Emulsion explosive palletizer with detection function

Abstract

The application discloses an emulsion explosive stacking machine with a detection function, which comprises a sliding base and a clamp mechanism, the clamp mechanism comprises a mounting base and a clamp arm assembly, and the clamp arm assembly comprises a sliding plate, a clamping plate and a pose detection part. The sliding plate is connected to the mounting base through a clamping driving part, the clamping driving part drives the sliding plate to slide in the X-Z plane; two clamping plates are symmetrically arranged, and the two clamping plates are both connected to the sliding plate through a side position adjusting driving part, the side position adjusting driving part drives the clamping plate to slide along the Y-axis direction; the pose detection part is connected to the sliding plate and a group of pose detection parts are arranged on each clamping plate, the pose detection part is used for detecting the height of a corresponding position on the upper end face of a clamped material and feeding back the height of the position as a displacement stroke; and the height of a side corresponding to the two side positions of the clamped material is adjusted to a proper position by driving the sliding plate to slide. The emulsion explosive stacking machine can improve the stacking stability and the stacking operation efficiency.

Description

Technical Field

[0001] This invention relates to the field of palletizing machines, and more particularly to a palletizing machine for emulsion explosives with detection function. Background Technology

[0002] As a highly dangerous explosive material, emulsion explosives require strict safety controls during their production, transportation, and storage. Palletizing, as the final stage in the emulsion explosive production process, plays a crucial role in ensuring the stability of subsequent storage and the safety of transportation. During palletizing, it is essential to prevent the emulsion explosives from being subjected to collisions, compression, or abnormal postures to avoid accidents caused by structural damage. Simultaneously, the neatness and stability of the palletizing are also critical; skewed or unstable stacking can easily lead to collapses or falls in subsequent stages, causing serious safety accidents.

[0003] However, existing emulsion explosive palletizing machines only perform the grabbing and stacking actions according to the set grabbing force and angle. If the grabbed emulsion explosive has abnormal weight or posture deviation, the palletizing machine cannot identify it in time and will still stack it according to the preset trajectory. This can easily cause gaps or overlapping and compression between materials during stacking, resulting in decreased stacking accuracy and consequently reduced stacking stability, which seriously affects the safety of subsequent storage and transportation. On the other hand, if inspection is carried out after each stack, it will increase labor costs and reduce the efficiency of the palletizing operation. Summary of the Invention

[0004] The purpose of this invention is to provide an emulsion explosive palletizing machine with detection function, which solves the problem that existing emulsion explosive palletizing machines have limited functions and are prone to reduced palletizing accuracy and stability.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A palletizing machine for emulsion explosives with detection function includes a frame, a sliding base mounted on the frame, and a three-axis drive mechanism for driving the sliding base to move along an X-axis, Y-axis, or Z-axis. A clamping mechanism is connected to the sliding base, and the clamping mechanism includes:

[0007] Mounting base, connected to the sliding base;

[0008] A clamping arm assembly is disposed on the lower end face of the mounting base. At least two sets of clamping arm assemblies are symmetrically arranged around the center of the mounting base, and the at least two sets of clamping arm assemblies slide relative to each other. Each set of clamping arm assemblies includes:

[0009] A sliding plate is connected to the mounting base via a clamping drive unit, which drives the sliding plate to slide along the XZ plane.

[0010] Two clamping plates are symmetrically arranged. Both clamping plates are connected to the sliding plate through a side adjustment drive unit. The side adjustment drive unit drives the clamping plates to slide along the Y-axis direction.

[0011] The pose detection unit is connected to the sliding plate and each clamping plate is provided with a set of pose detection units. The pose detection unit is used to detect the height of the upper surface of the clamped material at the corresponding position and to feed back the height at that position as a displacement stroke.

[0012] If the displacement travel at any two adjacent positions exceeds a preset range, the side adjustment drive unit at those two positions is triggered to adjust the height of the clamped material on one side to an appropriate position by driving the sliding plate to slide.

[0013] Optionally, the clamping plate includes an upper plate and a lower plate rotatably connected to the upper plate, the side position adjustment drive unit is connected to the upper plate, and an angle position adjustment drive unit is also connected between the clamping plate and the sliding plate, the angle position adjustment drive unit being used to rotate the lower plate;

[0014] If the displacement travel reported by the pose detection unit at a single location exceeds a preset range, the angle adjustment drive unit corresponding to the clamping plate at that location is triggered to adjust the height of the clamped material at that location to an appropriate position by driving the lower plate to rotate.

[0015] Optionally, any set of the pose detection units includes:

[0016] A travel box is fixedly connected to the sliding plate, and two fixed rods arranged along the Y-axis are fixed inside the travel box;

[0017] The triggering element includes a side triggering element and a corner triggering element respectively disposed on the two fixed rods. Both the side triggering element and the corner triggering element include a contact block movably passing through the fixed rod and a spring sleeved on the fixed rod. The spring is located between the contact block and the top surface of the travel box.

[0018] The displacement block is located inside the travel box, and both of the fixed rods pass through the displacement block. The displacement block has contact points that correspond to the contact blocks of the side trigger and the corner trigger, respectively.

[0019] The positioning block is connected to the displacement block via a connecting rod, which passes through the bottom of the travel box;

[0020] The upper surface of the clamped material contacts the displacement block, causing the displacement block to push the displacement block upward to generate a displacement stroke. When the displacement stroke of the displacement block exceeds a preset range, the contact point on the displacement block contacts the contact block of the side trigger and the corner trigger.

[0021] Optionally, the shape of the lower end face of the measuring block matches the shape of the upper end face of the material being clamped.

[0022] Optionally, the clamping drive unit includes:

[0023] A fixing cover is fixedly connected to the lower end face of the mounting base. The lower end face of the fixing cover has multiple sliding holes, and each sliding hole corresponds to a set of clamping arm assemblies.

[0024] A first screw, both ends of which are rotatably connected to the fixed cover, and a sliding plate sleeved on the first screw and threadedly connected;

[0025] The first driving component is fixedly connected to the fixed cover, and the output end of the first driving component is fixedly connected to the first screw.

[0026] Optionally, the sliding plate has a sliding hole along the Y-axis direction, and the side adjustment drive unit includes:

[0027] A sliding block, which passes through the sliding hole and is fixedly connected at one end to the upper plate;

[0028] The second screw is rotatably connected to the side of the sliding plate opposite to the clamping plate, and the second screw passes through the sliding block and is threadedly connected.

[0029] The second driving component is fixedly connected to the sliding plate, and the output shaft of the second driving component is fixedly connected to the second screw.

[0030] Optionally, the sliding plate has a groove along the Y-axis on the side facing the clamping plate, and the angle adjustment drive includes a telescopic member, the fixed end of the telescopic member slides in the groove, and the telescopic end of the telescopic member is rotatably connected to the lower plate.

[0031] Optionally, insulating pads are laid on the side of the two clamping plates of the same set of clamping arm assemblies that are opposite to the sliding plate.

[0032] Optionally, a temperature sensor is provided on the protective pad, and a fan is provided on the lower end face of the mounting base.

[0033] Optionally, a pressure sensor is provided on the pad, and the pressure sensor is electrically connected to the first driving component.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] In this embodiment of the invention, an emulsion explosive palletizing machine with detection function is provided. The emulsion explosive package is clamped by a clamping mechanism, and then a three-axis drive mechanism moves the clamping mechanism to achieve palletizing. Specifically, the clamping drive unit drives two sets of clamping arm assemblies to move relative to each other, realizing the clamping and release of the material. When the material is clamped between the clamping plates on both sides, at least one set of posture detection units is located at each of the four corners of the material. These posture detection units can detect the height of different positions on the upper surface of the material, thereby determining the posture state of the material when it is clamped. The pose detection unit can also provide material height feedback as a displacement stroke. When the displacement stroke fed back by the pose detection unit exceeds the preset range, the material on the side corresponding to the pose detection unit shifts upward. At this time, the side adjustment drive unit is triggered to drive the corresponding clamping plate on that side to move along the Y-axis, thereby adjusting the height of the material on that side to reduce the height of the material on that side. Under the combined action of the four sets of pose detection units located at the four corners of the material, the pose tends to be balanced, which is beneficial to improve the stability of material stacking during palletizing, thereby improving the palletizing quality. Moreover, the pose of the material can be detected and adjusted each time the material is clamped and transferred, which can improve palletizing stability and palletizing efficiency. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] The structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which the present invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that the present invention can produce, should still fall within the scope of the technical content disclosed in the present invention.

[0038] Figure 1 This is a schematic diagram of a palletizing machine for emulsion explosives with detection function.

[0039] Figure 2 This is a schematic diagram of the clamping mechanism.

[0040] Figure 3 This is a structural cross-sectional view of the clamping mechanism.

[0041] Figure 4 This is a schematic diagram of the clamping arm assembly.

[0042] Figure 5 This is a partial structural diagram of the clamping arm assembly.

[0043] Figure 6 This is a cross-sectional view of the pose detection unit.

[0044] Figure 7 This is a schematic diagram of the clamping mechanism in another embodiment.

[0045] Illustrations: 100, frame; 200, sliding base; 300, three-axis drive mechanism; 400, clamping mechanism;

[0046] 10. Mounting base; 20. Clamping arm assembly;

[0047] 1. Sliding plate; 11. Sliding hole; 12. Sliding groove; 2. Clamping drive unit; 21. Fixing cover; 22. First screw; 23. First drive component; 3. Clamping plate; 31. Upper plate; 32. Lower plate; 33. Protective pad; 4. Side position adjustment drive unit; 41. Sliding block; 42. Second screw; 43. Second drive component; 5. Angle position adjustment drive unit; 6. Position detection unit; 61. Stroke box; 62. Side position trigger; 621. Contact block; 622. Spring; 63. Angle position trigger; 64. Displacement block; 65. Connecting rod; 66. Position measuring block; 7. Fan. Detailed Implementation

[0048] To make the objectives, features, and advantages of this invention more apparent and understandable, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0049] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. It should be noted that when a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be a component positioned centrally in the connection.

[0050] This invention provides an emulsion explosive palletizing machine with detection function, including a frame, a sliding base mounted on the frame, and a three-axis drive mechanism for driving the sliding base to move along the X-axis, Y-axis, or Z-axis. A clamping mechanism is connected to the sliding base, and the clamping mechanism includes a mounting base and clamping arm assemblies. The mounting base is connected to the sliding base; the clamping arm assemblies are located on the lower end face of the mounting base, and at least two sets of clamping arm assemblies are symmetrically arranged around the center of the mounting base, with at least two sets of clamping arm assemblies sliding relative to each other; any set of clamping arm assemblies includes a sliding plate, a clamping plate, and a position detection unit. The sliding plate is connected to the mounting base via a clamping drive unit, which drives the sliding plate to slide along the XZ plane. Two clamping plates are symmetrically arranged, and both clamping plates are connected to the sliding plate via a side adjustment drive unit, which drives the clamping plates to slide along the Y-axis. A pose detection unit is connected to the sliding plate, and each clamping plate is equipped with a set of pose detection units. The pose detection units are used to detect the height of the upper surface of the clamped material at the corresponding position and feed back the height at that position as a displacement stroke. If the displacement stroke at any two adjacent positions exceeds a preset range, the side adjustment drive units at those two positions are triggered to adjust the height of the clamped material on one side of the corresponding position to an appropriate position by driving the sliding plate to slide.

[0051] In this embodiment of the invention, an emulsion explosive palletizing machine with detection function is provided. The emulsion explosive package is clamped by a clamping mechanism, and then a three-axis drive mechanism moves the clamping mechanism to achieve palletizing. Specifically, the clamping drive unit drives two sets of clamping arm assemblies to move relative to each other, realizing the clamping and release of the material. When the material is clamped between the clamping plates on both sides, at least one set of posture detection units is located at each of the four corners of the material. These posture detection units can detect the height of different positions on the upper surface of the material, thereby determining the posture state of the material when it is clamped. The pose detection unit can also provide material height feedback as a displacement stroke. When the displacement stroke fed back by the pose detection unit exceeds the preset range, the material on the side corresponding to the pose detection unit shifts upward. At this time, the side adjustment drive unit is triggered to drive the corresponding clamping plate on that side to move along the Y-axis, thereby adjusting the height of the material on that side to reduce the height of the material on that side. Under the combined action of the four sets of pose detection units located at the four corners of the material, the pose tends to be balanced, which is beneficial to improve the stability of material stacking during palletizing, thereby improving the palletizing quality. Moreover, the pose of the material can be detected and adjusted each time the material is clamped and transferred, which can improve palletizing stability and palletizing efficiency.

[0052] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0053] like Figure 1-7As shown, this embodiment of the invention provides an emulsion explosive palletizing machine with detection function, which is suitable for palletizing emulsion explosive packages during the production, transportation or storage of emulsion explosives. It can detect the position of the packages while transferring them, and adjust the position of the packages when they shift, so as to make them more balanced, which has the advantage of improving the stability of palletizing.

[0054] like Figure 1 , Figure 2 and Figure 3 As shown, in this embodiment, an emulsion explosive palletizing machine with detection function includes a frame 100, a sliding base 200 and a three-axis drive mechanism 300 for driving the sliding base 200 to move along the X-axis, Y-axis or Z-axis. A clamping mechanism 400 is connected to the sliding base 200, and the clamping mechanism 400 includes a mounting base 10 and clamping arm assemblies 20. The mounting base 10 is connected to the sliding base 200; the clamping arm assemblies 20 are disposed on the lower end face of the mounting base 10, and at least two sets of clamping arm assemblies 20 are symmetrically arranged around the center of the mounting base 10, and the at least two sets of clamping arm assemblies 20 slide relative to each other.

[0055] Specifically, this embodiment describes the process using two sets of symmetrically arranged clamping arm assemblies 20 as an example. The frame 100 is a movable frame structure. In actual production, the emulsion explosive palletizer can be moved to different process positions requiring palletizing as needed. The three-axis drive mechanism 300 may include horizontal, vertical, and longitudinal slide rails on the frame 100. Through linear motors, pulleys, or other transmission methods, the sliding base 200 is driven to move along the X, Y, or Z axes, thereby enabling the sliding base 200 to move arbitrarily in space. Of course, the three-axis drive mechanism 300 can also use a robotic arm or other methods to move the sliding base 200. This invention does not impose any special limitations on this; those skilled in the art can choose according to actual needs.

[0056] The clamping mechanism 400 is used to clamp and release materials, and works in conjunction with the three-axis drive mechanism 300 to transfer and stack materials. Two sets of clamping arm assemblies 20 slide on the lower end face of the mounting base 10 and are symmetrically arranged along the Z-axis. They clamp or release materials by moving closer to or further away from each other.

[0057] like Figure 3 , Figure 4 and Figure 5 As shown, in any embodiment of the present invention, any set of clamping arm assemblies 20 includes:

[0058] The sliding plate 1 is connected to the mounting base 10 via the clamping drive unit 2, and the clamping drive unit 2 drives the sliding plate 1 to slide along the XZ plane;

[0059] Two clamping plates 3 are symmetrically arranged. Both clamping plates 3 are connected to the sliding plate 1 through the side adjustment drive unit 4. The side adjustment drive unit 4 drives the clamping plates 3 to slide along the Y-axis.

[0060] The pose detection unit 6 is connected to the sliding plate 1 and each clamping plate 3 is provided with a set of pose detection units 6. The pose detection unit 6 is used to detect the height of the upper surface of the clamped material at the corresponding position and to feed back the height at that position as a displacement stroke.

[0061] If the displacement travel at any two adjacent positions exceeds the preset range, the side adjustment drive unit 4 at those two positions is triggered, so that the height of the clamped material on the corresponding side of the two sides is adjusted to an appropriate position by sliding the drive sliding plate 1.

[0062] Specifically, the sliding plate 1 is slidably connected to the bottom surface of the mounting base 10, and is driven to move along the X-axis by the clamping drive unit 2. The clamping plate 3 is connected to the sliding plate 1 and located inside the sliding plate 1. Each sliding plate 1 is connected to two clamping plates 3 symmetrically arranged along the Y-axis. Both clamping plates 3 can be moved vertically along the Y-axis by the side adjustment mechanism. When clamping materials, the materials are clamped between the four clamping plates 3 on both sides. There is a clamping plate 3 corresponding to each of the four corners of the materials. The surface of the clamping plates 3 can be provided with anti-slip textures to facilitate stable clamping of materials.

[0063] Meanwhile, each of the four clamping plates 3 is equipped with a set of pose detection units 6, which can be located on the side of the clamping plate 3 near the outer edge. When the clamping plates 3 on both sides clamp the material, the height of the pose detection unit 6 relative to the upper surface of the material is converted into a corresponding displacement stroke. The height at different positions on the upper surface of the material can reflect the pose status of the material. Therefore, the displacement stroke of the pose detection unit 6 at the corresponding position is also different depending on the height at different positions on the upper surface of the material. When the displacement stroke at any two adjacent positions exceeds the preset range, the height of the material at those two positions is higher, that is, the pose of the material has shifted. At this time, the side adjustment drive unit 4 at those two positions is triggered, and by driving the corresponding clamping plate 3 on that side to move downward along the Y-axis, the height of the material on that side can be adjusted to reduce the height of the material on that side.

[0064] For example, when the displacement travel of two sets of position detection units 6 on the same side of a set of clamping arm assemblies 20, or two sets of position detection units 6 on the same side of two sets of clamping arm assemblies 20, exceeds a preset range, the height of the material on that side is higher. Therefore, the two sets of clamping plates 3 on that side can be driven downwards along the Y-axis by the corresponding side adjustment drive unit 4 to reduce the height of the material on that side. When the height of the material on that side is reduced to a preset value range, the side adjustment drive unit 4 disconnects from the trigger state to maintain the material's positional balance. This is beneficial for improving the stability of material stacking during palletizing, thereby improving palletizing quality; and the detection and adjustment of the material's positional orientation can be achieved each time the material is clamped and transferred, improving palletizing stability and palletizing efficiency.

[0065] It should be noted that when the clamping mechanism 400 clamps materials, it maintains the same position or height each time to ensure that the height of the clamped material relative to the clamping plate 3 is consistent each time, thereby ensuring the accuracy of material pose detection. Furthermore, during actual palletizing, after the material is securely clamped, the side adjustment drive unit 4 can move all four clamping plates 3 and the material upwards simultaneously by a certain distance, using the height of the material at this point as the reference height during material transfer; while the material is rising, the pose detection unit 6 triggers feedback on the material height. Therefore, performing pose detection after the material is securely clamped further improves the accuracy of material pose detection.

[0066] like Figure 3 and Figure 4 As shown, in this embodiment of the invention, the clamping plate 3 includes an upper plate 31 and a lower plate 32 rotatably connected to the upper plate 31. An angle adjustment drive unit 5 is also connected between the clamping plate 3 and the sliding plate 1. The angle adjustment drive unit 5 is used to rotate the lower plate 32. When the displacement stroke fed back by the position detection unit 6 at a single location exceeds a preset range, the angle adjustment drive unit 5 corresponding to the clamping plate 3 at that location is triggered to adjust the height of the clamped material at that location to an appropriate position by driving the lower plate 32 to rotate.

[0067] Specifically, each clamping plate 3 consists of two rotatably connected plates. The side adjustment drive unit 4 is connected to the upper plate 31, and the corner adjustment drive unit 5 is connected to the lower plate 32. When the side adjustment drive unit 4 is activated, it can drive the upper plate 31 and the lower plate 32 to move simultaneously along the Y-axis. When the corner adjustment drive unit 5 is activated, it can drive the lower plate 32 to rotate. When the clamping plate 3 holds the material stably, the upper end surface of the material is located within the range of the lower plate 32. Therefore, when the lower plate 32 rotates towards the sliding plate 1, the material at that location can move downwards to reduce its height, thereby maintaining the material's positional balance. At the same time, the height of the two clamping plates 3 on the same side does not change, preventing relative pulling of the materials corresponding to the two clamping plates 3, which helps to ensure the integrity of the material and avoids internal compression.

[0068] Therefore, when the displacement travel fed back by a single pose detection unit 6 or a pose detection unit 6 at a non-adjacent location exceeds the preset range, the corresponding angle adjustment drive unit 5 can be activated, and the corresponding lower plate 32 can be driven to rotate to adjust the height value of the material at that location to the preset range; when the height of the material on that side decreases to the preset value range, the angle adjustment drive unit 5 is deactivated to maintain the material pose balance.

[0069] like Figure 7 As shown, in an exemplary embodiment, multiple sets of clamping arm assemblies 20 are provided, such as four sets of clamping arm assemblies 20 symmetrically arranged around the center of the mounting base 10. Two sets of clamping arm assemblies 20 move relative to each other along the X-axis, and the other two sets move relative to each other along the Z-axis. The four sets of clamping arm assemblies 20 simultaneously move closer to or further away from the center of the mounting base 10, thereby achieving the clamping or release of materials. When the displacement travel fed back by the pose detection unit 6 at any two adjacent locations exceeds a preset range, the side adjustment drive unit 4 at those two locations is triggered; when the displacement travel fed back by the pose detection unit 6 at any single location exceeds the preset range, the corner drive unit at the corresponding location is triggered; and when the displacement fed back by the pose detection unit 6 at more than two locations exceeds the preset range, the pose detection units 6 in the same set of clamping arm assemblies 20 trigger the corresponding side drive unit, and only one side of the pose detection unit 6 in the remaining clamping arm assemblies 20 is triggered, then the corresponding corner drive unit is triggered. It can maintain the balance while adjusting the material's position and posture, ensuring the integrity of the material. The number of clamping arm assemblies 20 can be specifically set according to the material and shape of the emulsion explosive package under actual conditions.

[0070] like Figure 4 , Figure 5 and Figure 6 As shown, in any embodiment of the present invention, any set of pose detection units 6 includes:

[0071] The stroke box 61 is fixedly connected to the sliding plate 1, and two fixed rods are fixedly arranged along the Y-axis inside the stroke box 61.

[0072] The triggering element includes a side triggering element 62 and a corner triggering element 63 respectively disposed on two fixed rods. Both the side triggering element 62 and the corner triggering element 63 include a contact block 621 movably passing through the fixed rod and a spring 622 sleeved on the fixed rod. The spring 622 is located between the contact block 621 and the top surface of the travel box 61.

[0073] The displacement block 64 is located inside the travel box 61. Both fixed rods pass through the displacement block 64. The displacement block 64 has contact points that correspond to the contact blocks 621 of the side trigger 62 and the corner trigger 63, respectively.

[0074] The positioning block 66 is connected to the displacement block 64 via a connecting rod 65, which passes through the bottom of the travel box 61.

[0075] The upper surface of the clamped material contacts the displacement block 64, so that the displacement block 64 pushes the displacement block 64 to slide upward to generate a displacement stroke. When the displacement stroke of the displacement block 64 exceeds the preset range, the contact point on the displacement block 64 contacts the contact block 621 of the side trigger 62 and the corner trigger 63.

[0076] Specifically, the travel box 61 has an internal cavity, and two fixed rods are fixed vertically inside the cavity. A contact block 621 and a spring 622 are movably sleeved on the fixed rods. The spring 622 is located between the contact block 621 and the top surface of the cavity. The two contact blocks 621 are the contact block 621 of the side trigger 62 and the contact block 621 of the corner trigger 63. There is a distance between the contact blocks 621 and the bottom of the cavity, which is within a preset range. The displacement block 64 is slidably disposed in the cavity of the travel box 61 and movably passes through the two fixed rods. A hole is opened at the bottom of the travel box 61, and a connecting rod 65 is fixed to the bottom surface of the displacement block 64. The connecting rod 65 is located in the hole, and the lower end of the connecting rod 65 is connected to the measuring block 66. When the clamping plate 3 clamps the material, or when the material is clamped and then moved upward to the reference position, the upper surface of the material contacts the positioning block 66. The appropriate deformation or upward height change of the material during clamping can push the positioning block 66 upward, which in turn pushes the displacement block 64 closer to the contact block 621. This converts the height change of the upper surface of the material into the displacement stroke of the positioning block 66. The distance between the contact block 621 and the displacement block 64 is within the appropriate displacement stroke range. Within this range, the material's offset has a small impact on stacking stability. However, when the displacement stroke exceeds the appropriate displacement stroke range, the material's offset has a significant impact on stacking stability. Therefore, when the displacement stroke of the displacement block 64 exceeds the appropriate displacement stroke range, the displacement block 64 contacts the contact block 621. Based on the contact status of the displacement blocks 64 of adjacent position detection units 6, the side position adjustment drive unit 4 or the angle position adjustment drive unit 5 can be adaptively triggered. This facilitates precise adjustment of the material's position.

[0077] Furthermore, the shape of the lower end face of the positioning block 66 matches the shape of the upper end face of the clamped material. The precise fit between the positioning block 66 and the upper end face of the clamped material allows the displacement stroke of the displacement block 64 to more accurately reflect the height of the material, which is beneficial for further improving the precise adjustment of the material's position and posture.

[0078] like Figure 2 and Figure 5 As shown, in one embodiment of the present invention, the clamping drive unit 2 includes:

[0079] The fixing cover 21 is fixedly connected to the lower end face of the mounting base 10. The lower end face of the fixing cover 21 has multiple sliding holes, and each sliding hole corresponds to a set of clamping arm assemblies 20.

[0080] The first screw 22 has two ends rotatably connected to the fixed cover 21, and the sliding plate 1 is sleeved on the first screw 22 and threadedly connected.

[0081] The first driving component 23 is fixedly connected to the fixed cover 21, and the output end of the first driving component is fixedly connected to the first screw.

[0082] Specifically, a slider can be fixed on the sliding plate 1, and the slider is sleeved on the first screw 22 and threadedly connected to the first screw 22; the first driving member 23 can be a motor, which can drive the sliding plate 1 to move along the length direction of the first screw 22 when the first driving member 23 is started. Of course, the clamping driving part 2 can also use a cylinder or other means to drive the sliding plate 1 to move.

[0083] In one embodiment of the present invention, the sliding plate 1 has a sliding hole 11 along the Y-axis direction, and the side position adjustment drive unit 4 includes:

[0084] Sliding block 41, which is inserted into sliding hole 11 and fixedly connected at one end to upper plate 31;

[0085] The second screw 42 is rotatably connected to the side of the sliding plate 1 away from the clamping plate 3, and the second screw 42 passes through the sliding block 41 and is threadedly connected.

[0086] The second driving component 43 is fixedly connected to the sliding plate 1, and the output shaft of the second driving component 43 is fixedly connected to the second screw 42.

[0087] Specifically, the second driving component 43 can be a motor. When the second driving component 43 is started, it can drive the sliding block 41 to move along the Y-axis, thereby driving the clamping plate 3 to move vertically. The side position adjustment driving part 4 can also use a cylinder or other means to drive the clamping plate 3 to move up and down. The present invention does not make any special limitation on this.

[0088] In one embodiment of the present invention, the sliding plate 1 has a groove 12 along the Y-axis on the side facing the clamping plate 3, and the angle adjustment drive part 5 includes a telescopic member, the fixed end of the telescopic member slides in the groove 12, and the telescopic end of the telescopic member is rotatably connected to the lower plate 32.

[0089] Specifically, a sliding block is slidable in the slide groove 12, and the telescopic component is rotatably connected to the sliding block. The telescopic end of the telescopic component is rotatably connected to the lower plate 32. When the side position adjustment drive unit 4 drives the clamping plate 3 to move vertically, the clamping plate 3 drives the telescopic component to slide along the slide groove 12, preventing the lower plate 32 from rotating. The telescopic component can be a cylinder, an electric push rod, etc.

[0090] In this embodiment, insulating pads 33 are laid on the side of the two clamping plates 3 of the same clamping arm assembly 20 that are away from the sliding plate 1. The pads 33 can be made of soft insulating material, so that when the angle adjustment drive unit 5 drives the lower plate 32 to rotate, the edges of the two clamping plates 3 can be effectively prevented from damaging the material.

[0091] For example, a temperature sensor and a pressure sensor are provided on the pad 33, and a fan 7 is provided on the lower end face of the mounting base 10. The temperature sensor is electrically connected to the fan 7, the pressure sensor is electrically connected to the first drive member 23, and a weighing member may be provided at the connection between the mounting base 10 and the sliding base 200.

[0092] Among them, the temperature sensor can detect the temperature of the material in real time. When the material temperature is too high, the fan 7 can be activated to cool the material, which helps to ensure that the internal temperature of the material is normal and improves safety. The pressure sensor can detect the extrusion force of the material on the clamping plate 3 in real time to determine the extrusion force of the clamping plate 3 on the material. The clamping force of the clamping plate 3 can be controlled by controlling the operation of the first drive component 23 to ensure that the extrusion force of the clamping plate 3 on the material is kept within an appropriate range, avoiding excessive extrusion of the material due to excessive clamping force or unstable clamping due to insufficient clamping force. The weighing component can detect the weight of the clamped material to ensure that the weight of the clamped material is within the qualified range, avoiding the impact of different weights on the accuracy of material position adjustment.

[0093] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A palletizing machine for emulsion explosives with detection function, characterized in that, Includes a frame (100), on which a sliding base (200) is disposed and a three-axis drive mechanism (300) for driving the sliding base (200) to move along the X-axis, Y-axis or Z-axis direction. A clamping mechanism (400) is connected to the sliding base (200), and the clamping mechanism (400) includes: Mounting base (10) is connected to the sliding base (200); A clamping arm assembly (20) is disposed on the lower end face of the mounting base (10). At least two sets of clamping arm assemblies (20) are symmetrically arranged around the center of the mounting base (10), and at least two sets of clamping arm assemblies (20) slide relative to each other. Any set of clamping arm assemblies (20) includes: The sliding plate (1) is connected to the mounting base (10) via the clamping drive unit (2), and the clamping drive unit (2) drives the sliding plate (1) to slide along the XZ plane; Two clamping plates (3) are symmetrically arranged. Both clamping plates (3) are connected to the sliding plate (1) through a side adjustment drive unit (4). The side adjustment drive unit (4) drives the clamping plates (3) to slide along the Y-axis. The pose detection unit (6) is connected to the sliding plate (1), and each clamping plate (3) is provided with a set of pose detection units (6). The pose detection unit (6) is used to detect the height of the upper surface of the clamped material at the corresponding position and to feed back the height at that position as a displacement stroke. If the displacement travel at any two adjacent positions exceeds the preset range, the side adjustment drive unit (4) at those two positions is triggered to adjust the height of the clamped material on the side corresponding to those two positions to an appropriate position by driving the sliding plate (1) to slide. The clamping plate (3) includes an upper plate (31) and a lower plate (32) rotatably connected to the upper plate (31). The side position adjustment drive unit (4) is connected to the upper plate (31). An angle position adjustment drive unit (5) is also connected between the clamping plate (3) and the sliding plate (1). The angle position adjustment drive unit (5) is used to rotate the lower plate (32). If the displacement travel fed back by the pose detection unit (6) at a single location exceeds the preset range, the angle adjustment drive unit (5) corresponding to the clamping plate (3) at that location will be triggered to adjust the height of the clamped material at that location to an appropriate position by driving the lower plate (32) to rotate. Any set of the pose detection units (6) includes: The stroke box (61) is fixedly connected to the sliding plate (1), and two fixed rods arranged along the Y-axis are fixed inside the stroke box (61); The triggering element includes a side triggering element (62) and a corner triggering element (63) respectively disposed on the two fixed rods. Both the side triggering element (62) and the corner triggering element (63) include a contact block (621) movably passing through the fixed rod and a spring (622) sleeved on the fixed rod. The spring (622) is located between the contact block (621) and the top surface of the travel box (61). The displacement block (64) is located inside the travel box (61), and both of the fixed rods pass through the displacement block (64). The displacement block (64) has contact points that correspond to the contact blocks (621) of the side trigger (62) and the corner trigger (63), respectively. The positioning block (66) is connected to the displacement block (64) via a connecting rod (65), which passes through the bottom of the travel box (61). The upper surface of the clamped material contacts the displacement block (64) so ​​that the displacement block (64) pushes the displacement block (64) to slide upward to generate a displacement stroke. When the displacement stroke of the displacement block (64) exceeds a preset range, the contact point on the displacement block (64) contacts the contact block (621) of the side trigger (62) and the corner trigger (63). The sliding plate (1) has a sliding hole (11) along the Y-axis direction, and the side position adjustment drive unit (4) includes: A sliding block (41) is inserted into the sliding hole (11), and one end is fixedly connected to the upper plate (31); The second screw (42) is rotatably connected to the side of the sliding plate (1) away from the clamping plate (3), and the second screw (42) passes through the sliding block (41) and is threadedly connected; The second driving member (43) is fixedly connected to the sliding plate (1), and the output shaft of the second driving member (43) is fixedly connected to the second screw (42); The sliding plate (1) has a groove (12) along the Y-axis on the side facing the clamping plate (3). The angle adjustment drive unit (5) includes a telescopic member. The fixed end of the telescopic member slides in the groove (12). The telescopic end of the telescopic member is rotatably connected to the lower plate (32).

2. The emulsion explosive palletizing machine with detection function according to claim 1, characterized in that, The shape of the lower end face of the positioning block (66) matches the shape of the upper end face of the clamped material.

3. The emulsion explosive palletizing machine with detection function according to claim 1, characterized in that, The clamping drive unit (2) includes: A fixing cover (21) is fixedly connected to the lower end face of the mounting base (10). The lower end face of the fixing cover (21) is provided with a plurality of sliding holes, and each sliding hole corresponds to a set of clamping arm assemblies (20). The first screw (22) is rotatably connected to the fixed cover (21) at both ends, and the sliding plate (1) is sleeved on the first screw (22) and threadedly connected. The first driving component (23) is fixedly connected to the fixed cover (21), and the output end of the first driving component (23) is fixedly connected to the first screw (22).

4. The emulsion explosive palletizing machine with detection function according to claim 3, characterized in that, An insulating pad (33) is laid on the side of the two clamping plates (3) of the same clamping arm assembly (20) facing away from the sliding plate (1).

5. The emulsion explosive palletizing machine with detection function according to claim 4, characterized in that, A temperature sensor is provided on the pad (33), and a fan (7) is provided on the lower end face of the mounting base (10).

6. The emulsion explosive palletizing machine with detection function according to claim 5, characterized in that, A pressure sensor is provided on the pad (33), and the pressure sensor is electrically connected to the first drive (23).

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