestal (300).
3. according to claim 2 one kind pulls out bullet device, it is characterised in that：Bullet pedestal (300) that pulls out is including base (310)
Mechanical hand guide rail (320) is played with grabbing；Described one end for grabbing bullet mechanical hand guide rail (320) is connected with the base (310), the other end
Extend to the top of ammunition feed mechanism (100)；It is described grab bullet mechanical hand (200) and be movably disposed at described grab bullet mechanical hand guide rail
(320) on；It is multiple pull out bullet machine (400) and card play slide unit guide rail (520) be each attached on the base (310).
4. according to claim 3 one kind pulls out bullet device, it is characterised in that：Bullet mechanical hand (200) of grabbing connects including first
Fishplate bar (210), multiple first jaws (220), the second driving means and the 3rd driving means；First connecting plate (210) and first
Jaw (220) is connected with second driving means, and second driving means are opened for controlling each first jaw (220)
Close and drive each first jaw (220) to move up and down；First connecting plate (210) grabs bullet machine described in being movably disposed at
On tool handss guide rail (320), first connecting plate (210) is also connected with the 3rd driving means.
5. according to claim 1 one kind pulls out bullet device, it is characterised in that：The ammunition feed mechanism (100) is including sending bullet rotating disk
(120), rotary actuator (130) and multiple bullet pallets (110) for placing bullet to be drawn guns；Rotary actuator (130)
Outfan with send play rotating disk (120) center of rotation be connected；Multiple bullets pallet (110) are distributed in be sent on bullet rotating disk (120).
6. according to claim 3 one kind pulls out bullet device, it is characterised in that：Also include for the ammunition in cylinder to be poured out
Play mechanical hand (600).
7. according to claim 6 one kind pulls out bullet device, it is characterised in that：The mechanical hand (600) that plays connects including second
Fishplate bar (610), multiple second jaws (620), rotating mechanism (630), four-drive device and the 5th driving means；Second connection
Plate (610), multiple second jaws (620) and rotating mechanism (630) are connected with the four-drive device, and the described 4th drives
Device is used to control each the second jaw (620) folding and drives each second jaw (620) to move up and down；Second connection
Plate (610) is also connected with the 5th driving means.
8. according to claim 7 one kind pulls out bullet device, it is characterised in that：Described pulling out be additionally provided with down bullet on bullet pedestal (300)
Mechanical hand guide rail (330), the mechanical hand guide rail (330) that plays is oppositely arranged with bullet mechanical hand guide rail (320) of grabbing, described
Grab and play projection and the play mechanical hand guide rail (330) of the mechanical hand guide rail (320) on the base (310) in the base
(310) projection on has lap, and second connecting plate (610) is movably disposed at the bullet mechanical hand guide rail
(330) on.
9. according to claim 8 one kind pulls out bullet device, it is characterised in that：Mechanical hand guide rail (330) lower section that plays sets
There is ammunition collecting box.
10. it is a kind of it is according to claim 1 pull out play device bullet-wound prescription method, it is characterised in that comprise the following steps：
Step S01：Ammunition feed mechanism (100) working link, staff is placed on bullet to be drawn guns on bullet pallet (110), rotation
Actuating device (130) drives and send bullet rotating disk (120) to rotate, and makes one that fills bullet to be drawn guns to play pallet (110) and enters into process
State；
Step S02：Bullet mechanical hand (200) working link is grabbed, bullet mechanical hand (200) is grabbed and is moved on bullet mechanical hand guide rail (320) is grabbed
It is dynamic, bullet pallet (110) top of process state is arrived into, the second driving means drive the first jaw (220) to move down and grabbing
The upper shifting after bullet of drawing guns on tight bullet pallet (100), grabs afterwards bullet mechanical hand (200) and continues grabbing bullet mechanical hand guide rail (320)
Upper movement, to the surface of Dacca bullet slide unit guide rail (520)；
Step S03：Song Dan mechanisms (500) working link, card plays slide unit (510) and moves on card bullet slide unit guide rail (520), until
The underface for playing mechanical hand (200) is grabbed in arrival, is now grabbed bullet mechanical hand (200) and is moved down and bullet to be drawn guns is placed on into card bullet slide unit
(510) on；Card play slide unit (510) will cartridge clip be drawn guns it is tight and block continue to move to until reaching pull out on bullet slide unit guide rail (520) again
The underface of bullet machine (400)；
Step S04：Bullet machine (400) working link is pulled out, bullet machine (400) is pulled out and first card is played into slide unit (510) compression, then clamp system
(411) bullet warhead section to be drawn guns is clamped, bullet and cylinder mask work is carried out；
Step S05：Card plays slide unit (510) and removes the bullet machine (400) that pulls out with the cylinder of bullet of drawing guns, enters and play mechanical hand
(600) working link, plays mechanical hand (600) and moves on bullet mechanical hand guide rail (330), until it reaches card plays slide unit
(510) surface, afterwards bullet mechanical hand (600) captures cylinder and continues playing mechanical hand guide rail (330) movement, works as shifting
When moving to ammunition collecting box top, rotating mechanism (630) controls the second jaw (620) and rotates to an angle, by the bullet in cylinder
Medicine is poured out；So far complete to pull out bullet work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081679.7A CN106643346B (en) | 2016-11-30 | 2016-11-30 | One kind, which is pulled out, plays device and bullet-wound prescription method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611081679.7A CN106643346B (en) | 2016-11-30 | 2016-11-30 | One kind, which is pulled out, plays device and bullet-wound prescription method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106643346A true CN106643346A (en) | 2017-05-10 |
| CN106643346B CN106643346B (en) | 2018-09-21 |
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ID=58814645
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|---|---|---|---|
| CN201611081679.7A Active CN106643346B (en) | 2016-11-30 | 2016-11-30 | One kind, which is pulled out, plays device and bullet-wound prescription method |
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| CN109051573A (en) * | 2018-06-06 | 2018-12-21 | 重庆航天工业有限公司 | Medicine device is fallen in a kind of vibration of antitank mine |
| CN109269364A (en) * | 2018-11-23 | 2019-01-25 | 中国人民解放军陆军工程大学 | Medicine device |
| CN112857143A (en) * | 2020-12-31 | 2021-05-28 | 上海工程技术大学 | Automatic bullet-taking and bullet-loading device |
| KR20210138902A (en) * | 2020-05-13 | 2021-11-22 | 주식회사 에이엠씨이엔지 | Forming method of bullet core |
| CN116222297A (en) * | 2023-04-13 | 2023-06-06 | 石家庄英杰连铸科技有限公司 | Warhead drawbench with clamping mechanism |
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| CN112857143A (en) * | 2020-12-31 | 2021-05-28 | 上海工程技术大学 | Automatic bullet-taking and bullet-loading device |
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| CN106643346B (en) | 2018-09-21 |
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