An automatic palletizing system for emulsified ammonium oil explosives

Abstract

An automatic stacking system for emulsified ammonium oil explosives includes a stacking conveyor with a stacking conveyor belt, a bag pushing mechanism with a push plate, a lifting device with a pair of parallel horizontal guide rails and an explosive bearing plate reciprocating in the parallel horizontal guide rails, a horizontal driver driving the explosive bearing plate to reciprocate, an intermediate pause conveyor with a pair of parallel vertical lifting guide rails, and a controller. The push plate is arranged on one side of the stacking conveyor belt, and the explosive bearing plate is located on the other side of the stacking conveyor belt. A slider matching the vertical lifting guide rail is arranged on the horizontal guide rail, a flip plate is arranged in the middle of the horizontal guide rail, a flip plate driver is arranged on one side of the flip plate, and a stacking conveyor is arranged on the side of the vertical lifting guide rail away from the bag pushing mechanism. The stacking efficiency of bagged explosives is improved, and the shaping and stacking process is completed automatically without manual operation; the bagged explosives are stacked neatly and uniformly, and are not easy to tilt and slide; the bagged explosives are automatically stacked on the pallet, which is convenient for mechanized loading and unloading or storage.

Description

Technical Field

[0001] The invention relates to the technical field of explosive transfer and delivery, in particular to an automatic palletizing system for emulsified ammonium nitrate oil explosives. Background Art

[0002] At present, the packaging process of explosives in the civil industry has gradually adopted automated equipment to replace the original manual and semi-mechanized packaging methods. However, the shaping and stacking process of the packaged bagged explosives is still done manually. Especially for the bagged explosives with larger packaging mass, the stacking efficiency is low and the labor intensity is high, which cannot meet the national civil explosive development plan - the industry requirements of less manpower and less staff.

[0003] Among them, the Chinese invention patent with application number 201710585775.3 realizes "palletizing on a vehicle board or in a carriage in a single piece, or in a single row or multiple rows, or in a few layers at a time" through "layer arrangement device and telescopic conveyor", but it is found through practice that when palletizing a long vehicle board or carriage, "the telescopic conveyor cantilever is extended to transport the arranged packaging bags / boxes / barrels to the innermost side of the carriage", and the "packaging bags / boxes / barrels" on the "telescopic conveyor" are distributed to one end, making the "telescopic conveyor" The pressure roll on the "retractable conveyor" is unbalanced, and the connection between the "lifting device" and the "retractable conveyor" is easily damaged, causing the overall palletizing operation to be paralyzed; the "packaging bags / boxes / barrels" are stacked by "pushing the layer of packages while retracting the push plate device on the cantilever conveyor", and the stacked packages are easy to slide to the periphery, resulting in irregular stacking and wasting the loading space on the vehicle board or carriage; in addition, the "packaging bags / boxes / barrels" are directly stacked on the vehicle board or carriage. When unloading or the products need to be put into storage, they need to be manually carried one by one, which is labor-intensive.

[0004] In summary, it is an inevitable trend to invent a palletizing system that can achieve efficient and automatic palletizing of bagged explosives, ensure palletizing quality, and facilitate loading and unloading. Summary of the invention

[0005] In order to overcome the disadvantages of the prior art, the invention provides an automatic palletizing system for emulsified ammonium oil explosives, which realizes efficient automatic palletizing of bagged explosives through reasonable design of the palletizing process.

[0006] The invention discloses an automatic stacking system for emulsified ammonium oil-fired explosives, comprising a stacking conveyor provided with a stacking conveyor belt, a bag pushing mechanism provided with a push plate, a lifting device provided with a pair of parallel horizontal guide rails and an explosive bearing plate reciprocating in the parallel horizontal guide rails, a horizontal driver driving the explosive bearing plate to reciprocate, an intermediate pause conveyor provided with a pair of parallel vertical lifting guide rails, and a controller, wherein the push plate is arranged on one side of the stacking conveyor belt, the explosive bearing plate is located on the other side of the stacking conveyor belt, a sliding block matched with the vertical lifting guide rail is arranged on the horizontal guide rail, a flip plate that can be turned over is arranged in the middle of the horizontal guide rail, a flip plate driver is arranged on one side of the flip plate, a stacking conveyor is arranged on a side of the vertical lifting guide rail away from the bag pushing mechanism, the bag pushing mechanism is arranged at the end of the bagged explosive transporter for transporting bagged explosives to the stacking conveyor, the push plate is connected with the push plate driver, a vertical lifting driver for driving the horizontal guide rail to vertically lift is arranged on the intermediate pause conveyor, and the controller is connected with the horizontal driver, the flip plate driver, the push plate driver, and the vertical lifting driver.

[0007] Specifically, above the bagged explosives conveyor, there are provided a bagged explosives pushing-down device, a roller shaping device, a weight re-inspection machine, and a rejection device, which are distributed in sequence along the conveying direction. Behind the rejection device, there are also a slope belt conveyor, a bag pressing and shaping conveyor, a pause conveyor, a turning conveyor, and a waiting conveyor for stacking, along the conveying direction.

[0008] Specifically, one side of the bag pressing and shaping conveyor, the pause conveyor, the turning conveyor, and the waiting conveyor for stacking are all provided with a bagged explosive position sensor, and the bagged explosive position sensor is connected to a controller.

[0009] Specifically, the bag pushing mechanism also includes a lifter connected to the upper end of the pushing plate, and the lifter is connected to the controller.

[0010] Preferably, a pair of mutually parallel first and second enclosures which are perpendicular to the flip plate are provided on both sides of the flip plate, and a third enclosure which is parallel to the flip plate is provided opposite to the flip plate. The flip plate, the first enclosure, the second enclosure and the third enclosure form a rectangular hollow structure enclosure component, and the first enclosure driver, the second enclosure driver and the third enclosure driver are respectively provided on one side of the first enclosure driver, the second enclosure driver and the third enclosure driver, and the first enclosure driver, the second enclosure driver and the third enclosure driver are all connected to the controller.

[0011] Preferably, the explosive bearing plate is also provided with a bearing plate conveyor belt and a bearing plate conveyor motor for driving the bearing plate conveyor belt, and the bearing plate conveyor motor is connected to the controller.

[0012] Specifically, a pallet conveyor is also provided on one side of the stacking conveyor, and a pallet conveyor belt for conveying pallets to the stacking conveyor is provided on the pallet conveyor. A pallet suction device is provided on one side of the pallet conveyor, and the pallet suction device includes a pallet placing rack and a pallet adsorption moving mechanism arranged above the pallet placing rack. A plurality of suction nozzles are provided on the pallet adsorption moving mechanism, and the suction nozzles are connected to a vacuum generator through an air pipe, and the vacuum generator is connected to a controller.

[0013] Preferably, the pallet adsorption moving mechanism includes a movable guide rail extending above the pallet conveyor, a first movable plate installed on the movable guide rail, and a second movable plate movably connected to the first movable plate. A first driver for driving the first movable plate to move on the movable guide rail is provided at one end of the movable guide rail, and a second driver for driving the second movable plate to move vertically is provided on the first movable plate. The first driver and the second driver are connected to a controller.

[0014] The automatic palletizing system for emulsified ammonium oil explosives has the following advantages:

[0015] 1. The stacking efficiency of bagged explosives is improved, and the shaping and stacking process is completed automatically without manual operation;

[0016] 2. The bagged explosives are stacked in staggered positions, so that the bagged explosives are stacked neatly and uniformly, and are not prone to tilting or sliding;

[0017] 3. Bags of explosives are automatically stacked on pallets, making them easy to load and unload or store in warehouses;

[0018] 4. The palletizing system has a stable structure, easy-to-obtain accessories, and low maintenance costs.

[0019] 5. Different from using robots for stacking, this is a brand-new design, which uses electromechanical transmission mechanism and photoelectric control to achieve automatic palletizing, and the cost is lower than that of robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the automatic palletizing system for emulsified ammonium oil-fired fuel;

[0021] Figure 2 A schematic diagram of the connection structure between the flip plate and the flip plate driver;

[0022] Figure 3 The schematic diagram of the structure of the corresponding device distributed on the bagged explosive transporter (the direction of the arrow in the figure is the transport direction of the bagged explosive);

[0023] Figure 4 It is a schematic diagram of the side structure of the automatic stacking system for emulsified ammonium oil explosives.

[0024] Among them, 1- stacking conveyor belt, 2- stacking conveyor, 3- pushing plate, 4- bag pushing mechanism, 5- horizontal guide rail, 6- explosive bearing plate, 7- lifting device, 8- horizontal drive, 9- vertical lifting guide rail, 10- intermediate pause conveyor, 11- encirclement component, 12- slider, 13- flip plate, 14- flip plate drive, 15- stacking conveyor, 16- bagged explosive transport machine, 17- pushing plate drive, 18- vertical lifting drive, 19- bagged explosive pushing device ( Figure 3 )、20-roller shaping device, 21-weight rechecking machine, 22-rejection device, 23-inclined belt conveyor, 24-bag pressing and shaping conveyor, 25-pause conveyor, 26-turning conveyor, 27-waiting stacking conveyor, 28-slider plate, 29-lifter, 30-first enclosure, 31-second enclosure, 32-third enclosure, 33-first enclosure driver, 34-second enclosure driver, 35-third enclosure driver, 36-carrying plate conveyor belt, 37-carrying plate conveying motor ( Figure 3 )、38- pallet conveyor, 39- pallet conveyor belt, 40- pallet suction device, 41- pallet placement rack, 42- pallet adsorption moving mechanism, 43- second moving plate, 44- moving guide rail, 45- first driver, 46- suction nozzle, 47- crossbeam ( Figure 2 )、48- baffle, 49- first moving plate, 50- second driver, 51- bagged explosive, 52- connecting piece ( Figure 2 ), 53-pallet placement area, 54-light rod, 55-linear bearing, 56-pallet conveying motor, 57-frame plate, 58-push-down plate, 59-push-down cylinder, 60-mounting plate, 61-shaping roller, 62-connecting plate. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are mostly within the scope of protection of the present invention.

[0026] Embodiment 1:

[0027] like Figure 1-4As shown, an automatic stacking system for emulsified ammonium oil explosives of the present invention comprises a stacking conveyor provided with a stacking conveyor belt, a bag pushing mechanism provided with a pushing plate, a lifting device provided with a pair of parallel horizontal guide rails and an explosive bearing plate reciprocating in the parallel horizontal guide rails, a horizontal driver (motor or oil cylinder) for driving the explosive bearing plate to reciprocate, an intermediate pause conveyor provided with a pair of parallel vertical lifting guide rails, and a controller, wherein the pushing plate is provided on one side of the stacking conveyor belt, the explosive bearing plate is located on the other side of the stacking conveyor belt, and the horizontal guide rail is provided with a slider matched with the vertical lifting guide rail. (pulley), a flip plate is provided in the middle of the horizontal guide rail, a flip plate driver is provided on one side of the flip plate, a stacking conveyor is provided on the side of the vertical lifting guide rail away from the bag pushing mechanism, a pallet is provided on the stacking conveyor, the bag pushing mechanism is arranged at the end of the bagged explosives conveyor which transports the bagged explosives to the stacking conveyor, the pushing plate is connected to the pushing plate driver, a vertical lifting driver for driving the horizontal guide rail to vertically lift is provided on the intermediate pause conveyor, and the controller is connected to the horizontal driver, the flip plate driver, the pushing plate driver and the vertical lifting driver.

[0028] like Figure 4 As shown, during stacking, the stacking conveyor belt on the stacking conveyor moves intermittently, and then the multiple bags of explosives intermittently transported by the bagged explosives transporter to the stacking conveyor belt are closely arranged into a first group. The controller sends a command to drive the push plate driver, and the push plate pushes the first group of bagged explosives to the explosives carrying plate. The horizontal driver drives the explosives carrying plate to move above the pallet on the stacking conveyor. The direction of movement of the explosives carrying plate is Figure 4 The flip plate driver drives the flip plate to flip to a vertical state, intercepting the first group of bagged explosives on one side of the stacking conveyor, and the horizontal driver then drives the explosive bearing plate to move to the side of the bag pushing mechanism. The direction of movement of the explosive bearing plate is Figure 4 In the direction B of the arrow shown, the first group of bagged explosives are unloaded from the explosives carrying plate to the pallet of the stacking conveyor under the obstruction of the flip plate.

[0029] After unloading is completed, the flip plate driver drives the flip plate to flip to a horizontal state, and the push plate pushes the second group of bagged explosives to the explosives carrying plate again. The vertical lifting driver drives the horizontal guide rail to rise to a suitable height, and the horizontal driver drives the explosives carrying plate to move again (i.e. Figure 4 The flip plate driver drives the flip plate to flip to a vertical state, intercepting the second group of bagged explosives on one side of the stacking conveyor, and the horizontal driver then drives the explosive bearing plate to move (i.e. Figure 4The second group of bagged explosives is unloaded onto the first group of bagged explosives under the obstruction of the flip plate. The flip plate driver drives the flip plate to flip to a horizontal state. The vertical lifting driver drives the horizontal guide rail to drop to the initial height, waiting for the push plate to push the third group of bagged explosives to the explosives carrying plate again. This is repeated to achieve automatic stacking of bagged explosives. The push plate can also push two or more groups of bagged explosives to the explosives carrying plate. Two or more groups of bagged explosives form a layer of bagged explosives. In this embodiment, the pallet on the stacking conveyor is a cloth soft pallet with a lifting belt. After the stacking is completed, the bagged explosives stack can be lifted to the carriage or the car board by the lifting device through the lifting belt. It can also be unloaded by the lifting device when unloading, reducing the labor of loading and unloading.

[0030] The driver can be a pneumatic cylinder or an oil cylinder. In this embodiment, the driver is an oil cylinder. The controller includes an industrial PLC controller, an electronic oil circuit distribution valve, and a hydraulic station. The PLC controller is electrically connected to the electronic oil circuit distribution valve, and the PLC controller is electrically connected to a power supply. The hydraulic station includes an oil tank filled with hydraulic oil, a hydraulic motor that drives the hydraulic oil to generate pressure, a power supply end of the hydraulic motor is connected to the power supply, and the electronic oil circuit distribution valve is mechanically fixedly connected to the oil outlet of the hydraulic motor and the corresponding driver through an oil pipe. The PLC controller controls the opening or closing of the oil circuit in the electronic oil circuit distribution valve, thereby controlling the telescopic movement of the corresponding driver.

[0031] Embodiment 2:

[0032] The invention discloses an automatic stacking system for emulsified ammonium oil explosives, comprising a stacking conveyor provided with a stacking conveyor belt, a bag pushing mechanism provided with a pushing plate, a lifting device provided with a pair of parallel horizontal guide rails and an explosive bearing plate reciprocating in the parallel horizontal guide rails, a horizontal driver (motor or oil cylinder) for driving the explosive bearing plate to reciprocate, an intermediate pause conveyor provided with a pair of parallel vertical lifting guide rails, and a controller. The pushing plate is provided on one side of the stacking conveyor belt, the explosive bearing plate is located on the other side of the stacking conveyor belt, a slider (pulley) matched with the vertical lifting guide rail is provided on the horizontal guide rail, and the horizontal guide rail is provided with a plurality of sliders (pulleys) matched with the vertical lifting guide rail. A flip plate is provided in the middle part, a flip plate driver is provided on one side of the flip plate, a stacking conveyor is provided on the side of the vertical lifting guide rail away from the bag pushing mechanism, and a pallet is provided on the stacking conveyor. The pallet in this embodiment is a soft plastic pallet with a thickness of 5 mm. The bag pushing mechanism is arranged at the end of the bagged explosives conveyor for transporting bagged explosives to the stacking conveyor, the pushing plate is connected to the pushing plate driver, and a vertical lifting driver for driving the horizontal guide rail to vertically lift is provided on the intermediate pause conveyor. The controller is connected to the horizontal driver, the flip plate driver, the pushing plate driver, and the vertical lifting driver.

[0033] A bagged explosive pushing device, a roller shaping device, a weight rechecking machine, and a rejecting device are sequentially arranged above the bagged explosive conveyor along the conveying direction. The weight rechecking machine and the rejecting device recheck the weight of the bagged explosive. If the quality does not meet the standard, it will be rejected by the rejecting device. The bagged explosives have the same quality and the stacking is more neat and consistent. The pushing device includes a frame plate arranged on the bagged explosive conveyor, a pushing plate movably connected to the frame plate, and a pushing cylinder driving the pushing plate to push down the bagged explosive. The pushing device can push down the vertical bagged explosive with a larger volume into a horizontal state. The roller shaping device includes a roller mounting plate and a shaping roller. The mounting plate is movably connected to the shaping roller through a connecting plate. When the bagged explosive passes under the shaping roller, the horizontal bagged explosive can be rolled flat to make the explosive evenly distributed in the packaging bag. At the same time, it can prevent the bagged explosive from being skewed or the bagged explosive packaging from exploding during rejection due to irregular shape. The removal device also includes a slope belt conveyor, a bag pressing and shaping conveyor, a pause conveyor, a steering conveyor, and a waiting conveyor for stacking along the conveying direction. The slope belt conveyor can be connected with the bagged explosive conveyor in parallel or vertically.

[0034] The bagged explosive position sensor (not shown in the figure) is provided on one side of the bag pressing and shaping conveyor, the pause conveyor, the steering conveyor, and the waiting stacking conveyor. The bagged explosive position sensor is connected to the controller, and the driving motors on the bag pressing and shaping conveyor, the pause conveyor, the steering conveyor, and the waiting stacking conveyor are also connected to the controller. The bagged explosive position sensor controller monitors the bagged explosive position in real time, so that the front and rear adjacent bagged explosives can pass in order to ensure a certain spacing, and avoid conflicts between bagged explosives. Among them, the steering conveyor can turn the bagged explosives to 90°, 180°, and 270°, so that the packaging bag mouth faces inward to prevent leakage, and when stacking bagged explosives, the stacking directions of each layer of bagged explosives are perpendicular to each other, which is not easy to slide and the stacking height is higher.

[0035] The bag pushing mechanism also includes a lifter connected to the upper end of the push plate, the lifter is connected to the controller, the lifter is a cylinder, a cylinder control valve, the cylinder is connected to the cylinder control valve and the air compressor in sequence through an air pipe, the controller controls the cylinder expansion and contraction through the cylinder control valve, and then controls the lifting and lowering of the push plate, after the push plate pushes out a group of bagged explosives (multiple bagged explosives on the stacking conveyor belt are closely arranged as a group of bagged explosives), the push plate is lifted by the lifter, and then returns to the initial position (i.e., the side perpendicular to the transmission direction of the initial stacking conveyor belt) through the push plate driver, the lifter lowers the push plate, waits for another group of bagged explosives to be arranged on the stacking conveyor belt, and then pushes the other group of bagged explosives to the explosives carrying plate. The lifter drives the push plate to lift and lower, avoiding interference with the bagged explosives on the stacking conveyor belt during the process of resetting to the initial position after the push plate pushes the bagged explosives to the explosives carrying plate, thereby accelerating the efficiency of arranging the bagged explosives on the stacking conveyor belt.

[0036] The flip plate of this embodiment is rectangular, and two symmetrical connecting parts are installed on the upper end of the flip plate. The connecting parts are movably connected to the slider plate installed on the horizontal guide rail. The flip plate can rotate along the axis connecting the two groups of connecting parts and the slider plate. A slider (pulley) is installed on the side of the slider plate close to the vertical lifting guide rail. The middle part of the upper end of the flip plate is movably connected to the flip plate driver. The flip driver is a flip cylinder and a flip cylinder control valve. The flip cylinder and the flip cylinder control valve are two groups. The flip cylinder is fixed on the beam between the two connecting parts. The flip cylinder is connected to the flip cylinder control valve and the air compressor through an air pipe. The controller controls the extension and retraction of the flip cylinder through the flip cylinder control valve, thereby controlling the rotation of the flip plate. Figure 1 As shown, a pair of first and second enclosures perpendicular to the flip plate and parallel to each other are provided on both sides of the flip plate, and a third enclosure parallel to the flip plate is provided opposite to the flip plate. The flip plate, the first, the second and the third enclosures form an enclosure component of a rectangular hollow structure, and a first enclosure driver, a second enclosure driver and a third enclosure driver are provided on one side of the first, the second and the third enclosures respectively. The first, the second and the third enclosure drivers are all connected to the controller, and the flip plate, the first, the second and the third enclosures form an enclosure component in the shape of a "mouth", so that when the bagged explosives are unloaded from the explosives carrying plate, they are not easy to loosen or slide, and the stacking is more compact and neat.

[0037] The explosive bearing plate is also provided with a bearing plate conveyor belt and a bearing plate conveying motor for driving the bearing plate conveyor belt. The bearing plate conveying motor is connected to the controller (i.e., electrically connected). The explosive bearing plate is in surface contact with the bearing plate conveyor belt. The explosive bearing plate is made of aluminum alloy or other metal material and has the rigidity to carry a certain mass of bagged explosives. In the process of the pushing plate pushing the bagged explosives to the explosive bearing plate and the explosive bearing plate unloading the bagged explosives onto the pallet (or another layer of bagged explosives), the bearing plate conveying motor drives the bearing plate conveyor belt to move, so that the resistance of the bagged explosives to being pushed onto and unloaded from the explosive bearing plate is smaller, the bagged explosives that have been shaped are not easily deformed by squeezing, and the stacked bagged explosives are more neat.

[0038] Embodiment 3:

[0039] A pallet conveyor is also provided on one side of the stacking conveyor, and a pallet conveyor belt for conveying pallets to the pallet conveyor is provided on the pallet conveyor. A pallet suction and conveying device is provided on one side of the pallet conveyor, and the pallet suction and conveying device includes a pallet placing rack and a pallet adsorption and moving mechanism arranged above the pallet placing rack. Baffles for positioning the pallets are also provided around the pallet placing rack, and the baffles enclose a pallet placement area. A plurality of suction nozzles are provided on the pallet adsorption and moving mechanism, and the suction nozzles are connected to a vacuum generator through an air pipe, and the vacuum generator is connected to a controller.

[0040] The pallet adsorption moving mechanism includes a moving guide rail extending above the pallet conveyor, a first moving plate installed on the moving guide rail, and a second moving plate movably connected to the first moving plate. A first driver that drives the first moving plate to move on the moving guide rail is provided at one end of the moving guide rail. The first driver is a DC motor, a sprocket installed on the DC motor, and a chain connected to the sprocket. The chain is fixedly connected to the top of the first moving plate. The DC motor drives the sprocket to reverse forward and reverse, thereby driving the first moving plate to reciprocate on the moving guide rail. A second driver that drives the second moving plate to move vertically is provided on the first moving plate. The second driver is an air cylinder or an oil cylinder. The first driver and the second driver are connected to a controller.

[0041] like Figure 1 As shown, linear bearings are installed at the four corners of the first movable plate, and light rods matching the linear bearings are installed at the four corners of the second movable plate. The second driver drives the second movable plate to move above the pallet placement area so that the suction nozzle contacts the pallet, and the controller controls the vacuum generator to extract the air in the suction nozzle, and the suction nozzle sucks the pallet through negative pressure, and the second driver drives the second movable plate to rise to an appropriate height, and the first driver drives the first movable plate to move above the pallet conveyor belt, and the second driver drives the second movable plate and the pallet to descend onto the pallet conveyor belt, and the vacuum generator stops extracting the air in the suction nozzle, and at the same time the second driver drives the second movable plate to rise, and the first driver drives the first movable plate to move to the initial position (i.e., above the pallet placement area), and the pallet conveying motor drives the pallet conveyor belt to move, and the pallet conveyor belt conveys the pallet to the stacking conveyor, thereby realizing automatic grabbing of the pallet.

[0042] The rest of the contents are the same as those in Example 2.

Claims

1. A palletizing method based on an automatic palletizing system for emulsified ammonium oil-fired fuel, characterized in that The invention comprises a stacking conveyor provided with a stacking conveyor belt, a bag pushing mechanism provided with a pushing plate, a lifting device provided with a pair of parallel horizontal guide rails and an explosive carrying plate reciprocating in the parallel horizontal guide rails, a horizontal driver driving the explosive carrying plate to reciprocate, an intermediate pause conveyor provided with a pair of parallel vertical lifting guide rails, and a controller, wherein the pushing plate is arranged on one side of the stacking conveyor belt, the explosive carrying plate is located on the other side of the stacking conveyor belt, a sliding block cooperating with the vertical lifting guide rail is arranged on the horizontal guide rail, a flip plate which can be turned is arranged in the middle of the horizontal guide rail, a flip plate driver is arranged on one side of the flip plate, a stacking conveyor is arranged on a side of the vertical lifting guide rail away from the bag pushing mechanism, the bag pushing mechanism is arranged at the end of the bagged explosive transport machine for transporting bagged explosives to the stacking conveyor, the pushing plate is connected to the pushing plate driver, a vertical lifting driver for driving the horizontal guide rail to vertically lift is arranged on the intermediate pause conveyor, and the controller is connected to the horizontal driver, the flip plate driver, the pushing plate driver, and the vertical lifting driver; The bagged explosives conveyor is provided with a bagged explosives pushing device, a roller shaping device, a weight rechecking machine, and a rejecting device in sequence above the bagged explosives conveyor along the conveying direction. The rejecting device is followed by an inclined belt conveyor, a bag pressing and shaping conveyor, a pause conveyor, a steering conveyor, and a stacking waiting conveyor along the conveying direction. One side of the bag pressing and shaping conveyor, the pause conveyor, the turning conveyor, and the waiting stacking conveyor is provided with a bagged explosive position sensor, and the bagged explosive position sensor is connected to the controller; The bag pushing mechanism also includes a lifter connected to the upper end of the pushing plate, and the lifter is connected to the controller; The explosive bearing plate is also provided with a bearing plate conveyor belt and a bearing plate conveyor motor for driving the bearing plate conveyor belt, and the bearing plate conveyor motor is connected to the controller; The palletizing method comprises the following steps: During stacking, the stacking conveyor belt on the stacking conveyor moves intermittently, and then the multiple bags of explosives intermittently transported by the bagged explosives conveyor to the stacking conveyor belt are closely arranged into the first group, and the controller sends a command to drive the push plate driver, the push plate pushes the first group of bagged explosives to the explosives carrying plate, the horizontal driver drives the explosives carrying plate to move above the pallet on the stacking conveyor, and the direction of movement of the explosives carrying plate is direction A; the flip plate driver drives the flip plate to flip to a vertical state, intercepting the first group of bagged explosives on one side of the stacking conveyor, and the horizontal driver then drives the explosives carrying plate to move to the side of the bag pushing mechanism, and the direction of movement of the explosives carrying plate is direction B, and the directions A and B are opposite; the first group of bagged explosives is blocked by the flip plate and unloaded from the explosives carrying plate to the pallet of the stacking conveyor; After unloading is completed, the flip plate driver drives the flip plate to flip to a horizontal state, the push plate pushes the second group of bagged explosives to the explosives carrying plate again, the vertical lifting driver drives the horizontal guide rail to rise to a suitable height, the horizontal driver drives the explosives carrying plate to move toward direction A again to above the pallet on the stacking conveyor, the flip plate driver drives the flip plate to flip to a vertical state, intercepting the second group of bagged explosives on one side of the stacking conveyor, the horizontal driver then drives the explosives carrying plate to move toward direction B to the side of the bag pushing mechanism, and the second group of bagged explosives is blocked by the flip plate and unloaded on the first group of bagged explosives; Then, the flip plate driver drives the flip plate to flip to a horizontal state, and the vertical lifting driver drives the horizontal guide rail to descend to an initial height, waiting for the push plate to push the third group of bagged explosives to the explosive bearing plate again; Repeat this process to achieve automatic palletizing of bagged explosives. The stacking method also includes the following steps: before stacking, a pushing device pushes down the vertical bagged explosives with a larger volume into a horizontal state; when the bagged explosives pass under the shaping roller, the horizontal bagged explosives are rolled flat to make the explosives evenly distributed in the packaging bag, and at the same time, the bagged explosives can be prevented from being skewed or the bagged explosives packaging being blown apart due to irregular shapes when being rejected; a weight re-inspection machine and a rejection device re-inspect the weight of the bagged explosives, and if the quality does not meet the standard, the bagged explosives are rejected by the rejection device, so that the quality of the bagged explosives is the same and the stacking is more neat and consistent.

2. The automatic stacking system for emulsified ammonium oil-fired fuel according to claim 1, wherein: A pair of first and second enclosures which are perpendicular to the flip plate and parallel to each other are provided on both sides of the flip plate, and a third enclosure which is parallel to the flip plate is provided opposite to the flip plate. The flip plate, the first enclosure, the second enclosure and the third enclosure form an enclosure component of a rectangular hollow structure, and a first enclosure driver, a second enclosure driver and a third enclosure driver are respectively provided on one side of the first enclosure, the second enclosure driver and the third enclosure driver, and the first enclosure driver, the second enclosure driver and the third enclosure driver are all connected to the controller.

3. The automatic stacking system for emulsified ammonium oil-fired fuel according to claim 1 or 2, characterized in that: A pallet conveyor is also provided on one side of the palletizing conveyor, and a pallet conveyor belt for conveying pallets to the palletizing conveyor is provided on the pallet conveyor. A pallet suction device is provided on one side of the pallet conveyor, and the pallet suction device includes a pallet placing rack and a pallet adsorption moving mechanism arranged above the pallet placing rack. A plurality of suction nozzles are provided on the pallet adsorption moving mechanism, and the suction nozzles are connected to a vacuum generator through an air pipe, and the vacuum generator is connected to a controller.

4. The automatic stacking system for emulsified ammonium oil-fired fuel according to claim 3, wherein: The pallet adsorption moving mechanism includes a moving guide rail extending above the pallet conveyor, a first moving plate installed on the moving guide rail, and a second moving plate movably connected to the first moving plate. A first driver for driving the first moving plate to move on the moving guide rail is provided at one end of the moving guide rail, and a second driver for driving the second moving plate to move vertically is provided on the first moving plate. The first driver and the second driver are connected to a controller.

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