CN206311005U - One kind pulls out bullet device - Google Patents
One kind pulls out bullet device Download PDFInfo
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- CN206311005U CN206311005U CN201621301048.7U CN201621301048U CN206311005U CN 206311005 U CN206311005 U CN 206311005U CN 201621301048 U CN201621301048 U CN 201621301048U CN 206311005 U CN206311005 U CN 206311005U
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- slide unit
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Abstract
The utility model is related to one kind to pull out bullet device, including ammunition feed mechanism, grabs bullet manipulator, pulls out bullet pedestal, multiple and pull out bullet machine；Multiple is pulled out bullet machine and is each attached to pull out on bullet pedestal；Also include the Song Dan mechanism equal with bullet machine quantity is pulled out；Grab bullet manipulator be arranged on pull out bullet pedestal on；Each Song Dan mechanism be moved to one of them lower section for pulling out bullet machine on pedestal pulling out to play；Pull out bullet machine and be provided with multiple clamp systems.The beneficial effects of the utility model are：Only need to be placed on bullet rule be drawn guns on ammunition feed mechanism by operating personnel, grabbing bullet manipulator will be by bullet the to be drawn guns transport on ammunition feed mechanism to Song Dan mechanisms, Song Dan mechanisms pull out bullet machine and complete gun bullet and cylinder mask work further by bullet transport to pulling out in bullet machine；Taking bullet, send bullet, pull out and bounce journey full-automatic operation in the utility model, without artificial participation, will not impact to health, it is another it is main provide power with hydraulic way, multiple bullets can be carried out simultaneously to pull out bullet treatment.
Description
Technical field
The present invention relates to ammunition disposal device field, more particularly to one kind pulls out bullet device.
Background technology
Current army to exceed do the shell of safe-use period more for placing the time limit scraps treatment, scrap treatment mainly by
Bullet is extracted from cylinder separates bullet and cylinder, so as to be destroyed or be reclaimed.The country is carried out to large caliber ball cartridge at present
There is problems with when scrapping treatment：(1) automation 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 are both needed to artificial participation, labour intensity is big,
Efficiency is low and operating personnel lack quarantine measures and security protection, and easily health is caused to damage；(3) because pulling out strength needed for bullet
It is larger, single bullet can only be carried out pulling out bullet treatment every time.
The content of the invention
The technical problems to be solved by the invention are to provide one kind and pull out bullet device, solve bullet by mixed and disorderly state to advise
Fixed 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, operating personnel lack isolate
Measure and security protection, easily cause to damage and single bullet can only be carried out to pull out bullet process problem to health.
The technical scheme that the present invention solves above-mentioned technical problem is as follows, there is provided one kind pulls out bullet device, including ammunition feed mechanism,
Bullet manipulator is grabbed, bullet pedestal, multiple is pulled out and is pulled out bullet machine；Described multiple is pulled out bullet machine and is each attached to described pulling out on bullet pedestal；Also include
Song Dan mechanisms equal with bullet machine quantity is pulled out and for fixing bullet to be drawn guns and transport bullet to be drawn guns；It is described to grab bullet manipulator
Described pulling out is movably disposed to play on pedestal, and for the bullet to be drawn guns on ammunition feed mechanism to be transported into each Song Dan mechanism
On；Each Song Dan mechanism be moved to one of them lower section for pulling out bullet machine on pedestal pulling out to play；Each pulls out and is equipped with bullet machine
Multiple is used to clamp the clamp system of gun bullet.
Further：The quantity of the clamp system is four to 20.
The beneficial effect of above-mentioned further scheme is：Multiple bullets can be carried out simultaneously pulling out bullet treatment, improve operating efficiency.
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 manipulator and being transported to and pull out bullet bullet to be drawn guns from grabbing
Machine lower section, plays slide unit and can will wait bullet cylinder grips of drawing guns without artificial participation, and card, 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 manipulator guide rail；It is described to grab the one end for playing manipulator guide rail
It is connected with the base, the other end extends to the top of ammunition feed mechanism；The bullet manipulator of grabbing is movably disposed at described grabbing
Play on manipulator guide rail；Multiple pulls out bullet machine and card plays slide unit guide rail and is each attached on the base.
The beneficial effect of above-mentioned further scheme is：Grabbing bullet manipulator in the course of the work can play on manipulator guide rail grabbing
Mobile and card plays slide unit and can be moved on card bullet slide unit guide rail；When grabbing directly over bullet robot movement to card bullet slide unit, bullet is grabbed
The bullet that manipulator can complete to be captured is transferred on card bullet slide unit.
Further：The bullet manipulator of grabbing includes the first connecting plate, multiple first clamping jaws, the second drive device and the 3rd drive
Dynamic device；First connecting plate and the first clamping jaw are connected with second drive device, and second drive device is used to control
Each first clamping jaw is moved up and down with drive for each first clamping jaw folding；First connecting plate is movably disposed at described grabbing
Play on manipulator guide rail, first connecting plate is also connected with the 3rd drive device.
The beneficial effect of above-mentioned further scheme is：Second drive device is used to drive the first clamping jaw to move up and down, and is easy to
The bullet to be drawn guns played on rotating disk is sent in crawl, and the second drive device is additionally operable to drive the folding of the first clamping jaw, grips the first clamping jaw
Bullet to be drawn guns, it is to avoid slide；3rd drive device is used to drive the first connecting plate to be slided on bullet manipulator guide rail is grabbed, and first connects
The bullet to be drawn guns that fishplate bar is further driven on the first clamping 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 output end of rotary actuator is connected with the pivot for playing rotating disk is sent；Multiple bullet pallet is distributed in and send bullet to turn
On disk.
The beneficial effect of above-mentioned further scheme is：By setting multiple bullet pallets, operating personnel only need to be by bullet to be drawn guns
The multiple that is placed on of rule is played on 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 manipulator guide rail underface.
Further：Also include falling to play manipulator for pour out 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 manipulator that plays includes that the second connecting plate, multiple second clamping jaws, rotating mechanism, the 4th drive dress
Put and the 5th drive device；Second connecting plate, multiple second clamping jaws and rotating mechanism are connected with the four-drive device, institute
Four-drive device is stated for controlling each second clamping jaw folding and driving each second clamping jaw to move up and down；Second connection
Plate is also connected with the 5th drive device.
Further：Described pulling out is additionally provided with down bullet manipulator guide rail on bullet pedestal, the manipulator guide rail that plays is grabbed with described
Manipulator guide rail is played to be oppositely arranged, it is described to grab the projection and the bullet manipulator guide rail for playing manipulator guide rail on the base
Projection on the base has lap, and second connecting plate is movably disposed at the bullet manipulator guide rail
On.
It is above-mentioned enter two step schemes beneficial effect be：Four-drive device is used to drive the second clamping jaw to move up and down, and is easy to
Crawl card plays the cylinder of bullet of having been drawn guns on slide unit, and four-drive device is additionally operable to drive the folding of the second clamping jaw, makes the second clamping jaw
Grip cylinder, it is to avoid slide；5th drive device is used to driving the second connecting plate slided on manipulator guide rail falling to play, when bullet
When manipulator reaches ammunition collecting box top, rotating mechanism can be rotated by controlling the second clamping jaw, and the ammunition in cylinder is poured into
In ammunition collecting box.
Further：The manipulator 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 having drawn guns is reclaimed, it is to avoid occur
Wasting of resources phenomenon.
The beneficial effects of the invention are as follows：Operating personnel need to only complete being placed on bullet to be drawn guns rule on ammunition feed mechanism,
Grabbing bullet manipulator 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 complete gun bullet and cylinder mask work；Taking bullet, send bullet, pull out and bounce Cheng Quan in the present invention
Automatic operating, without artificial participation, will not impact to health, separately based on hydraulic system, the side supplemented by electric power
Formula provides power, and multiple bullets can be carried out simultaneously to pull out bullet treatment.
Brief description of the drawings
Fig. 1 is the top view for pulling out bullet device in the present invention；
Fig. 2 is the front view for pulling out bullet device in the present invention；
Fig. 3 is the graphics in direction of the card bullet slide unit in the present invention；
Fig. 4 is the graphics of the other direction of the card bullet slide unit in the present invention；
Fig. 5 is that pulling out in the present invention plays in device and pull out bullet machine structural representation；
Fig. 6 is that pulling out in the present invention plays in device and pull out bullet base construction schematic diagram；
Fig. 7 is the graphics for grabbing bullet manipulator pulled out in bullet device in the present invention；
Fig. 8 is that pulling out in the present invention plays in device and send bullet turntable structure schematic diagram；
Fig. 9 is the graphics for pulling out the bullet manipulator played in device in the present invention；
Specific embodiment
Principle of the invention and feature 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., be only used to
Coordinate the content disclosed in specification, so that those skilled in the art understands and reads, being not limited to the present invention can be real
The qualifications 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 influenceed, 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.
Bullet device is pulled out to one kind that the present embodiment is provided below in conjunction with Fig. 1 to Fig. 9 to be described in detail.
As shown in Figures 1 to 9, one kind pulls out bullet device, including ammunition feed mechanism 100, grabs bullet manipulator 200, pulls out bullet pedestal
300th, multiple pulls out bullet machine 400；Described multiple is pulled out bullet machine 400 and is 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 manipulator 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 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 are 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 specific 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 output end of the first driving means connects
Connect the input that the card plays slide unit 510；First driving means are used to provide power for card plays slide unit 510；Described first drives
Device includes multiple cylinders 531 and multiple air cylinder supports 532；The output end of the cylinder 531 plays slide unit 510 and connects with the card
Connect, moved for driving the card to play slide unit 510；The cylinder 531 is arranged on the air cylinder support 532, the cylinder branch
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.
Block bullet slide unit guide rail 520 and be chosen as multiple, can be in card bullet slide unit guide rail to ensure to pull out bullet apparatus structure simply and blocking bullet slide unit 510
Steadily moved 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, card bullet slide unit 510 is more stably 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 first with pneumatic-finger 516 is connected, in the connecting hole of the first 516 insertion clamp 513 of pneumatic-finger；Card is played on slide unit 510
Also include being played located at card the contiguous block 517 and multiple sliding blocks 518 of the bottom of slide unit 510, contiguous block 517 is connected with first driving means
Connect, played in card for driving card bullet slide unit 510 and moved on slide unit guide rail 520, multiple sliding blocks 518 are provided with groove, for card
Slide unit guide rail 520 is played to be connected.
When in use, card plays slide unit 510 and will grab the bullet to be drawn guns that bullet manipulator 200 is conveyed first 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 driving gas of finger body 515 finger 516 of starting is moved, and pneumatic-finger first 516 is further driven to two clamps 513 and is close to, and will treat
Cartridge clip of drawing guns is tight, and card bullet slide unit 510 drives to be moved to and pulls out immediately below bullet machine 400 in cylinder 531 afterwards, 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 specific improvement is as follows：
The bullet machine 400 that pulls out also includes multiple the first pressing plates 430 that slide unit 510 is played for compressing card, each first pressing plate
430 are close on the surface for pulling out bullet pedestal 300 side located at the bullet machine 400 that pulls out.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 influence.The bullet machine 400 that pulls out also includes pulling out bullet oil cylinder
420, the output end for pulling out bullet oil cylinder 420 is connected with the Ba Dan mechanisms 410, for driving the Ba Dan mechanisms 410 upward
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 is connected, and the balladeur train 412 is connected away from the side of the oil circuit device 413 with the output end for pulling out bullet oil cylinder 420.Institute
Oil circuit device 413 is stated for integrated oil path block, 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.
The bullet machine 400 that pulls out also includes the guider 450 for being used to be 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 the method for setting up 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 be fixed on self-lubricating bearing 4121 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 output end for pulling out bullet oil cylinder 420 passes through to pull out the top of the piston rod and the balladeur train 412 that play oil cylinder 420
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 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 and right support frame that are oppositely arranged, 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
Activity in the region that tight mechanism 411 can surround at this；Left support frame and right support frame upper end are fixed with a supporting plate with holes,
Pull out the fixed plate played on oil cylinder 420 to be connected with supporting plate, 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 that bullet will be filled first is moved to and pulls out the lower section of bullet machine 400,
And compressed 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 bullet oil cylinder 420 and drives piston rod to move upwards afterwards, the upward motion of piston rod and then drive Ba Dan mechanisms 410, completes
Gun bullet and the mask work of shell case, participate in without artificial, safe and reliable.
As shown in Figure 2 and Figure 6, it is improved further to pulling out bullet pedestal 300, its specific improvement is as follows：
The bullet pedestal 300 that pulls out includes base 310 and grabs bullet manipulator guide rail 320；Described grabbing plays manipulator 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 manipulator 200 it is moveable
It is arranged on described grabbing on bullet manipulator guide rail 320；Multiple pulls out bullet machine 400 and card plays slide unit guide rail 520 and is 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 be slided 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 manipulator guide rail 320, the other end for grabbing bullet manipulator 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 manipulator 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
Two cards are arranged in 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
Played 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
Played 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；The quantity for grabbing bullet manipulator guide rail 320 is chosen as multiple, to make to pull out bullet apparatus structure simply and grabbing bullet machinery
Hand 200 can steadily be moved grabbing to play on manipulator guide rail 320, grabbed bullet manipulator guide rail 320 and be preferably two；Each two column
311 are used to fix the one end for grabbing bullet manipulator guide rail 320, and each other end for grabbing bullet manipulator guide rail 320 stretches out；
Grab bullet manipulator guide rail 320 for two to be arranged in parallel, it is ensured that grabbing bullet manipulator 200 can grab flat on bullet manipulator guide rail 320 at two
Steady activity；Each is grabbed and plays the length that the right-hand member of manipulator guide rail 320 stretches out and play pallet to nearest one more than the right-hand member of base 310
The distance of 110 low order end, it is ensured that grab and play manipulator 200 and can capture on closest bullets pallet 110 being needed for placement
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 manipulator 200 is grabbed
Load wait sticking position of drawing guns put and fall to play manipulator 600 card can be played drawn 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, it is precisely parked in and be easy to play manipulator 600 and grab bullet manipulator
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, and it is 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 is moved on card bullet slide unit guide rail 520, grabs bullet manipulator
200 move on bullet manipulator guide rail 320 is grabbed, and are run when bullet 200 underface of manipulator is grabbed when card plays slide unit 510, the first row
Cheng Kaiguan locks card bullet slide unit 510, grabs bullet manipulator 200 and bullet to be drawn guns is placed on card bullet slide unit 510；Then the first row
Cheng Kaiguan is unclamped, 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 complete pull out bullet work after, the second travel switch pine
Open, the driving card bullet slide unit 510 of cylinder 531 is back moved, now fall to play manipulator 600 moved on manipulator guide rail 330 falling to play
Dynamic, when card plays slide unit 510 is moved to down bullet 600 underface of manipulator, the first travel switch locks card bullet slide unit 510,
Manipulator 600 is played to remove the cylinder of bullet of having drawn guns and process the ammunition in cylinder；And block play slide unit 510 then continue by
First stroke switch locking, wait is grabbed bullet manipulator 200 and is conveyed through by bullet to be drawn guns, to carry out next work period.
As shown in Figure 2 and Figure 7, it is improved further to grabbing bullet manipulator 200, its specific improvement is as follows：
The bullet manipulator 200 of grabbing includes the first connecting plate 210, multiple first clamping jaws 220, the second drive device and the 3rd
Drive device；First connecting plate 210 and first clamping jaw 220 are connected with second drive device；Second drives
Device is included for the first mechanical finger 231 of the control folding of the first clamping jaw 220 and for driving the first clamping jaw 220 to move up and down
The first sliding cylinder 232；First clamping jaw 220 includes the first left claw and the first right pawl that are oppositely arranged；Described first connects
Fishplate bar 210 is movably disposed at described grabbing and plays on manipulator guide rail 320, and first connecting plate 210 also drives with the described 3rd
Dynamic device connection；3rd drive device is used to drive the first connecting plate 210 to be moved on bullet manipulator guide rail 320 is grabbed, from
And realize playing bullet to be drawn guns on pallet 110 and be transported on card bullet slide unit 510.To ensure that grabbing bullet manipulator 200 smoothly completes work
Make, described grabbing is additionally provided with the first air passage block on bullet manipulator 200, the first air passage block is slided for 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 specific improvement is as follows：
The ammunition feed mechanism 100 includes sending the bullet for playing rotating disk 120, rotary actuator 130 and multiple for placing bullet
Pallet 110；The output end of rotary actuator 130 is connected with the pivot for playing rotating disk 120 is sent；It is equal that multiple plays pallet 110
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 to be adapted to bore is the bullet of 12.7mm or 14.5mm, and 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 pivot 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 the follow-up manufacturing procedure of influence.
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 be constituted 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 the lower surface for sending and 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
142 are closed to be electrically connected with the electric-control system of slewing 132.Additionally, travel control device 140 can also be by transmitter and reception
The optoelectronic switch 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 branch support sending bullet rotating disk 120 sending to play, and are allowed and is sent
Play the wheel support 150 that rotating disk 120 keeps balance in rotation process.Also, wheel support 150 can adjust bottom when in use
Put and angle.
Wheel support 150 includes 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 can 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
Roller 152 in support 150 is contacted and tangent with the rotary motion trace for playing rotating disk 120 is sent with the lower surface for playing rotating disk 120 is sent.
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, the rotation that can effectively prevent dust from entering into the lower section of frame 131 sets
In standby 132, their service life is influenceed, further, it is also possible to isolate the noise for working and producing by slewing 132.
Slewing 132 includes servomotor 1311, worm speed reducer 1322, transition connecting disc 1323, driving shaft 1324
With bearing block 1325；The output end 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 output end of worm speed reducer 1322 is connected with driving shaft 1324, driving shaft
1324 output end 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 bearing block 1325 one end
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 into 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 into 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 driving shaft 1324 to rotate again, 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 manipulator 600 is improved further, its specific improvement is as follows：
A kind of pulling out plays device also including falling to play manipulator 600 for pour out the ammunition in cylinder.The machinery of falling bullet
Hand 600 includes that the second connecting plate 610, multiple second clamping jaws 620, rotating mechanism 630, four-drive device and the 5th drive dress
Put；Second connecting plate 610, multiple second clamping jaws 620 and rotating mechanism 630 are connected with the four-drive device；4 wheel driven
Dynamic device includes moved down on the second clamping jaw 620 for the second mechanical finger 641 of the control folding of the second clamping jaw 620 and for being driven
The second dynamic sliding cylinder 642, second clamping jaw 620 includes the second left claw and the second right pawl that are oppositely arranged；Described second
Connecting plate 610 is also connected with the 5th drive device, falls to play manipulator 600 in bullet manipulator 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 manipulator
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 clamping jaw 620 of mechanical finger 641 and second is rotated, and the ammunition in cylinder is poured out in completion.To ensure that bullet manipulator 600 is smoothly complete
Described to fall to play and be additionally provided with the second air passage block on manipulator 600 into work, the second air passage block is 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 fall to play manipulator 600, it specifically improves as follows：
Described pulling out is additionally provided with down bullet manipulator guide rail 330 on bullet pedestal 300, it is described fall play manipulator guide rail 330 with it is described
Bullet manipulator guide rail 320 is grabbed to be oppositely arranged, it is described grab play projection of the manipulator guide rail 320 on the base 310 and it is described fall
Playing manipulator 330 projection on the base 310 of guide rail has lap, and second connecting plate 610 movably sets
Put and fall to play on manipulator guide rail 330 described.The quantity for playing manipulator guide rail 330 is chosen as multiple, to make structure letter
It is single and fall to play manipulator 600 can steadily activity, play manipulator guide rail 330 and be preferably two, bullet manipulator 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 falls to play manipulator guide rail
330 one end, plays the other end of manipulator guide rail 330 to away from the direction extension grabbed and play manipulator guide rail 320；Pull out bullet
Pedestal 300 also include for support it is described fall to play the gantry support of manipulator guide rail 330, the gantry support located at it is described fall bullet
The one end of manipulator guide rail 330 away from the base 310.The bullet manipulator guide rail 330 and described grabbing play manipulator guide rail
320 across the base 310, and the bullet manipulator guide rail 330 and described grabbing play manipulator guide rail 320 not on the same plane
It is interior, it is ensured that to grab bullet manipulator 200 and fall bullet manipulator 600 and will not produce conflict in the course of the work；The manipulator 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 specific improvement is as follows：
Often the quantity of row bullet putting hole is less than or equal to the quantity of first clamping jaw 220 on each bullet pallet 110, described
The quantity of the first clamping 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 clamping jaw 620, in order to make full use of resource, each plays 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 clamping jaw 620 of one clamping 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 manipulator
200 to one of card play slide unit 510 convey played wait drawing guns when, play manipulator 600 and play on slide unit 510 another card
The cylinder for the treatment of bullet is removed and carries out ammunition collection treatment, and pulling out bullet machine 400 using two 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, rotary actuator 130 will drive and send bullet rotating disk 120 to rotate afterwards, enter into the bullet pallet 110 for filling bullet
Treatment state, it is ensured that the safety of staff.
The described a kind of bullet-wound prescription method for pulling out bullet device that will be provided the present embodiment below is described in detail.
A kind of bullet-wound prescription method for pulling out bullet device, comprises the following steps：
Step S01：Be placed on bullet to be drawn guns on bullet pallet 110 by the working link of ammunition feed mechanism 100, staff, rotation
Transmission 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 treatment state；
Step S02：The bullet working link of manipulator 200 is grabbed, bullet manipulator 200 is grabbed and is moved on bullet manipulator guide rail 320 is grabbed,
The top of bullet pallet 110 for the treatment of state is arrived into, the second drive device drives the first clamping jaw 220 to move down and promptly playing pallet
Being moved wait upper after bullet of drawing guns on 100, grabs bullet manipulator 200 and continues to be moved on bullet manipulator guide rail 320 is grabbed, to Dacca bullet afterwards
The surface of slide unit guide rail 520；
Step S03：The working link of Song Dan mechanisms 500, card plays slide unit 510 and is moved on card bullet slide unit guide rail 520, until arriving
Up to the underface for grabbing bullet manipulator 200, now grab bullet manipulator 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 continued 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 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 pulls out bullet machine 400 with the cylinder removal of bullet of having drawn guns, into bullet manipulator 600
Working link, plays manipulator 600 and is moved on manipulator guide rail 330 falling to play, until to the surface of Dacca bullet slide unit 510,
Fall to play the crawl cylinder of manipulator 600 afterwards and continue to move falling to play manipulator guide rail 330, when being moved to above ammunition collecting box
When, rotating mechanism 630 controls the second clamping jaw 620 to rotate to an angle, and the ammunition in cylinder is poured out；So far complete to pull out bullet work
Make.
Preferably, the bullet manipulator 200 of grabbing mentioned in step S02 continues to be moved on bullet manipulator guide rail 320 is grabbed, and reaches
Card plays the surface of slide unit guide rail 520；Refer to grab bullet manipulator 200 move to down bullet manipulator 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 manipulator 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 manipulator 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 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 beneficial effects of the invention are as follows：Operating personnel only need to be in interior being placed on bullet to be drawn guns rule in safety zone 000
Play on pallet 110, card bullet slide unit 510 is arrived in bullet the to be drawn guns transport that grabbing bullet manipulator 200 will play on pallet 110, card bullet is slided
Platform 510 further transports to pulling out in bullet machine 400 bullet to be drawn guns, and 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 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 treatment.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all it is of the invention spirit 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 manipulator (200), pull out bullet pedestal
(300), multiple pulls out bullet machine (400)；Described multiple is pulled out bullet machine (400) and is 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 manipulator (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. one kind pulls out bullet device according to claim 1, it is characterised in that：The quantity of the clamp system (411) is four
To 20.
3. one kind pulls out bullet device according to claim 1, 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).
4. one kind pulls out bullet device according to claim 3, it is characterised in that：Bullet pedestal (300) that pulls out includes base (310)
Manipulator guide rail (320) is played with grabbing；Described one end for grabbing bullet manipulator 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 manipulator (200) and be movably disposed at described grab bullet manipulator guide rail
(320) on；Multiple pulls out bullet machine (400) and card plays slide unit guide rail (520) and is each attached on the base (310).
5. one kind pulls out bullet device according to claim 4, it is characterised in that：Bullet manipulator (200) of grabbing connects including first
Fishplate bar (210), multiple first clamping jaws (220), the second drive device and the 3rd drive device；First connecting plate (210) and first
Clamping jaw (220) is connected with second drive device, and second drive device is used to control each first clamping jaw (220) to open
Close and drive each first clamping jaw (220) to move up and down；First connecting plate (210) grabs bullet machine described in being movably disposed at
On tool hand guide rail (320), first connecting plate (210) is also connected with the 3rd drive device.
6. one kind pulls out bullet device according to claim 1, 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)
Output end with send play rotating disk (120) pivot be connected；Multiple bullet pallet (110) is distributed in be sent on bullet rotating disk (120).
7. one kind pulls out bullet device according to claim 4, it is characterised in that：Also include being used for pour out the ammunition in cylinder
Play manipulator (600).
8. one kind pulls out bullet device according to claim 7, it is characterised in that：The manipulator (600) that plays includes that second connects
Fishplate bar (610), multiple second clamping jaws (620), rotating mechanism (630), four-drive device and the 5th drive device；Second connection
Plate (610), multiple second clamping 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 clamping jaw (620) folding and drives each second clamping jaw (620) to move up and down；Second connection
Plate (610) is also connected with the 5th drive device.
9. one kind pulls out bullet device according to claim 8, it is characterised in that：Described pulling out be additionally provided with down bullet on bullet pedestal (300)
Manipulator guide rail (330), manipulator guide rail (330) that plays is oppositely arranged with bullet manipulator guide rail (320) of grabbing, described
Grab and play projection and play manipulator guide rail (330) of manipulator 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 manipulator guide rail
(330) on.
10. one kind pulls out bullet device according to claim 9, it is characterised in that：Manipulator guide rail (330) lower section that plays sets
There is ammunition collecting box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621301048.7U CN206311005U (en) | 2016-11-30 | 2016-11-30 | One kind pulls out bullet device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621301048.7U CN206311005U (en) | 2016-11-30 | 2016-11-30 | One kind pulls out bullet device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206311005U true CN206311005U (en) | 2017-07-07 |
Family
ID=59249438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621301048.7U Active CN206311005U (en) | 2016-11-30 | 2016-11-30 | One kind pulls out bullet device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206311005U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643346A (en) * | 2016-11-30 | 2017-05-10 | 中国人民解放军武汉军械士官学校 | Bullet pulling device and method |
| CN108895929A (en) * | 2018-06-06 | 2018-11-27 | 重庆航天工业有限公司 | A kind of shell automatic disassembling device and method |
| CN109084643A (en) * | 2018-08-10 | 2018-12-25 | 重庆航天工业有限公司 | Medicine device is fallen in a kind of cutting of cylindrantherae |
-
2016
- 2016-11-30 CN CN201621301048.7U patent/CN206311005U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106643346A (en) * | 2016-11-30 | 2017-05-10 | 中国人民解放军武汉军械士官学校 | Bullet pulling device and method |
| CN106643346B (en) * | 2016-11-30 | 2018-09-21 | 中国人民解放军武汉军械士官学校 | One kind, which is pulled out, plays device and bullet-wound prescription method |
| CN108895929A (en) * | 2018-06-06 | 2018-11-27 | 重庆航天工业有限公司 | A kind of shell automatic disassembling device and method |
| CN109084643A (en) * | 2018-08-10 | 2018-12-25 | 重庆航天工业有限公司 | Medicine device is fallen in a kind of cutting of cylindrantherae |
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