Multi-station mixed explosive automatic loading system and loading method

Abstract

The present invention provides a multi-station automatic loading system and method for mixed explosives, wherein the multi-station automatic loading system for mixed explosives includes: a docking robot; a mobile structure capable of driving the docking robot to move along a preset path; a plurality of loading stations arranged circumferentially along the preset moving path, each loading station being used to park a carrier structure; a plurality of charging guns, each loading station being provided with at least one charging gun; a plurality of detection structures arranged in a one-to-one correspondence with the plurality of loading stations, each detection structure being used to detect whether a carrier structure is present at a corresponding loading station; a controller controlling the movement of the mobile structure based on detection signals from the plurality of detection structures so that the docking robot picks up the charging gun at the corresponding loading station and docks with the corresponding carrier structure. The technical solution of the present application effectively solves the problem of operator injury during the explosives loading process in the related art.

Description

Technical Field

[0001] The present invention relates to the technical field of liquid addition, in particular to a multi-station mixed explosive automatic loading system and loading method. Background Art

[0002] Before using explosives, different components need to be added to the explosives cart to mix them thoroughly.

[0003] In related technologies, explosives are primarily added manually. Due to the high risk of explosion and the high risk of the material, operators must be vigilant to avoid unsafe behaviors such as accidental ingestion, contact with eyes, and skin. Any unsafe behavior can cause personal injury and, in severe cases, lead to a drop in blood pressure, coma, or even death. Furthermore, the added material is explosives raw material, which requires strict fire and explosion protection. Therefore, manual operation requires careful protection, requiring the wearing of labor protection equipment such as hard hats with safety masks, protective gloves, protective shoes, and anti-static clothing. Operators face high risks in this environment, and the protective equipment required for their duties is also complex, posing a potential safety hazard. Summary of the Invention

[0004] The main purpose of the present invention is to provide a multi-station mixed explosive automatic loading system and loading method to solve the problem in the related art that the explosive loading process is prone to cause harm to operators.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, there is provided a multi-station automatic loading system for mixed explosives, which is used for loading multiple carrying structures. The multi-station automatic loading system for mixed explosives comprises: a docking robot; a moving structure connected to the docking robot and capable of driving the docking robot to move along a preset path; a plurality of loading stations arranged circumferentially along the preset moving path, each loading station being used to park a carrying structure; a plurality of loading guns, each loading station being provided with at least one loading gun; a plurality of detection structures, which are arranged in a one-to-one correspondence with the plurality of loading stations, each detection structure being used to detect whether there is a carrying structure at the corresponding loading station; a controller connected to the docking robot, the moving structure and the detection structure, and the controller controls the movement of the moving structure according to the detection signals of the plurality of detection structures so that the docking robot picks up the loading gun at the corresponding loading station and docks with the corresponding carrying structure.

[0006] Furthermore, the multi-station mixed explosive automatic loading system also includes a guide rail structure, the moving structure is arranged on the guide rail structure and can move on the guide rail structure, and the moving path of the moving structure on the guide rail structure is a preset moving path.

[0007] Furthermore, the guide rail structure includes a plurality of guide rail segments and a plurality of connecting structures. The plurality of guide rail segments can be arranged in a spliced ​​manner, and at least one connecting structure is provided between any two adjacent guide rail segments.

[0008] Furthermore, the connection structure includes a plug-in interface and a plug-in block, and the plug-in interface and the plug-in block are respectively arranged at the ends of two adjacent guide rail sections.

[0009] Furthermore, the multi-station mixed explosive automatic loading system also includes a mounting frame, which is arranged above the guide rail structure, and the multiple detection structures are all arranged on the mounting frame.

[0010] Furthermore, the docking robot includes a robotic arm and a docking device arranged on the robotic arm, the docking device including: a first mounting seat, the first mounting seat being provided with a first connecting hole; a second mounting seat being spaced apart from the first mounting seat, the second mounting seat being movably arranged relative to the first mounting seat; a connecting assembly including a connecting seat, a spherical portion, a connecting rod and an elastic structure, the connecting seat being installed on the first mounting seat, the connecting seat having a second connecting hole connected to the first connecting hole, the spherical portion being movably arranged between the first connecting hole and the connecting seat, the spherical portion being provided with a through hole, the connecting rod being passed through the through hole, the connecting rod being passed through the first connecting hole, the through hole and the second connecting hole, the first end of the connecting rod being connected to the second mounting seat, the second end of the connecting rod being a free end, the elastic structure including a first elastic member arranged between the first end of the connecting rod and the connecting seat and / or a second elastic member between the second end of the connecting rod and the spherical portion.

[0011] Furthermore, the connecting assembly also includes a connecting sleeve, a first stopper and a third elastic member. The connecting sleeve includes a sleeve portion and a protrusion connected to the first end of the sleeve portion. The connecting sleeve is passed through the through hole. The first stopper is connected to the second end of the sleeve portion. The spherical portion is located between the protrusion and the first stopper. The third elastic member is located between the spherical portion and the first stopper. The connecting rod is passed through the connecting sleeve.

[0012] According to another aspect of the present invention, a method for automatically loading multi-station mixed explosives is provided. The above-mentioned automatic loading system for automatically loading multi-station mixed explosives is used, and the method includes: when the detection structure parks the carrying structure on the loading station, the detection structure sends a detection signal to the controller; the controller controls the docking robot to move to the loading station corresponding to the detection structure that sends the detection signal according to the detection signal; the docking robot picks up the first charging gun at the loading station; the docking robot identifies the first pair of interfaces of the carrying structure and completes the docking of the first charging gun with the first pair of interfaces; the docking robot controls the charging amount of the first charging gun according to the sensing signal of the liquid level sensor of the carrying structure and performs charging; after the charging is completed, the docking robot returns to the preset position.

[0013] Furthermore, the steps of the docking robot identifying the first pair of interfaces of the carrying structure and the first feeding gun to complete the docking include: the visual camera of the docking robot takes a photo to identify the position of the first pair of interfaces of the carrying structure to obtain an identification signal; the controller calculates and obtains the position coordinates of the first pair of interfaces relative to the first feeding gun based on the identification signal and the position information of the first feeding gun; the docking robot drives the first feeding gun along the axis of the first pair of interfaces for docking according to the position coordinates of the first pair of interfaces; after docking is in place, the docking robot rotates according to the position of the first feeding gun to open the first valve of the first feeding gun and complete the pipeline connection.

[0014] Furthermore, after the step of the docking robot controlling the feeding amount of the first feeding gun according to the liquid level sensor of the carrying structure and starting to feed, the docking robot also includes: the docking robot releases the first feeding gun and picks up the second feeding gun; the docking robot identifies the second docking interface of the carrying structure and the second feeding gun through a visual camera to complete the docking; the docking robot controls the feeding amount of the second feeding gun according to the liquid level sensor of the carrying structure and starts to feed; the docking robot separates from the second feeding gun; and the controller unloads the first feeding gun and the second feeding gun in sequence according to the completion status of the first feeding gun and the second feeding gun.

[0015] By applying the technical solution of the present invention, the mobile structure drives the docking robot connected thereto to move along a preset moving path. A plurality of installation stations are arranged circumferentially along the preset moving path, and each installation station is used to park a carrying structure. At least one charging gun is provided at each installation station. A plurality of detection structures are provided corresponding to the plurality of installation stations, and each detection structure is used to detect whether there is a carrying structure at the corresponding installation station. The controller is connected to the docking robot, the mobile structure and the detection structure, and the controller controls the movement of the mobile structure according to the detection signal of the detection structure so that the docking robot picks up the charging gun at the corresponding installation station and docks with the corresponding carrying structure. Through the above-mentioned arrangement, the detection structure can detect the position of the carrying structure and transmit a signal to the controller. The controller controls the mobile structure to drive the docking robot to move along the preset path. Then, the docking robot can move to the installation station arranged circumferentially along the preset moving path, pick up the charging gun at the corresponding installation station, and drive the charging gun to move so that the charging gun docks with the carrying structure located at the installation station, thereby charging the carrying structure. This avoids the operator operating the charging gun to dock with the carrying structure, thereby avoiding the problem of the operator being injured during the charging process. Therefore, the technical solution of the present application effectively solves the problem of the operator being easily injured during the explosives loading process in the related art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It shows a schematic diagram of the three-dimensional structure of an embodiment of a multi-station mixed explosive automatic loading system according to the present invention;

[0018] Figure 2 Shown Figure 1 A partial enlarged schematic diagram of point A of the multi-station mixed explosive automatic loading system;

[0019] Figure 3 Shown Figure 1 A schematic diagram of the three-dimensional structure of a multi-station mixed explosive automatic loading system excluding the loading stations;

[0020] Figure 4 Shown Figure 3 A partial enlarged schematic diagram of point B of the multi-station mixed explosive automatic loading system;

[0021] Figure 5 Shown Figure 1 Schematic diagram of the exploded structure of the mobile structure and guide rail structure of the multi-station mixed explosive automatic loading system;

[0022] Figure 6 Shown Figure 5 A partial enlarged schematic diagram of the moving structure and the guide rail structure at C;

[0023] Figure 7 Shown Figure 1 A schematic diagram of the three-dimensional structure of a docking robot of a multi-station mixed explosive automatic loading system;

[0024] Figure 8 Shown Figure 7 A partial enlarged schematic diagram of position D of the docking robot;

[0025] Figure 9 Shown Figure 7 A schematic diagram of the three-dimensional structure of the docking device and the visual camera of the docking robot;

[0026] Figure 10 Shown Figure 9 A schematic diagram of the three-dimensional structure of the first mounting seat of the docking device;

[0027] Figure 11 Shown Figure 9 A schematic diagram of the three-dimensional structure of the docking device of the docking robot;

[0028] Figure 12 Shown Figure 9A schematic diagram of the three-dimensional structure of the connection component of the docking device;

[0029] Figure 13 Shown Figure 12 a schematic cross-sectional view of a connection assembly;

[0030] Figure 14 Shown Figure 13 Schematic diagram of the decomposition structure of the connected components;

[0031] Figure 15 Shown Figure 1 A schematic diagram of the three-dimensional structure of the feeding gun;

[0032] Figure 16 Shown Figure 15 Schematic diagram of the exploded structure of the feeding gun;

[0033] Figure 17 Shown Figure 1 Schematic diagram of the three-dimensional structure of the carrying structure;

[0034] Figure 18 Shown Figure 17 A partial enlarged schematic diagram of the E portion of the carrying structure;

[0035] Figure 19 A schematic flow chart of the multi-station mixed explosive automatic loading method according to the present invention is shown;

[0036] Figure 20 Shown Figure 19 A schematic diagram of a process flow in which a docking robot of a multi-station mixed explosive automatic loading method identifies a first pair of interfaces of a carrier structure and a first charging gun to complete docking;

[0037] Figure 21 Shown Figure 19 A flow chart of the steps after the docking robot of the multi-station mixed explosive automatic loading method controls the feeding amount of the first feeding gun according to the liquid level sensor of the carrying structure and starts feeding.

[0038] The above drawings include the following reference numerals:

[0039] 10. Carrying structure; 11. First docking interface; 12. Second docking interface; 20. Docking robot; 21. Robotic arm; 22. Docking device; 221. First mounting seat; 2211. First connecting hole; 222. Second mounting seat; 223. Connecting assembly; 2231. Connecting seat; 22311. Second connecting hole; 2232. Spherical portion; 22321. Through hole; 2233. Connecting rod; 2234. Elastic structure; 22341. First elastic member; 223 42. Second elastic member; 2235. Connecting sleeve; 22351. Sleeve portion; 22352. Protruding edge; 2236. First stop member; 2237. Third elastic member; 23. Visual camera; 30. Moving structure; 40. Adding station; 50. Feeding gun; 60. Detection structure; 70. Guide rail structure; 71. Guide rail section; 72. Connecting structure; 721. Plug interface; 722. Plug block; 80. Mounting bracket; 90. First feeding gun; 100. Second feeding gun. DETAILED DESCRIPTION

[0040] The following will be combined with the accompanying 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 embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0042] Unless otherwise specifically stated, the relative arrangement of the parts and steps, the numerical expressions and the numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values ​​should be interpreted as being merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0043] like Figures 1 to 4 、 Figure 15 as well as Figure 16 As shown, in this embodiment, a multi-station automatic loading system for mixed explosives is used to load multiple carrier structures 10. It is characterized in that the multi-station automatic loading system for mixed explosives includes: a docking robot 20, a mobile structure 30, multiple loading stations 40, multiple loading guns 50, and a controller. The mobile structure 30 is connected to the docking robot 20 and can drive the docking robot 20 to move along a preset path. The multiple loading stations 40 are arranged along the circumference of the preset moving path, and each loading station 40 is used to park a carrier structure 10. Each loading station 40 is provided with at least one loading gun 50; multiple detection structures 60 are arranged one-to-one corresponding to the multiple loading stations 40, and each detection structure 60 is used to detect whether there is a carrier structure 10 on the corresponding loading station 40. The controller is connected to the docking robot 20, the mobile structure 30 and the detection structure 60. The controller controls the movement of the mobile structure 30 according to the detection signals of multiple detection structures 60 so that the docking robot 20 picks up the loading gun 50 at the corresponding installation station 40 and docks with the corresponding carrying structure 10.

[0044] Applying the technical solution of this embodiment, the mobile structure 30 drives the docking robot 20 connected thereto to move along a preset moving path. A plurality of mounting stations 40 are arranged circumferentially along the preset moving path, and each mounting station 40 is used to park a carrier structure 10. At least one loading gun 50 is provided at each mounting station 40. A plurality of detection structures 60 are provided corresponding to the plurality of mounting stations 40, and each detection structure 60 is used to detect whether there is a carrier structure 10 on the corresponding mounting station 40. The controller is connected to the docking robot 20, the mobile structure 30 and the detection structure 60. The controller controls the movement of the mobile structure 30 according to the detection signal of the detection structure 60 so that the docking robot 20 picks up the loading gun 50 at the corresponding mounting station 40 and docks with the corresponding carrier structure 10. Through the above-mentioned configuration, the detection structure 60 can detect the position of the carrier structure 10 and transmit a signal to the controller. The controller controls the mobile structure 30 to drive the docking robot 20 to move along the preset path. Then, the docking robot 20 can move to the loading station 40 arranged circumferentially along the preset moving path, pick up the charging gun 50 at the corresponding loading station 40, and drive the charging gun 50 to move so that the charging gun 50 docks with the carrier structure 10 located on the loading station 40, thereby charging the carrier structure 10. This avoids the operator operating the charging gun 50 to dock with the carrier structure 10, thereby avoiding the problem of the operator being injured during the charging process. Therefore, the technical solution of this embodiment effectively solves the problem of operator injury during the explosives loading process in the related art.

[0045] It should be noted that the carrier structure is a mixed explosives truck. A docking robot drives the charging gun to dock with the carrier structure, automating the docking and charging process. This avoids the safety hazards associated with charging the mixed explosives truck. Specifically, operators must be present during charging, and the charging pump must be shut off immediately after the storage tank on the mixed explosives truck is full, otherwise there will be a safety hazard of material overflow. Furthermore, one operator must be constantly at the loading station to complete the loading of a mixed explosives truck and safety checks during the loading process, resulting in low efficiency and high labor costs.

[0046] Preferably, a display screen interconnected with the detection structure is provided in the cab of the carrier structure, which can be switched to different installation stations. There is a dotted red frame for visual detection on the display screen. The driver only needs to drive the carrier structure to place the first and second pairs of interfaces on the carrier structure within the dotted red frame for visual detection. At the same time, the visual camera 23 will also perform interface position detection. After the interfaces are in place, a pop-up window will pop up on the display screen indicating that the carrier structure has docked in place. The driver can then make a material addition request, and the docking robot will automatically perform the material addition process after receiving the material addition request. The driver can also monitor the entire automatic installation process in real time through the display screen on the vehicle. In special circumstances, a remote emergency stop operation can be performed to improve the safety of material addition.

[0047] like Figure 3 and Figure 4 As shown, in this embodiment, the multi-station automatic loading system for mixed explosives further includes a guide rail structure 70. The mobile structure 30 is disposed on the guide rail structure 70 and is capable of moving on the guide rail structure 70. The movement path of the mobile structure 30 on the guide rail structure 70 is a preset movement path. The guide rail structure 70 enables the mobile structure 30 to move along the preset path, thereby controlling the docking robot 20 to move to the loading gun disposed at the loading station 40.

[0048] like Figure 3 、 Figure 5 as well as Figure 6 As shown, in this embodiment, the guide rail structure 70 includes multiple guide rail segments 71 and multiple connecting structures 72. The multiple guide rail segments 71 can be arranged in a spliced ​​manner, with at least one connecting structure 72 disposed between any two adjacent guide rail segments 71. The guide rail segments 71 provide guidance for the movement of the mobile structure 30, ensuring smoother movement of the mobile structure 30. The connecting structures 72 can connect the guide rail segments 71, allowing the multiple guide rail segments 71 to be spliced ​​together, thereby enabling the mobile structure 30 to have a greater travel distance. In other words, when there are more guide rail segments 71, the preset travel path is longer, which means that more installation stations 40 can be arranged along the circumference of the preset travel path, thereby improving the efficiency of loading mixed explosives.

[0049] Specifically, the mobile structure 30 includes a drive motor, a worm gear reducer connected to the drive motor, a gear, and a connecting plate. The drive motor is positioned above the gear and guide rail segment 71. The connecting plate is fixedly connected to the drive motor. The docking robot 20 is positioned on the connecting plate. The guide rail structure 70 also includes a rack that abuts against the gear and is spaced apart from the guide rail segment. The drive motor drives the worm gear reducer to rotate, which in turn drives the gear to rotate. That is, the gear and rack move relative to each other, driving the docking robot 20 on the connecting plate to move. Multiple guide rail segments 71 can be added according to actual working conditions to ensure that the travel length of the guide rail structure 70 meets working requirements.

[0050] like Figure 5 As shown, in this embodiment, the connection structure 72 includes a plug-in interface 721 and a plug-in block 722, which are respectively arranged at the ends of two adjacent guide rail sections 71. The arrangement of the plug-in interface 721 and the plug-in block 722 facilitates the connection of two adjacent guide rail sections.

[0051] Specifically, the plug-in block 722 includes a base plate, a first vertical plate, a second vertical plate, and a third vertical plate. The first vertical plate and the second vertical plate are arranged parallel to each other, and the third vertical plate is arranged perpendicular to the first and second vertical plates. The first, second, and third vertical plates are all arranged perpendicular to the base plate. The first and second vertical plates extend along the length of the guide rail segment 71, which improves the overall structural strength of the guide rail structure 70. The first and second vertical plates are provided with circular through holes that connect to the guide rail segments 71, which facilitates the connection structure to connect adjacent guide rail segments 71.

[0052] like Figure 3 As shown, in this embodiment, the multi-station mixed explosive automatic loading system further includes a mounting frame 80, which is disposed above the guide rail structure 70. The plurality of detection structures 60 are disposed on the mounting frame 80. The mounting frame 80 disposed above the guide rail structure 70 provides a placement location for the detection structures 60 and also ensures that the movable structure 30 does not interfere with the detection structures 60 during movement.

[0053] Specifically, the mounting frame 80 includes a first vertical frame, a first horizontal frame, and a second vertical frame. The first vertical frame and the second vertical frame are arranged in parallel, extending away from the ground, and the second vertical frame is arranged perpendicular to the first vertical frame and the second vertical frame. The first horizontal frame is located above the docking robot 20. A first diagonal support is provided between the first vertical frame and the first horizontal frame, and a second diagonal support is provided between the second vertical frame and the first horizontal frame. The first vertical frame includes a first square steel and a second square steel, which are arranged in parallel. A third square steel is provided between the first and second square steels and parallel to the ground. The first horizontal frame includes a fourth square steel and a fifth square steel, which are arranged in parallel. A sixth square steel, a seventh square steel, and an eighth square steel are provided between the first and second square steels and parallel to the ground. The seventh square steel is provided between the sixth and eighth square steels. There are multiple seventh square steels arranged in parallel. The sixth square steel is connected to both the first and second square steels, the fourth square steel is connected to both the sixth and eighth square steels, and the fifth square steel is connected to both the sixth and eighth square steels. The second vertical frame includes a ninth and tenth square steel bar, which are arranged in parallel. An eleventh square steel bar is arranged between the ninth and tenth square steel bars and parallel to the ground. The first diagonal support member includes a first diagonal steel bar and a second diagonal steel bar, the first diagonal steel bar being connected to the first and fourth square steel bars, the second diagonal steel bar being connected to the second and fifth square steel bars. The second diagonal support member includes a third diagonal steel bar and a fourth diagonal steel bar, the third diagonal steel bar being connected to the ninth and fourth square steel bars, and the fourth diagonal steel bar being connected to the tenth and fifth square steel bars. Interactive indicator lights are provided on the side of the sixth square steel bar facing away from the eighth square steel bar, as well as on the side of the eighth square steel bar facing away from the sixth square steel. These indicators reflect the current operating status of the multi-station mixed explosives automatic loading system. The flashing lights and audible sounds of the interactive indicators provide warnings and prompts, helping on-site operators obtain information about the current operating status of the fully automatic docking and loading system to facilitate judgment and proactive action.

[0054] like Figures 7 to 14As shown, in this embodiment, the docking robot 20 includes a robotic arm 21 and a docking device 22 provided on the robotic arm 21, and the docking device 22 includes: a first mounting seat 221, and a first connecting hole 2211 is provided on the first mounting seat 221. A second mounting seat 222 is spaced apart from the first mounting seat 221, and the second mounting seat 222 is movably provided relative to the first mounting seat 221. The connecting assembly 223 includes a connecting seat 2231, a spherical portion 2232, a connecting rod 2233 and an elastic structure 2234. The connecting seat 2231 is installed on the first mounting seat 221, and the connecting seat 2231 has a second connecting hole 22311 connected to the first connecting hole 2211. The spherical portion 2232 is movably provided between the first connecting hole 2211 and the connecting seat 2231, and a through hole 22321 is provided on the spherical portion 2232. The connecting rod 2233 is passed through the through hole 22321. 2321, the connecting rod 2233 is inserted into the first connecting hole 2211, the through hole 22321 and the second connecting hole 22311, the first end of the connecting rod 2233 is connected to the second mounting seat 222, the second end of the connecting rod 2233 is a free end, and the elastic structure 2234 includes a first elastic member 22341 arranged between the first end of the connecting rod 2233 and the connecting seat 2231, and a second elastic member 22342 between the second end of the connecting rod 2233 and the spherical part 2232. The connecting rod 2233 is inserted into the first connecting hole 2211, the through hole 22321 and the second connecting hole. The first connecting hole 2211 is set on the first mounting seat 221, that is, the connecting rod 2233 is connected to the first mounting seat 221, and the through hole 22321 is set on the ball portion 2232, that is, the connecting rod 2233 is connected to the ball portion 2232, and the second connecting hole communicating with the first connecting hole 2211 is set on the connecting seat 2231. The connecting seat 2231 is installed on the first mounting seat 221, and the ball portion 2232 is movably set in the first connecting hole 2211. The first elastic member 22341 allows the second mounting seat 222 and the connecting seat 2231 to change relative to each other when the connecting rod 2233 swings. This prevents damage to the portion of the connecting rod 2233 located between the first and second mounting seats 221 and 222 during docking. The first elastic member 22341 acts as a buffer, allowing the second mounting seat 222 and the connecting seat 2231 to change relative position when the connecting rod 2233 swings. This prevents damage to the docking device due to positional errors caused by collisions with other structures. The first elastic member 22341 acts as a buffer. The second elastic member 22342 allows the second end of the connecting rod 2233 and the spherical portion 2232 to move relatively short distances when the connecting rod 2233 swings.

[0055] It should be noted that the change in the relative position between the first mounting seat 221 and the second mounting seat 222 includes the first mounting seat 221 and the second mounting seat 222 being relatively close to each other, the change in the relative angle between the second mounting seat 222 and the first mounting seat 221, and the movement of the second mounting seat 222 within the plane where the second mounting seat 222 is located.

[0056] like Figures 7 to 14 As shown, in this embodiment, the connecting assembly 223 further includes a connecting sleeve 2235, a first stopper 2236, and a third elastic member 2237. The connecting sleeve 2235 includes a sleeve portion 22351 and a flange 22352 connected to a first end of the sleeve portion 22351. The connecting sleeve 2235 is disposed within the through hole 22321. The first stopper 2236 is connected to a second end of the sleeve portion 22351. The ball portion 2232 is located between the flange 22352 and the first stopper 2236. The third elastic member 2237 is located between the ball portion 2232 and the first stopper 2236. The connecting rod 2233 is disposed within the connecting sleeve 2235. The connecting sleeve 2235 is disposed within the through hole 22321, enabling the connecting sleeve 2235 to be connected to the ball portion 2232. The protruding edge 22352 enables the first stop member 2236 connected to the second end of the sleeve portion 22351 to be connected to the spherical portion 2232, and then the first stop member 2236 can be connected to the connecting seat 2231. That is, the third elastic member 2237 arranged between the spherical portion 2232 and the first stop member 2236 can provide a buffer for the relative movement of the first stop member 2236 and the spherical portion 2232, thereby preventing the first stop member 2236 from moving too far and contacting the spherical portion 2232, causing damage to the spherical portion 2232 and affecting the use of the docking device.

[0057] Specifically, the flange 22352 is disposed on the side of the sleeve portion 22351 away from the first end of the connecting rod 2233, and the first stopper 2236 is disposed on the side of the sleeve portion 22351 closer to the first end of the connecting rod 2233. That is, the second end of the sleeve portion 22351 is located closer to the first end of the connecting rod 2233. The connecting sleeve 2235 is made of self-lubricating brass. The sleeve portion provides self-lubrication when the connecting rod 2233 slides to compensate for height errors, ensuring smooth and convenient sliding.

[0058] like Figures 17 to 19As shown, according to another aspect of this embodiment, a multi-station automatic loading method for mixed explosives is provided. Using the aforementioned multi-station automatic loading system for mixed explosives, the multi-station automatic loading method includes: when the detection structure 60 parks the carrier structure 10 on the loading station 40, it sends a detection signal to the controller. Based on the detection signal, the controller controls the docking robot 20 to move to the loading station 40 corresponding to the detection structure 60 that sent the detection signal. The docking robot 20 then picks up the first charging gun 90 at the loading station 40. The docking robot 20 identifies the first docking port 11 of the carrier structure 10 and docks the first charging gun 90 with the first docking port 11. Based on the sensing signal from the liquid level sensor of the carrier structure 10, the docking robot 20 controls the charging amount of the first charging gun 90 and performs charging. After charging is completed, the docking robot 20 returns to the preset position. The carrier structure 10 is parked on the installation station 40. The detection structure 60 corresponding to this installation station 40 transmits a detection signal to the controller. The controller controls the movement of the mobile structure 30 toward this installation station 40, and then the docking robot 20 is able to move to this installation station 40. The docking robot 20 picks up the first feeding gun 90 at this installation station 40, identifies the position of the first docking port 11, and drives the first feeding gun 90 to dock with the first docking port 11 of the carrier structure 10. After docking, the first feeding gun 90 and the first docking port 11 are used to feed material into the carrier structure 10. During the feeding process, the sensing signal of the liquid level sensor of the carrier structure 10 is transmitted to the docking robot 20, and the docking robot 20 controls the feeding amount of the first feeding gun 90 based on the sensing signal. After the feeding is completed, the docking robot 20 controls the first feeding gun 90 to separate from the first docking port 11, and then returns the first feeding gun 90 to its original position, and the docking robot 20 returns to the preset position.

[0059] Before the detection structure 60 sends a detection signal to the controller when the carrier structure 10 is parked at the installation station 40, the following steps also include: After the driver confirms that the carrier structure 10 is parked at the installation station by monitoring the display screen, a pop-up display screen indicates that the vehicle is parked properly. After the vehicle stops and brakes (confirming that the brakes are effective and reliable), the driver remotely controls the vehicle wirelessly and presses the start button.

[0060] After the loading is completed, the steps after the docking robot 20 returns to the preset position also include: after the driver confirms that the loading is completed through the display monitoring screen, he drives the carrying structure away from the loading station.

[0061] It should be noted that the preset position refers to the position where the docking robot 20 is located at the end of the guide rail structure 70 , that is, the position close to the mounting frame 80 .

[0062] Specifically, after the loading is completed, the docking robot 20 returns to the preset position to wait, and then the docking robot 20 moves to another loading station 40 to start loading, and the loaded carrier structure 10 moves away from the loading station 40, and the unloaded carrier structure 10 moves to a loading station 40 where no carrier structure 10 is present. This allows for loading of multiple carrier structures 10 simultaneously, which is beneficial for improving loading efficiency. Moreover, the loaded carrier structure 10 does not occupy the loading station 40 for a long time, which is beneficial for improving the utilization efficiency of the loading station 40.

[0063] like Figure 20 As shown, in this embodiment, the steps for the docking robot 20 to identify the first docking port 11 of the carrier structure 10 and the first charging gun 90 to complete docking include: the visual camera 23 of the docking robot 20 takes a photo to identify the position of the first docking port 11 of the carrier structure 10 to obtain an identification signal. The controller calculates and obtains the position coordinates of the first docking port 11 relative to the first charging gun 90 based on the identification signal and the position information of the first charging gun 90. The docking robot 20 drives the first charging gun 90 along the axis of the first docking port 11 according to the position coordinates of the first docking port 11 for docking. After docking is completed, the docking robot 20 rotates according to the position of the first charging gun 90 to open the first valve of the first charging gun 90 and complete the pipeline connection. The visual camera 23 takes a photo to identify the position of the first docking interface 11, and transmits the identification signal to the controller. Then the controller calculates the position coordinates of the first docking interface 11 relative to the first docking gun 90 based on the identification signal and the position information of the first feeding gun 90, so that the docking robot 20 drives the first feeding gun 90 to move in the direction close to the first docking interface 11, avoiding a large position offset when the first feeding gun 90 and the first docking interface 11 are docked. Finally, the first feeding gun 90 is aligned with the axis of the first docking interface 11 and moves toward the first docking interface 11 along the axis of the first docking interface 11 to achieve docking between the first feeding gun 90 and the first docking interface 11. After docking, the docking robot 20 rotates according to the position of the first feeding gun 90 to open the first valve of the first feeding gun 90, thereby connecting the pipeline and adding material through the first feeding gun 90 and the first docking interface 11.

[0064] It should be noted that the first valve includes a hinged first semicircular plate and a second semicircular plate, the first semicircular plate and the second semicircular plate form a full circle, the middle part of the straight edge of the first semicircular plate and the middle part of the straight edge of the second semicircular plate are hinged by a pin shaft, after the first feeding gun is docked with the first docking port, the docking robot rotates, and the arc edge of the second semicircular plate moves toward the arc edge of the first semicircular plate, so that the first valve opens.

[0065] like Figure 21As shown, in this embodiment, after the docking robot 20 controls the feeding amount of the first feeding gun 90 based on the liquid level sensor of the carrier structure 10 and starts feeding, the process also includes: the docking robot 20 releases the first feeding gun 90 and picks up the second feeding gun 100. The docking robot 20 uses the visual camera 23 to take photos and identify the second docking port 12 of the carrier structure 10 and the second feeding gun 100 to complete the docking. The docking robot 20 controls the feeding amount of the second feeding gun 100 based on the liquid level sensor of the carrier structure 10 and starts feeding. The docking robot 20 separates from the second feeding gun 100. The controller unloads the first feeding gun 90 and the second feeding gun 100 in sequence based on the completion status of the first feeding gun 90 and the second feeding gun 100. The docking robot 20 releases the first feeding gun 90 and moves to the position of the second feeding gun 100. The docking robot 20 docks with the second feeding gun 100, uses the visual camera 23 to take photos to identify the position of the second docking interface 12 of the carrier structure 10, and controls the second feeding gun 100 to move to the second docking interface 12 of the carrier structure 10, docks the second feeding gun 100 with the second docking interface 12, and feeds. This allows the first docking interface 11 and the second docking interface 12 to be fed at the same time, thereby increasing the feeding rate. The feeding amount of the second feeding gun 100 is controlled by the liquid level sensor, and the docking robot 20 is separated from the second feeding gun 100. The controller unloads the first feeding gun 90 and the second feeding gun 100 in sequence according to the completion of the feeding of the first feeding gun 90 and the second feeding gun 100.

[0066] It should be noted that the controller sequentially unloads the first and second charging guns 90, 100 based on their respective completion statuses. This means that the docking robot 20 drives the first charging gun 90 back to its original position and places the first charging gun 90, and then drives the second charging gun 100 back to its original position and places the second charging gun 100. The visual camera uses 3D visual recognition and positioning technology to accurately capture, identify, and calculate the three-dimensional position information of the first docking port 11 or the second docking port 12 on the carrier structure 10, ensuring the precise movement of the docking robot 20.

[0067] Preferably, the third elastic member includes a first spring, which is sleeved on the sleeve portion, and the first stop member includes a first nut, which is connected to the sleeve portion, and the distance between the first nut and the spherical portion is adjustable. When the first nut is rotated in a direction close to the spherical portion, it will squeeze the first spring sleeved on the sleeve portion, that is, the elastic force of the first spring after squeezing gradually approaches the maximum elastic force of the first spring, and the distance the first nut moves toward the spherical portion will decrease. Similarly, when the first nut moves in a direction away from the spherical portion, the squeezing of the first spring will decrease, and the squeezed first spring can provide a greater elastic force, and the first nut can move a greater distance toward the spherical portion. That is, by adjusting the position of the first nut, the distance the first nut moves toward the spherical portion can be controlled, and the change in the relative position of the first mounting seat and the second mounting seat can be controlled.

[0068] Specifically, when the connecting assembly is subjected to rotational force, the first spring deforms to provide cushioning, vibration reduction, and angle compensation. The compression force of the first spring can be adjusted via the first nut. Moving the first nut toward the spherical portion increases the compression on the first spring, increasing the compression force and facilitating adjustment of the angle compensation force to an appropriate level during application.

[0069] The first elastic member is a second spring, and the second elastic member is a third spring. Both the second spring and the third spring are mounted on the connecting rod. This arrangement allows the second spring and the third spring to be compressed during the swinging of the connecting rod, i.e., during the relative position change between the second mounting seat and the first mounting seat. This cushions the relative position change between the second mounting seat and the first mounting seat, thus preventing a significant relative position change between the second mounting seat and the first mounting seat.

[0070] Specifically, when the connecting assembly is subjected to a pushing force, the second spring will deform, thereby providing buffering, vibration reduction, and height compensation. When the connecting assembly is subjected to a pulling force, the third spring will deform, thereby providing buffering, vibration reduction, and height compensation.

[0071] The connecting assembly also includes a second stopper disposed at the second end of the connecting rod, with the second elastic member positioned between the spherical portion and the second stopper. Adjusting the distance between the second stopper and the spherical portion changes the degree of compression applied to the second elastic member, thereby varying the maximum relative movement distance between the second end of the connecting rod and the spherical portion.

[0072] The second stopper comprises a second nut, and the distance between the second nut and the second mounting seat is adjustable. The second nut makes it easier to adjust the distance between the second stopper and the second mounting seat.

[0073] The connecting assembly further includes a third stopper connected to the connecting rod and positioned between the first and second mounting seats. The first elastic member is positioned between the third stopper and the second mounting seat. By adjusting the distance between the third stopper and the spherical portion, the degree of compression applied to the first elastic member can be varied, thereby varying the maximum relative movement distance between the second mounting seat connected to the first end of the connecting rod and the first mounting seat. In other words, the maximum relative movement distance between the second mounting seat and the first mounting seat can be controlled.

[0074] The third stopper comprises a third nut, and the distance between the third nut and the second mounting seat is adjustable. The third nut makes it easier to adjust the distance between the third stopper and the second mounting seat.

[0075] There are multiple connecting assemblies, which are arranged at intervals between the first mounting seat and the second mounting seat. The multiple connecting assemblies can provide buffering for the relative movement of the first mounting seat and the second mounting seat, thereby making the docking process of the docking device more stable.

[0076] Preferably, the docking device also includes a quick-change main plate arranged on a side of the second mounting seat away from the first mounting seat, and the quick-change main plate is located on the lower side of the second mounting seat. The docking robot 20 also includes a camera bracket, the camera bracket includes a first horizontal plate, the first horizontal plate is arranged above the first mounting seat and perpendicular to the first mounting seat, the camera bracket also includes a first protrusion, a second protrusion and a third protrusion arranged at intervals, the first protrusion, the second protrusion and the third protrusion are all arranged on the first horizontal plate and extend toward the second mounting seat, the first protrusion is located on the left side of the first mounting plate, the third protrusion is located on the right side of the first mounting plate, and the second protrusion is located between the first protrusion and the third protrusion. Support plates are provided between the first mounting seat and the first, second and third protrusions to make the position of the first horizontal plate more stable. Two openings are provided on the side of the first horizontal plate away from the second mounting seat to reduce the weight of the camera bracket.

[0077] Specifically, the connecting seat is also provided with a accommodating cavity for accommodating the spherical part (part of the structure of the spherical part is located in the accommodating cavity), and the accommodating cavity is connected to the second connecting hole. The accommodating cavity is located on the side of the connecting seat facing the first mounting seat, so that the change of the relative position of the spherical part and the connecting seat is smoother.

[0078] Preferably, the docking robot also includes a feeding gun tool end and a tool end placement bracket. The feeding gun tool end is mainly used to fix various required tools (not limited to the feeding gun). The quick-change tool disk installed on the feeding gun tool end (set on the lower side of the tool end mounting plate, that is, the side connected to the quick-change main disk) can be matched with the quick-change main disk on the docking device for locking or separation, making the docking robot more efficient and flexible when working. The feeding gun tool end body is supported by the tool end mounting plate, and the two sides of the tool end mounting plate are respectively installed with a separate locking ring (set on the upper side of the tool end mounting plate) and a separate fixing ring (set on the upper side of the tool end mounting plate, such as Figure 7 As shown, and the separate locking ring is located on both sides of the center line of the tool end mounting plate, the center line refers to the center line from the upper side of the tool end mounting plate to the lower side of the tool end mounting plate) and the quick-change tool tray mounting ring for mounting the quick-change tool tray, the separate locking ring, the separate fixing ring, and the two sides of the quick-change tool tray mounting ring (specifically perpendicular to the direction from the upper side of the second mounting plate to the lower side of the second mounting plate and parallel to the two sides of the second mounting seat, as shown Figure 7The tool end mounting plate is provided with a through hole for passing the material quick connector (arranged on the upper side of the tool end mounting plate, and part of the structure is located between the detachable locking ring and the detachable fixing ring). After the material quick connector is positioned on the tool end mounting plate through the outer circle and the step surface, it is fixed and locked on the tool end mounting plate through the detachable locking ring and the detachable fixing ring. The outer circle of the material quick connector, the inner hole of the detachable locking ring, and the inner hole of the detachable fixing ring are all knurled to increase the friction force design, and the detachable locking ring and the detachable fixing ring adopt a detachable design to ensure a larger locking force, ensuring that the material quick connector can be stably fixed on the tool end of the feeding gun; the material quick connector (the rear side is used to install the feed hose, the rear side to the side facing the first mounting seat, the first mounting seat is provided with a avoidance for avoiding the feed hose The notch, the avoidance notch extends from the left side of the first mounting seat to the right side of the first mounting seat) can realize automatic circulation of quick-connect pipelines without unnecessary operations such as opening the cover, and can ensure no leakage when the connection is disconnected, avoid accidental leakage, and ensure the safety of docking; the quick-change tool tray mounting ring is used to install and fix the quick-change tool tray, and the pneumatic locking mechanism is used to complete the locking and separation of the quick-change main tray and the quick-change tool tray (the surface of the quick-change main tray facing the quick-change tool tray is provided with a protrusion, and the protrusion is a protruding sphere. Under the action of air pressure, the protruding sphere extends into the recess on the inner surface of the quick-change tool tray to realize the locking of the quick-change main tray and the quick-change tool tray), and different feeding gun tool ends can be quickly replaced in seconds, making the robot more flexible and more efficient; the quick-change tool tray visual marker is installed on the side of the quick-change tool tray (the side refers to the side close to the lower side of the tool end mounting plate) to assist the visual system in identifying the direction, so as to facilitate more precise coordination of the quick-change main tray and the quick-change tool tray.

[0079] It should be noted that an annular vertical plate is provided on the side of the material quick connector away from the second mounting seat, and a plurality of studs are connected to the side wall of the annular vertical plate. The plurality of studs are evenly distributed, and the heads of the studs are located on the inner side of the annular vertical plate. The first and second pairs of interfaces are provided with opening grooves for accommodating the studs. The opening grooves extend along the axis of the first and second pairs of interfaces, so that it is easy for the studs to be inserted into the opening grooves, that is, the annular vertical plate is connected to the first and second pairs of interfaces, that is, the material quick connector can be quickly connected to the first and second pairs of interfaces, and then when the material quick connector rotates, it can drive the first and second pairs of interfaces to rotate, thereby realizing material addition. A first material conveying pipe and a second material conveying pipe are also provided on the carrying structure. The first pair of interfaces is threadedly connected to the first material conveying pipe, and the second pair of interfaces is threadedly connected to the second material conveying pipe. The carrying structure is provided with a first fixing portion for fixing the first pair of interfaces and a second fixing portion for fixing the second pair of interfaces. The first fixing portion includes a first fixing plate and a second fixing plate, the first fixing plate is arranged perpendicularly to the carrying structure, the second fixing plate forms an obtuse angle with the first fixing plate, and the distance between the second fixing plate and the bottom of the carrying structure gradually increases in the direction from the outside of the carrying structure to the center of the carrying structure, that is, there is a first angle between the second fixing plate and the carrying structure, and after the first docking interface is installed to the second fixing plate, the first docking interface is tilted toward the direction close to the docking robot, which facilitates the connection between the material quick connector and the first docking interface. The second fixing portion includes a third fixing plate and a fourth fixing plate, the third fixing plate is arranged perpendicularly to the carrying structure, the fourth fixing plate forms an obtuse angle with the third fixing plate, and the distance between the fourth fixing plate and the bottom of the carrying structure gradually increases in the direction from the outside of the carrying structure to the center of the carrying structure, that is, there is a second angle between the fourth fixing plate and the carrying structure, and after the second docking interface is installed to the fourth fixing plate, the second docking interface is tilted toward the direction close to the docking robot, which facilitates the connection between the material quick connector and the second docking interface.

[0080] Specifically, the first material conveying pipe includes a first pipe section, a second pipe section, a third pipe section, a fourth pipe section, a fifth pipe section, a sixth pipe section and a seventh pipe section connected in sequence. The first pipe section extends from the outside of the transport structure to the center of the transport structure, the second pipe section extends from the rear of the transport structure to the front of the transport structure, the third pipe section extends from the bottom of the transport structure to the top of the transport structure, the fourth pipe section extends from the rear of the transport structure to the front of the transport structure, the fifth pipe section extends from the bottom of the transport structure to the top of the transport structure, the sixth pipe section extends from the outside of the transport structure to the center of the transport structure, and the seventh pipe section extends from the front of the transport structure to the rear of the transport structure and extends into the interior of the material storage tank. The second material conveying pipe includes an eighth pipe section, a ninth pipe section, a tenth pipe section, an eleventh pipe section, a twelfth pipe section and a thirteenth pipe section connected in sequence. The eighth pipe section extends from the outside of the transport structure to the center of the transport structure, the ninth pipe section extends from the bottom of the transport structure to the top of the transport structure, the tenth pipe section extends from the rear of the transport structure to the front of the transport structure, the eleventh pipe section extends from the bottom of the transport structure to the top of the transport structure, the twelfth pipe section extends from the outside of the transport structure to the center of the transport structure, and the thirteenth pipe section extends from the front of the transport structure to the rear of the transport structure and extends into the material storage tank of the transport structure.

[0081] Preferably, a first detection device and a first bracket for fixing the first detection device are provided on the upper side of the second mounting seat, the first detection device detects the distance between the second mounting seat and the tool end of the feeding gun, the first bracket extends toward the second mounting seat in the direction away from the first mounting seat, the first bracket includes a support frame and two fixed straight plates, the fixed straight plates are located on both sides of the support frame (the left and right sides of the second mounting seat), the support frame includes a first vertical plate, a second horizontal plate and a second vertical plate connected in sequence, the first vertical plate is perpendicular to the second horizontal plate, the second vertical plate is perpendicular to the second horizontal plate, the first bracket has a "J" shape, the first detection device is installed on the second horizontal plate by two nuts located on both sides of the second horizontal plate, and is perpendicular to the second mounting seat, that is, the first vertical plate and the second vertical plate are also perpendicular to the second horizontal plate. A second detection device is provided on the second mounting seat near the upper side of the second mounting seat and on the right side of the second mounting seat, the second detection device detects the relative distance between the first mounting seat and the second mounting seat, and the second mounting seat is fixed to the second mounting seat by two nuts located on both sides of the second mounting seat.

[0082] The tool end of the dosing gun is placed horizontally on the tool end support bracket, with the quick-change tool tray facing upward, making it easier for the robotic arm to control the docking device to pick it up. The tool end support bracket is equipped with two fixed blocks (spaced on either side along the width of the tool end mounting plate) for contact with the dosing gun tool end. Four guide pins are installed on these two fixed blocks to guide and locate the dosing gun tool end when it is lowered, ensuring consistent placement of the dosing gun tool end. The tool end placement bracket is equipped with a pick-up or placement detection function, which is detected by a detection sensor (located below the space formed by two fixed pads). When the tool end of the feeding gun is correctly placed on the tool end placement bracket, the detection sensor below detects an object through an infrared laser, and outputs a signal to the docking robot to feedback that the tool end of the feeding gun is in place; when the robotic arm picks up the tool end of the feeding gun and lifts it away, the detection sensor below does not detect an object through the infrared laser, and outputs a signal to the robot to feedback that the tool end of the feeding gun is in place. The detection sensor output signal is used by the robot system to judge the current position of the robot to correspond to the corresponding detection in place function.

[0083] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0084] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0085] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0086] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A multi-station mixed explosive automatic loading system for loading multiple carrier structures (10), characterized in that: The multi-station mixed explosive automatic loading system includes: Docking robot (20); A moving structure (30) connected to the docking robot (20) and capable of driving the docking robot (20) to move along a preset path; A plurality of installation stations (40) are arranged along the circumference of the preset moving path, each of the installation stations (40) being used to park one of the carrying structures (10); a plurality of feeding guns (50), each of the adding stations (40) being provided with at least one of the feeding guns (50); a plurality of detection structures (60), being provided in one-to-one correspondence with the plurality of the adding stations (40), each of the detection structures (60) being used to detect whether the carrying structure (10) is present at the corresponding adding station (40); a controller connected to the docking robot (20), the mobile structure (30) and the detection structure (60), wherein the controller controls the movement of the mobile structure (30) according to detection signals of the detection structures (60) so that the docking robot (20) picks up the feeding gun (50) at the corresponding loading station (40) and docks with the corresponding carrying structure (10); The docking robot (20) comprises a mechanical arm (21) and a docking device (22) arranged on the mechanical arm (21), wherein the docking device (22) comprises: A first mounting seat (221), wherein the first mounting seat (221) is provided with a first connecting hole (2211); a second mounting seat (222) spaced apart from the first mounting seat (221), the second mounting seat (222) being movably arranged relative to the first mounting seat (221); The connecting assembly (223) comprises a connecting seat (2231), a spherical portion (2232), a connecting rod (2233) and an elastic structure (2234), wherein the connecting seat (2231) is mounted on the first mounting seat (221), the connecting seat (2231) has a second connecting hole (22311) communicating with the first connecting hole (2211), the spherical portion (2232) is movably arranged between the first connecting hole (2211) and the connecting seat (2231), the spherical portion (2232) is provided with a through hole (22321), and the connecting rod (2233) is passed through the through hole ( 22321), the connecting rod (2233) is inserted into the first connecting hole (2211), the through hole (22321) and the second connecting hole (22311), the first end of the connecting rod (2233) is connected to the second mounting seat (222), the second end of the connecting rod (2233) is a free end, and the elastic structure (2234) includes a first elastic member (22341) arranged between the first end of the connecting rod (2233) and the connecting seat (2231) and / or a second elastic member (22342) between the second end of the connecting rod (2233) and the spherical portion (2232).

2. The multi-station mixed explosive automatic loading system according to claim 1, characterized in that: The multi-station mixed explosive automatic loading system further comprises a guide rail structure (70), the movable structure (30) is arranged on the guide rail structure (70) and is capable of moving on the guide rail structure (70), and the moving path of the movable structure (30) on the guide rail structure (70) is the preset moving path.

3. The multi-station mixed explosive automatic loading system according to claim 2, characterized in that: The guide rail structure (70) comprises a plurality of guide rail segments (71) and a plurality of connection structures (72); the plurality of guide rail segments (71) are arranged in a splicing manner, and at least one connection structure (72) is provided between any two adjacent guide rail segments (71).

4. The multi-station mixed explosive automatic loading system according to claim 3 is characterized in that: The connection structure (72) comprises a plug-in interface (721) and a plug-in block (722) for plugging and matching. The plug-in interface (721) and the plug-in block (722) are respectively arranged at the ends of two adjacent guide rail sections (71).

5. The multi-station mixed explosive automatic loading system according to claim 2, characterized in that: The multi-station mixed explosive automatic loading system further comprises a mounting frame (80), wherein the mounting frame (80) is arranged above the guide rail structure (70), and the plurality of detection structures (60) are all arranged on the mounting frame (80).

6. The multi-station mixed explosive automatic loading system according to claim 1, characterized in that: The connecting assembly (223) further comprises a connecting sleeve (2235), a first stopper (2236) and a third elastic member (2237); the connecting sleeve (2235) comprises a sleeve portion (22351) and a flange (22352) connected to a first end of the sleeve portion (22351); the connecting sleeve (2235) is arranged in the through hole (22321); the first stopper (2236) is connected to the second end of the sleeve portion (22351); the spherical portion (2232) is located between the flange (22352) and the first stopper (2236); the third elastic member (2237) is located between the spherical portion (2232) and the first stopper (2236); and the connecting rod (2233) is arranged in the connecting sleeve (2235).

7. A multi-station mixed explosive automatic loading method, characterized in that: The multi-station mixed explosive automatic loading system according to any one of claims 1 to 6 is used, and the multi-station mixed explosive automatic loading method comprises: The detection structure (60) sends a detection signal to the controller when the carrier structure (10) is parked on the installation station (40); The controller controls the docking robot (20) to move to an installation station (40) corresponding to the detection structure (60) that sends the detection signal according to the detection signal; The docking robot (20) takes the first feeding gun (90) at the installation station (40); The docking robot (20) identifies the first docking interface (11) of the carrier structure (10) and completes docking of the first feeding gun (90) with the first docking interface (11); The docking robot (20) controls the feeding amount of the first feeding gun (90) and performs feeding according to the sensing signal of the liquid level sensor of the carrying structure (10); After the feeding is completed, the docking robot (20) returns to the preset position.

8. The multi-station mixed explosive automatic loading method according to claim 7, characterized in that: The steps of the docking robot (20) identifying the first docking port (11) of the carrier structure (10) and the first feeding gun (90) to complete docking include: The visual camera (23) of the docking robot (20) takes a picture to identify the position of the first docking interface (11) of the carrying structure (10) to obtain an identification signal; The controller calculates and obtains the position coordinates of the first docking port (11) relative to the first feeding gun (90) based on the identification signal and the position information of the first feeding gun (90); The docking robot (20) drives the first feeding gun (90) to perform docking along the axis of the first docking interface (11) according to the position coordinates of the first docking interface (11); After docking is in place, the docking robot (20) rotates according to the position of the first feeding gun (90) to open the first valve of the first feeding gun (90) and complete the pipeline connection.

9. The multi-station mixed explosive automatic loading method according to claim 7, characterized in that: After the step of the docking robot (20) controlling the feeding amount of the first feeding gun (90) according to the liquid level sensor of the carrying structure (10) and starting the feeding, the method further comprises: The docking robot (20) releases the first feeding gun (90) and takes the second feeding gun (100); The docking robot (20) takes pictures with a visual camera (23) to identify the second docking port (12) of the carrier structure (10) and the second feeding gun (100) to complete the docking; The docking robot (20) controls the feeding amount of the second feeding gun (100) according to the liquid level sensor of the carrying structure (10) and starts feeding; The docking robot (20) is separated from the second feeding gun (100); The controller unloads the first feeding gun (90) and the second feeding gun (100) in sequence according to the completion status of the first feeding gun (90) and the second feeding gun (100).

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