Sensitive medicament preparation system for initiating explosive device and automatic preparation process

Abstract

The invention relates to a sensitive medicament preparation system for initiating explosive devices and an automatic preparation process, and solves the problems of high production labor intensity, high cost, uncontrollable quality, low safety and the like at present. The system comprises a large explosive cup automatic feeding and receiving mechanism, an empty explosive cup automatic feeding and feeding mechanism, a set of circulating type explosive distributing and paint adding mechanism, an explosive standing mechanism, a solvent supplementing mechanism, a self-cleaning explosive mixing mechanism and an explosive waking and discharging mechanism, and the whole automatic explosive distributing and preparing system for the sensitive explosive for the initiating explosive device adopts a U-shaped layout; the large medicine cup automatic feeding mechanism, the empty medicine cup automatic feeding mechanism and the medicine distributing and paint adding mechanism are all arranged on the left side. The medicament standing mechanism is positioned in the middle; and the solvent supplementing mechanism, the self-cleaning medicament preparation mechanism and the medicine waking and discharging mechanism are all arranged on the right side. According to the system for preparing the sensitive medicament for the initiating explosive device, the production efficiency of the whole medicament distributing and dispensing system is greatly improved, and the highest production efficiency requirement of the working procedure is met.

Description

Technical Field

[0001] The invention belongs to the field of preparation of dangerous agents for explosives, and in particular relates to a preparation system and automatic preparation process of sensitive agents for explosives. Background Art

[0002] Initiators are a general term for disposable components and devices that burn or explode when stimulated by external stimuli to ignite gunpowder, detonate explosives, or perform mechanical work. In order to ensure that initiators can reliably explode or burn, the composite agent coated on them plays a decisive role.

[0003] The current preparation of pyrotechnic agents in China is to divide a large portion of pyrotechnic agents into small portions according to process requirements in an explosion-proof chamber with a certain explosion-proof capability, and manually transfer them to a special preparation station, where they are manually mixed with other liquid compounds in a certain proportion. The more accurate the preparation ratio of the agents and the more complete the mixing of the agents, the higher the success rate of ignition of the pyrotechnics will be.

[0004] Because the explosives used in pyrotechnics are detonators or ignition powders, their high energy and high sensitivity make the preparation process extremely risky. Manual production is required in different compartments according to the hazard level of the production process. During the production process, manual labor not only frequently enters and exits dangerous compartments, but also requires multiple turnovers between processes. A large amount of floating drugs will be generated during the production process, which needs to be cleaned up in time after production. The production process is backward, the labor intensity is high, and a large amount of labor costs are required. The quality of the reagent ratio in the production process is affected by human labor, and the product quality level is not high. At the same time, during the drug distribution process, humans are in direct contact with a large amount of drugs, which poses an extremely high safety risk.

[0005] Therefore, it is necessary to design a sensitive agent preparation system and automatic preparation process for pyrotechnics. Except for the manual process of taking and placing the agent preparation cup, the rest of the processes are continuous automated production, eliminating direct contact between humans and large amounts of dangerous dry agents. Certain process means are used to ensure that the agent preparation ratio is accurate and controllable, and that the agent preparation meets the process requirements, thereby solving the current problems of high manual labor intensity, high labor costs, uncontrollable product quality, and low inherent safety. Summary of the invention

[0006] The purpose of the present invention is to provide a sensitive agent preparation system and automatic preparation process for explosives, so as to solve the problems of backward production and preparation process, high labor intensity, high labor cost, uncontrollable product quality, low intrinsic safety, etc.

[0007] The specific solution of the present invention is as follows:

[0008] A sensitive agent preparation system and automatic preparation process for explosives, including a large medicine cup automatic feeding and receiving mechanism, an empty medicine cup automatic feeding and loading mechanism, a set of circulating medicine dispensing and painting mechanisms, a medicine static mechanism, a solvent replenishing mechanism, a self-cleaning medicine mixing mechanism, and a medicine awakening and discharging mechanism. The entire sensitive agent automatic dispensing and preparation system for explosives adopts a U-shaped layout, wherein the large medicine cup automatic feeding and loading mechanism, the empty medicine cup automatic feeding and loading mechanism, and the medicine dispensing and painting mechanism are all on the left side; the medicine static mechanism is located in the middle; the solvent replenishing mechanism, the self-cleaning medicine preparation mechanism, and the medicine awakening and discharging mechanism are all on the right side;

[0009] The automatic feeding and loading mechanism for empty medicine cups comprises a set of interlocking transfer windows, a set of stepping mechanisms, and a set of automatic loading mechanisms for empty medicine cups, wherein the stepping mechanisms are arranged in the interlocking transfer windows, and the interlocking transfer windows are composed of a set of sliding doors and protective steel barrels installed on opposite sides, and only one side door is opened and closed during operation, the stepping mechanisms comprise a set of temporary storage platforms, lifting cylinders, and transverse cylinders, and the automatic loading mechanism for empty medicine cups comprises multiple sets of cylinders that can realize the coordinated action of grabbing, lifting, and rotating operations;

[0010] The large medicine cup automatic feeding and receiving mechanism comprises a set of interlocking transfer windows and a set of large medicine cup feeding mechanism, wherein a medicine cup placement platform is arranged in the interlocking transfer window; the large medicine cup feeding mechanism comprises a feeding cylinder, a rotating cylinder, and an extending cylinder;

[0011] The medicine dispensing and painting mechanism comprises a workbench, a medicine mixing and measuring medicine dispensing mechanism, a paint dotting mechanism, a medicine cup transmission module, and a double-station tray on the module for carrying medicine cups. The medicine mixing and measuring medicine dispensing mechanism and the paint dotting mechanism are both arranged directly above the workbench; the medicine cup transmission module is arranged on one side of the workbench at the lower end of the workbench; a medicine cup placement tray is arranged on the sliding end of the medicine cup transmission module;

[0012] The paint dispensing mechanism provided on the paint dispensing mechanism includes a high-precision paint dispensing valve, which is connected to a vertical lifting cylinder through an adjustment plate; the adjustment plate is provided with an arc-shaped long strip hole and a threaded hole to ensure that the angle of the paint dispensing valve can be adjusted, and a lifting cylinder is provided at the lower end of the paint dispensing valve, and a weighing sensor is provided on the lifting cylinder;

[0013] The medicine mixing and metering dispensing mechanism comprises a dispensing mechanism bracket and a rotating large medicine barrel, one end of which is connected to a rotating shaft; the rotating shaft is connected to a self-rotating motor through a coupling; the self-rotating motor and the rotating shaft are both fixedly connected to a "X"-shaped bracket; the "X"-shaped bracket is connected to the medicine dispensing mechanism bracket through two connecting shafts on the left and right sides; one end of the connecting shaft on one side is connected to the revolving motor through a coupling;

[0014] An intermediate transition funnel is arranged at the lower end of the large medicine barrel of the medicine mixing and metering dispensing mechanism, and is connected to the medicine dispensing mechanism bracket through a funnel fixing frame; the transition funnel adopts an elliptical structural design, a retaining edge is arranged on one end thereof, and a dust cover is arranged at the bottom thereof.

[0015] A weighing sensor is arranged at the lower end of the transition funnel of the medicine mixing and dosing mechanism, one end of which is connected to a weighing and lifting cylinder through a connecting plate, and the stroke of the weighing and lifting cylinder is adjustable; a weighing tray is arranged at the weighing end of the weighing sensor, and its structure is that the middle part of the bottom is hollow, and two groups of L-shaped claws of different lengths are arranged around it, and multiple groups of detachable limit pins are arranged on the outer edge of the claws;

[0016] The weighing sensor selected by the medicine mixing and dosing mechanism is a high-precision weighing sensor, a sensor bottom plate is arranged at the bottom of the weighing sensor, and an upper sheath is arranged at the upper end of the weighing sensor;

[0017] The end of the rotating shaft of the medicine mixing and dosing mechanism connected to the rotating large medicine barrel is a hollow disc-shaped structure, and an arc groove is symmetrically opened at one end of the disc, and the other end of the rotating disc is provided with two threaded holes for installing quick-release pins; at the same time, a limit pin is provided on the disc, and a step shaft is provided at the bottom of the rotating large medicine barrel, and a fan-shaped baffle matching the arc groove is symmetrically provided at the end of the step shaft, and the baffle is symmetrically provided with a socket for installing the quick-release pin;

[0018] The medicine static mechanism includes a set of grabbing manipulators, which are connected to the transmission module through a connecting plate; the transmission module is fixed on the gantry bracket; a temporary storage tray that can accommodate multiple medicine cups is arranged directly below the grabbing manipulator, and multiple conical holes are evenly arranged on the temporary storage tray to facilitate the placement and positioning of the medicine cups; a staggered cylinder is arranged at the lower end of the temporary storage tray;

[0019] The solvent replenishing mechanism includes a high-precision paint-pointing valve, which is connected to a vertical lifting cylinder through an adjustment plate; the adjustment plate is provided with an arc-shaped long strip hole and a threaded hole to ensure that the angle of the paint-pointing valve can be adjusted, and the lower end of the paint-pointing valve is provided with a lifting cylinder, on which a weighing sensor is provided;

[0020] The self-cleaning medicine dispensing mechanism comprises a medicine dispensing frame, a medicine dispensing cylinder is arranged at the upper left end of the medicine dispensing frame, and an adjustable liquid level buffer is arranged at the left end of the medicine dispensing cylinder; a C-shaped mounting frame is arranged on the sliding end of the medicine dispensing cylinder; coaxial mounting holes are provided at the upper and lower ends of the C-shaped mounting frame, and a pneumatic motor is arranged at the upper end, and the working end of the pneumatic motor is connected to one end of the medicine dispensing connecting rod through a coupling; a long strip mounting hole is arranged on the bottom end of the medicine dispensing connecting rod, and the mixing tool is inserted into the long strip mounting hole; a bearing support with a flange plate is arranged on the upper surface of the lower end of the C-shaped mounting frame, and the medicine dispensing connecting rod is inserted into the inner hole of the bearing support; a guide sleeve is arranged on the lower surface of the lower end of the C-shaped mounting frame, and the internal structure of the guide sleeve is a trumpet structure shape, and the closing end of the trumpet structure cooperates with the outer ring of the bearing support;

[0021] A medicine cup lifting cylinder is arranged at the lower left end of the medicine preparation frame of the self-cleaning medicine preparation mechanism; a medicine cup lifting support plate is arranged at the protruding end of the medicine cup lifting cylinder;

[0022] The self-cleaning agent preparation mechanism is provided with a material receiving cylinder in the middle of the right side of the agent preparation frame, and a cleaning tank bracket is provided at its protruding end. Limit pins are symmetrically provided at the upper end of the cleaning tank bracket. Two hanging ears are symmetrically provided on the upper edge of the cleaning tank, and a through hole is opened on each hanging ear. The cleaning tank can be quickly hung therein through the limit pin.

[0023] The mixing tool of the self-cleaning agent preparation mechanism is provided with a group of mixing blades vertically distributed up and down, and each blade is an inclined structure;

[0024] The medicine discharging mechanism comprises a set of interlocking transfer windows, a set of grabbing manipulators, a transmission module and a set of temporary storage trays, and the grabbing manipulators are vertically hoisted on the transmission module;

[0025] The self-cleaning medicine preparation mechanism, solvent replenishment mechanism, and medicine discharging mechanism are all arranged on the second workbench; one end of the second workbench is provided with a transmission module, on which a medicine cup tray is provided.

[0026] The present invention provides an automatic preparation process for a sensitive agent for explosives, comprising the following steps:

[0027] 1) The large medicine cup loading mechanism grabs the large medicine cup in the transfer window 1 to the top of the medicine mixing and metering mechanism, adds the medicine into the large medicine barrel, and completes the medicine pouring;

[0028] 2) The self-rotating motor of the medicine mixing and dosing mechanism drives the large medicine barrel to rotate to mix the medicine;

[0029] 3) The automatic feeding mechanism for empty medicine cups uses the automatic feeding mechanism for empty medicine cups to grab the first empty medicine cup in the transfer window and transport it to the tray of the first transmission module; at the same time, the stepping mechanism in the transfer window sends the second medicine cup to the grabbing position to wait for grabbing;

[0030] 4) The first transmission module first delivers the empty medicine cup to the lower end of the paint dispensing mechanism. The lifting cylinder drives the weighing sensor to drag the medicine cup on the module tray upward. The paint adding valve completes the quantitative paint adding according to the set value. At the same time, the lower weighing sensor weighs the added paint to determine whether the added paint is completed and reaches the set value. If there is a deviation from the set value, an alarm is issued;

[0031] 5) The first transmission module delivers the primer-coated medicine cup to the medicine mixing and quantitative dispensing mechanism station. The lifting cylinder drives the weighing sensor to drag the medicine cup on the module tray to the lower end of the transition funnel for quantitative dispensing. After the dispensing is completed, the specific weighing value is fed back to the PLC;

[0032] 6) The first transmission module sends the medicine cup to the lower end of the paint dispensing mechanism again for secondary paint dispensing. At the same time, the PLC controls the amount of paint added for the second time based on the specific weighing value to ensure that the final dispensed medicine and the added paint have a 1:1 correspondence;

[0033] 7) The first transmission module delivers the medicine cup to the unloading position, and the second transmission module drives the second grabbing manipulator to place the medicine cup on the static platform to allow the medicine to stand still, ensuring that the medicine and the paint are completely infiltrated;

[0034] 8) The first transmission module returns to the loading position, and the automatic empty medicine cup loading mechanism delivers the grabbed second empty medicine cup to the first transmission module, and steps 3) to 7) are repeated, and so on;

[0035] 9) After the medicine cup has been left standing for a certain period of time, the second transmission module drives the second grabbing manipulator to deliver the medicine cup that has been left standing to the third transmission module;

[0036] 10) The third transmission module then goes to the lower end of the solvent replenishing mechanism and the self-cleaning agent preparation mechanism in turn to complete the replenishment of the adhesive and the preparation of the agent respectively;

[0037] 11) After the preparation of the medicine is completed, the third transmission module sends the medicine cup to the unloading position, and the fourth transmission module grabs the medicine cup and puts it into the medicine awakening tray. At this time, according to production needs, the manual can send the medicine cup in the temporary storage tray to the interlocking transfer window, and the manual can directly collect it outside the workshop.

[0038] 12) When production is finished, the large medicine cup feeding mechanism drives the large medicine cup to the lower end of the transition funnel, recovers all the medicines in the large medicine barrel into the large medicine cup, and returns the large medicine cup with the remaining medicine collected to the transfer window.

[0039] The present invention designs a sensitive agent preparation system and automatic preparation process for pyrotechnics, which realize the automation and continuous distribution and preparation function requirements of dangerous pyrotechnic agents. This production method only requires manual loading or unloading, and the rest are automatic operations, which completely separates dangerous processes from non-dangerous processes, reduces safety risks, and improves the inherent safety of the production process. Through a variety of control methods, it is guaranteed that the distribution and painting are accurate and reliable, and the process quality requirements and proportion requirements of the pyrotechnic agent preparation are met. In addition, a plurality of static workstations and temporary storage workstations are provided, which greatly improves the production efficiency of the entire distribution and preparation system and meets the highest production efficiency requirements of the process. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a top view of the structure of a sensitive agent preparation system for explosives according to the present invention;

[0041] Figure 2 This is an axonometric diagram of the automatic feeding and loading mechanism for empty medicine cups of the present invention;

[0042] Figure 3 This is an axonometric diagram of the automatic feeding and receiving mechanism for a large medicine cup according to the present invention;

[0043] Figure 4 This is an axonometric diagram of the drug dispensing and paint adding mechanism of the present invention;

[0044] Figure 5 yes Figure 4 Schematic diagram of the mechanism for mixing and dosing Chinese medicine, where figure a is a two-dimensional diagram and figure b is an axonometric diagram;

[0045] Figure 6 is Figure 5 Axonometric drawing of the rotating medicine barrel and the rotating axis, where: Figure 6a It's a big medicine barrel. Figure 6b is the axis of rotation;

[0046] Figure 7 This is a front view of the medicine static storage mechanism of the present invention;

[0047] Figure 8 This is a front view of the self-cleaning agent preparation mechanism of the present invention;

[0048] Fig. 9 It is an axonometric diagram of the drug discharging mechanism of the present invention. DETAILED DESCRIPTION

[0049] In order to better illustrate the purpose, technical scheme and advantages of the present invention, further description is given below in conjunction with the accompanying drawings and embodiments. It should be understood that the embodiments are only used to illustrate the technical effects of the present invention, rather than to limit the protection scope of the present invention.

[0050] like Figure 1As shown, a sensitive agent preparation system for explosives of the present invention includes a large medicine cup automatic feeding and receiving mechanism 1, an empty medicine cup automatic feeding and feeding mechanism 2, a set of medicine dispensing and painting mechanism 4, a right transmission module 5, a medicine static mechanism 8, a solvent replenishing mechanism 7, a self-cleaning medicine preparation mechanism 6 and a medicine awakening and discharging mechanism 3. The entire medicine dispensing and dispensing process is set up in one room, and the overall layout adopts a U-shaped layout, the large medicine cup automatic feeding and receiving mechanism 1, the empty medicine cup automatic feeding and feeding mechanism 2, and the medicine dispensing and painting mechanism 4 are all on the left; the medicine static mechanism 8 is located in the middle; the solvent replenishing mechanism 7, the self-cleaning medicine preparation mechanism 6, the right transmission module 5, and the medicine awakening and discharging mechanism 3 are all on the right. During the production process, the small medicine cups are circulated in sequence through the path of the empty medicine cup automatic feeding and loading mechanism 2, the medicine dividing and painting mechanism 4, the medicine standing mechanism 7, the solvent replenishing mechanism 6, the self-cleaning medicine preparation mechanism 5, and the medicine awakening and discharging mechanism 3; such a layout leaves a large amount of space for manual maintenance activities, and during the production process, manual labor only needs to complete the loading and discharging operations of the medicine cups on one side of the empty medicine cup automatic feeding and loading mechanism 2 and the medicine awakening and discharging mechanism 3 respectively.

[0051] like Figure 2 As shown, the automatic feeding and loading mechanism 2 for empty medicine cups is used to realize the automatic transfer and automatic loading of empty medicine cups. It includes a set of interlocking transfer windows 202, a set of stepping mechanisms 203, and a set of automatic loading mechanisms 201 for empty medicine cups, wherein the stepping mechanism 203 is arranged in the interlocking transfer window 202. The interlocking transfer window 202 is composed of a set of sliding doors and protective steel barrels installed on the opposite sides. When the interlocking transfer window 202 is working, only one side door is opened and closed, and its purpose is to completely isolate the manual operation area from the production work area, so as to play the role of explosion-proof and anti-sonator explosion. The stepping mechanism 203 includes a set of temporary storage platforms and step feeding claws, which can realize the temporary storage of multiple medicine cups. When the first medicine cup is finished grabbing, with the help of the joint action of the lifting cylinder and the lateral movement cylinder, the step feeding claws are used to transport the multiple medicine cups behind in sequence, so as to complete the sequential loading and automatic synchronous transportation of the empty medicine cups. The automatic feeding mechanism 201 for empty medicine cups utilizes the coordinated action of multiple groups of cylinders to realize bidirectional transmission of medicine cups between the interlocking transfer window stepping mechanism 203 and the production work area through grabbing, lifting and rotating operations.

[0052] like Figure 3As shown, the large medicine cup automatic feeding and receiving mechanism 1 is used to realize the functions of automatic feeding, automatic pouring, automatic residual medicine collection and automatic receiving of the large medicine cup, and comprises a set of interlocking transfer windows 101 and a set of large medicine cup feeding mechanism 102. The interlocking transfer window 101 is provided with a medicine cup placement platform; the large medicine cup loading mechanism 102 comprises a feeding cylinder, a rotating cylinder 104, and an extending cylinder 103. When the feeding cylinder is lifted and the extending cylinder 103 is extended, the medicine in the large medicine cup is poured into the rotating large medicine barrel 414 to realize the medicine pouring function; when the feeding cylinder falls back and the extending cylinder 103 is extended, the large medicine cup is located directly below the transition funnel 413, and the medicine in the rotating large medicine barrel 414 is recovered into the large medicine cup with the help of the medicine mixing and metering medicine dispensing mechanism 403 to realize the residual medicine collection function; at the same time, the extending cylinder 103 is retracted, the rotating cylinder 104 is returned to the normal position, and the large medicine cup is sent to the interlocking transfer window 101 to realize the medicine cup collecting function.

[0053] like Figure 4 As shown, the medicine dispensing and painting mechanism 4 mainly realizes the mixing, quantitative dispensing and quantitative painting of medicines. It includes a workbench 404, a medicine mixing, quantitative dispensing mechanism 403, a paint dotting mechanism 405, a medicine cup transmission module 402, and a double-station tray 401 on the module for carrying medicine cups. The medicine mixing, quantitative dispensing mechanism 403 and the paint dotting mechanism 405 are both arranged directly above the workbench 404 table; the medicine cup transmission module 402 is arranged at the lower end of the workbench 404 table and on one side of the workbench 404 to prevent the powder from being scattered on the medicine cup transmission module 402 during the medicine dispensing process; the upper end of the medicine cup transmission module 402 is provided with a double-station tray 401, and the double-station tray 401 is provided with two grooves of different shapes, which can meet the medicine dispensing requirements of medicine cups of different shapes by adjusting the movement of the module. During the working process, the medicine cup transfer module 1 402 drives the medicine cups on the double-station tray 401 to move back and forth, which can meet the needs of medicine separation and painting of the medicine cups.

[0054] like Figure 4 As shown, the paint dispensing and adding mechanism 4, the paint dispensing mechanism 405 arranged thereon includes a high-precision paint dispensing valve 407, which is connected to the vertical lifting cylinder through an adjusting plate 406; the adjusting plate 406 is provided with an arc-shaped long strip hole and a threaded hole to ensure that the angle of the high-precision paint dispensing valve 407 is adjustable. The lower end of the high-precision paint dispensing valve 407 is provided with a lifting cylinder, on which a weighing sensor 408 is arranged, which can not only determine whether to add paint to the medicine cup by weight, but also perform a secondary weighing of the paint value added to the medicine cup.

[0055] like Figure 4 , Figure 5As shown, the medicine mixing and metering dispensing mechanism 403 includes a dispensing mechanism bracket 421 and a rotating large medicine barrel 414, one end of which is connected to a rotating shaft 417; the rotating shaft 417 is connected to a self-rotating motor 420 through a coupling; the self-rotating motor 420 and the rotating shaft 417 are both fixed to a "X"-shaped bracket 419 through screws; the "X"-shaped bracket 419 is connected to the medicine dispensing mechanism bracket 421 through two connecting shafts on the left and right sides; one end of the connecting shaft on one side is connected to a revolving motor 415 through a coupling. The rotation of the self-rotating motor 420 can drive the rotating large medicine barrel 414 to rotate, thereby achieving the mixing of the medicine in the rotating large medicine barrel 414.

[0056] like Figure 5 As shown, the medicine mixing and metering dispensing mechanism 403 is provided with an intermediate transition funnel 413 at the lower end of the rotating large medicine barrel 414, which is connected to the dispensing mechanism bracket 421 through a funnel fixing frame 422; the intermediate transition funnel 413 adopts an elliptical structural design, a retaining edge is provided on one end thereof, and a dust cover 412 is provided at the bottom thereof.

[0057] like Figure 5 As shown, the medicine mixing and dosing mechanism 403 is provided with a weighing unit at the lower end of the intermediate transition funnel 413, including a high-precision weighing sensor 410, one end of which is connected to a weighing lifting cylinder 409 through a connecting plate, and the weighing lifting cylinder 409 has an adjustable stroke; at the weighing end of the high-precision weighing sensor 410, a weighing tray 411 is provided, and its structure is hollow in the middle of the bottom, and two groups of L-shaped claws of different lengths are provided around it, and multiple groups of detachable limit pins are provided on the outer edge of the claws. The hollow bottom part of the weighing tray 411 can be placed with a small round medicine cup, and at the upper end of the L-shaped claw, a small medicine cup of an irregular shape can be placed by adjusting the position and number of the limit pins. During operation, the placement position of the medicine cup on the weighing tray 411 can be selected according to the shape of the medicine cup used. For small medicine cups with height differences, the cylinder stroke of the weighing lifting cylinder 409 can be adjusted to ensure that the medicine cups used are lifted to the same height.

[0058] like Figure 5 As shown, the medicine mixing and dosing mechanism 403 uses a high-precision weighing sensor 410 as the weighing unit, which has high sensitivity. Therefore, a sensor bottom plate 424 is provided at the bottom of the weighing sensor 410, and an upper sheath 423 is provided at the upper end of the weighing sensor 410 to ensure that the high-precision weighing sensor 410 does not fail even when deformed by external force; at the same time, it can prevent the high-precision weighing sensor 410 from being damaged by human beings during maintenance.

[0059] As shown in Fig. 6, the medicine mixing and dosing mechanism 403 is convenient for the quick removal of the rotating large medicine barrel 414. The end of the rotating shaft 417 connected to the rotating large medicine barrel 414 is a hollow disc-shaped structure, and an arc groove 425 is symmetrically opened at one end of the disc. The other end of the disc of the rotating shaft 417 is provided with two threaded holes for installing a quick release pin 418; and a limit pin 423 is provided on the disc. A stepped shaft is provided at the bottom of the rotating large medicine barrel 414, and a fan-shaped baffle 426 is symmetrically provided at the end of the stepped shaft, and a plug hole is symmetrically provided on the fan-shaped baffle 426. During use, first insert the fan-shaped baffle 426 of the bottom step shaft of the rotating large medicine barrel 414 into the arc groove 425 of the rotating shaft 417 disc, then rotate the rotating large medicine barrel 414, and use the limit pin 423 to ensure that the rotating large medicine barrel 414 rotates into place. At this time, the socket on the fan-shaped baffle 426 is completely aligned with the quick-release pin 418. The quick-release pin 423 is manually opened and quickly inserted into the socket to complete the fixation of the rotating large medicine barrel 414.

[0060] like Figure 5 As shown, the medicine mixing and quantitative dispensing mechanism 403, in order to ensure quantitative dispensing of medicines, includes two steps of rough dispensing and fine dispensing. When the medicine cup transmission module 402 drives the medicine cup to the dispensing station, the weighing and lifting cylinder 409 drives the weighing sensor 410 to lift up, and transfers the medicine cup from the double-station tray 401 of the medicine cup transmission module 1 402 to the weighing tray 411 of the weighing sensor 410, until the weighing and lifting cylinder 409 lifts the medicine cup to the lower edge of the transition funnel 413, and the weighing sensor 410 performs a peeling operation. Then, while the rotating medicine barrel 414 rotates, the revolving motor 415 drives the rotating medicine barrel 414 to start pouring medicine at a relatively fast speed until the weighing reading of the weighing sensor 410 is close to the set value. This process is the rough separation stage; then the revolving motor 415 stops rotating, and only the rotating motor 420 rotates at a slow and uniform speed, while the medicine in the rotating medicine barrel 414 continues to rotate and mix, and with the help of inertia and rotational friction, the medicine powder on the edge of the rotating medicine barrel 414 is sent into the medicine cup. When the weighing reading of the weighing sensor 410 differs from the set value by less than 1g, the rotating motor 420 stops rotating to ensure that the residual medicine in the air enters the medicine cup, thereby completing the medicine separation operation. This process is the fine separation stage.

[0061] like Figure 7As shown, the medicine static mechanism 8 is used to realize the functions of fully static, temporary storage, and transportation of the added paint and medicine cups. It includes a set of grabbing manipulators 804, the grabbing manipulators 804 are fixed to one end of the connecting plate 803, and the other end of the connecting plate 803 is connected to the slider of the transmission module 2 802 by bolts. The movement of the slider of the transmission module 2 802 can drive the grabbing manipulators 804 to move left and right; the transmission module 2 802 is fixed on the gantry bracket 801; a static tray 805 that can accommodate multiple medicine cups is arranged below the grabbing manipulator 804, and multiple conical holes are evenly arranged on the static tray 805 to facilitate the placement and positioning of the medicine cups; a dislocation cylinder 806 is arranged at the lower end of the static tray 805.

[0062] like Figure 1 As shown, the solvent replenishing mechanism 7 is used to replenish the volatile adhesive in the medicine cup after standing still, and includes a high-precision paint dispensing valve, which is connected to the vertical lifting cylinder through an adjustment plate; the adjustment plate is provided with arc-shaped long strip holes and threaded holes to ensure that the angle of the paint dispensing valve is adjustable. The lower end of the paint dispensing valve is provided with a lifting cylinder 3, on which a weighing sensor is provided. (Its structure is consistent with the paint dispensing mechanism 405)

[0063] like Figure 8 As shown, the self-cleaning medicine preparation mechanism 6 is used to mix the medicine in the medicine cup and clean the mixing tool 603 after mixing, so as to reduce the risk of direct contact between human and medicine. It includes a medicine preparation frame 610, and a medicine dispensing cylinder 608 is arranged on the upper left end of the medicine dispensing frame 610. An adjustable liquid level buffer 605 is arranged on the left end of the medicine dispensing cylinder 608, which can not only realize the smooth movement of the medicine dispensing cylinder 608 in place, but also adjust the cylinder stroke by adjusting the height of the liquid level buffer 605; a C-shaped mounting frame 611 is arranged on the sliding end of the medicine dispensing cylinder 608, which is connected to the medicine dispensing cylinder 608 by bolts. The upper and lower ends of the C-shaped mounting frame 611 are provided with coaxial mounting holes, and the upper end thereof is provided with a pneumatic motor 609, and the working end of the pneumatic motor is connected to one end of the dispensing connecting rod 607 through a coupling; the bottom end of the dispensing connecting rod 607 is provided with a long strip mounting hole, and the mixing tool is inserted into the long strip mounting hole and fastened by a set screw; the upper surface of the lower end of the C-shaped mounting frame 611 is provided with a bearing support 606 with a flange plate, and the dispensing connecting rod 607 passes through the inner hole of the bearing support 606. The lower surface of the lower end of the C-shaped mounting frame 611 is provided with a guide sleeve 604, and the C-shaped mounting frame 611 is fixedly connected to the lower surface of the guide sleeve 604 by bolts. The internal structure of the guide sleeve 604 is a trumpet structure shape, and the closing end of the trumpet structure cooperates with the outer ring of the bearing support 606. With the help of the bearing support 606, the coaxiality of the guide sleeve 604 and the dispensing connecting rod 607 is ensured.

[0064] like Figure 8 As shown, the self-cleaning medicine preparation mechanism 6 has a medicine cup lifting cylinder 601 disposed at the lower left end of the medicine preparation frame 610; and a medicine cup lifting support plate 602 is disposed at the protruding end of the medicine cup lifting cylinder 601.

[0065] like Figure 8 As shown, the self-cleaning agent preparation mechanism 6 has a material receiving cylinder 615 disposed at the middle position on the right side of the agent preparation frame 610, and a cleaning tank bracket 614 is disposed at its protruding end, and a limit pin 613 is symmetrically disposed at the upper end of the cleaning tank bracket 614. Two hanging ears are symmetrically disposed on the upper edge of the cleaning tank 612, and a through hole is opened on each hanging ear, and the cleaning tank 612 can be quickly hung therein through the limit pin 613. During the working process, the cleaning tank is filled with a cleaning solvent for cleaning the mixing tool 603.

[0066] like Figure 8 As shown, the self-cleaning agent preparation mechanism 6 includes a mixing tool 603, on which a group of mixing blades distributed vertically up and down are arranged, and each blade is an inclined structure to ensure that the agent can be driven to flip up and down during the agent mixing process to ensure uniform mixing of the agent.

[0067] like Figure 8 As shown, the self-cleaning medicine preparation mechanism 6, before each medicine mixing, the mixing tool 603 is immersed in the cleaning tank 612, when the mixing starts, the medicine preparation cylinder 608 drives the mixing tool 603 to lift up, the material receiving cylinder 615 drives the cleaning tank 612 to retract, and then the medicine cup lifting cylinder 601 drives the medicine cup to lift up; at the same time, the medicine preparation cylinder 608 drives the mixing tool 603 to fall, and the medicine cup is guided by the open end of the guide sleeve 604 horn structure to ensure that the medicine cup and the mixing tool 603 are coaxial; the pneumatic motor drives the mixing tool 603 to mix the medicine in the medicine cup. After the mixing is completed, all cylinders return to their original positions, and then the material receiving cylinder 615 drives the cleaning tank 612 to extend, and the dispensing cylinder 608 drives the mixing tool 603 to fall, and the mixing tool 603 is immersed in the cleaning tank 612. At the same time, the pneumatic motor is forward and reversed to clean the mixing tool 603.

[0068] like Fig. 9 As shown, the medicine discharging mechanism 3 is used to realize the functions of transferring, waking up, and temporarily storing the prepared small medicine cups. It includes a set of interlocking transfer windows 301, a set of grabbing manipulators 304, a transmission module three 303, and a set of temporary storage trays 302. The grabbing manipulator 304 is vertically hoisted on the transmission module three 303, and the transmission module three 303 can drive the grabbing manipulator 304 to grab the prepared medicine cups into the temporary storage tray 302, and grab the medicine cups in the temporary storage tray 302 into the interlocking transfer window 301.

[0069] The self-cleaning agent preparation mechanism 6, solvent replenishment mechanism 7, and awakening medicine discharging mechanism 3 are all arranged on the workbench 2 2; at one end of the workbench 2 2, a right transmission module 5 is provided, on which a medicine cup tray is provided, which is used to realize the transfer of medicine cups between the processes of the self-cleaning agent preparation mechanism and the solvent replenishment mechanism.

[0070] The present invention provides an automatic preparation process for a sensitive agent for explosives, comprising the following steps:

[0071] 1) The large medicine cup loading and receiving mechanism 1 grabs the large medicine cup in the interlocking transfer window 101 to the top of the medicine mixing and metering mechanism 403, and adds the medicine into the rotating large medicine barrel 414 to complete the medicine pouring;

[0072] 2) The self-rotating motor of the medicine mixing and metering mechanism 403 drives the rotating large medicine barrel 414 to rotate to mix the medicine;

[0073] 3) The empty medicine cup automatic feeding and loading mechanism 2 uses the empty medicine cup automatic feeding mechanism 201 to grab the first empty medicine cup in the interlocking transfer window 202 and transport it to the double-station tray (401) of the medicine cup transmission module 1 402; at the same time, the stepping mechanism 203 in the interlocking transfer window 202 sends the second medicine cup to the grabbing position to wait for grabbing;

[0074] 4) The medicine cup transmission module 1 402 first delivers the empty medicine cup to the lower end of the paint dispensing mechanism 405, and the lifting cylinder drives the weighing sensor 408 to drag the medicine cup on the double-station tray 401 to lift up. The high-precision paint dispensing valve 407 completes the quantitative paint addition according to the set value. At the same time, the lower weighing sensor 408 weighs the added paint to determine whether the added paint is completed and reaches the set value. If there is a deviation from the set value, an alarm is issued;

[0075] 5) The medicine cup transmission module 1 402 delivers the primer-coated medicine cup to the medicine mixing and quantitative dispensing mechanism 403 station, and the lifting cylinder drives the weighing sensor 408 to drag the medicine cup on the module tray to the lower end of the intermediate transition funnel 413 for quantitative dispensing; after the dispensing is completed, the weighing sensor 408 feeds back the specific weighing value to the PLC;

[0076] 6) The medicine cup transmission module 1 402 delivers the medicine cup to the lower end of the paint spotting mechanism 405 again for secondary paint spotting. At the same time, the PLC controls the amount of paint added for the second time in combination with the specific weighing value to ensure that the final divided medicine and the added paint have a 1:1 correspondence relationship;

[0077] 7) The medicine cup transmission module 1 402 delivers the medicine cup to the unloading position, and the transmission module 2 802 drives the grabbing manipulator 804 to place the medicine cup on the static tray (805) to allow the medicine to stand still, ensuring that the medicine and the paint are completely infiltrated;

[0078] 8) The medicine cup transmission module 1 402 returns to the loading position, and the empty medicine cup automatic loading mechanism 201 delivers the grabbed second empty medicine cup to the medicine cup transmission module 1 402, and steps 3) to 7) are repeated, and so on;

[0079] 9) After the medicine cup has been placed in a static state for a period of time, the second transmission module 802 drives the grabbing manipulator 804 to deliver the medicine cup that has been placed in a static state to the medicine cup tray of the right transmission module 5;

[0080] 10) The right transmission module 5 then goes to the lower end of the solvent replenishing mechanism 7 and the self-cleaning agent preparation mechanism 6 in turn to complete the replenishment of the solvent and the preparation of the agent respectively;

[0081] 11) After the preparation of the medicine is completed, the right transmission module 5 sends the medicine cup to the front end of the medicine discharging mechanism 3, and the transmission module 3 303 drives the grabbing robot (304) to grab the medicine cup to the temporary storage tray 302; at this time, according to production needs, the manual can send the medicine cup in the temporary storage tray 302 to the interlocking transfer window 301, and the manual can directly collect it outside the workshop.

[0082] 12) When the production is finished, the large medicine cup automatic feeding and receiving mechanism 1 drives the large medicine cup to the lower end of the intermediate transition funnel 403, recovers all the medicines in the large medicine barrel into the large medicine cup, and returns the large medicine cup with the remaining medicine collected to the interlocking transfer window 101.

Claims

1. A system for preparing sensitive agents for explosives, characterized by: It includes a large medicine cup automatic feeding and receiving mechanism, an empty medicine cup automatic feeding and loading mechanism, a set of circulating medicine dispensing and painting mechanism, a medicine static mechanism, a solvent replenishing mechanism, a self-cleaning medicine mixing mechanism and a medicine awakening and discharging mechanism. The entire automatic medicine dispensing and preparing system for sensitive medicines for explosives adopts a U-shaped layout. The large medicine cup automatic feeding and receiving mechanism, the empty medicine cup automatic feeding and loading mechanism, and the medicine dispensing and painting mechanism are all on the left; the medicine static mechanism is located in the middle; the solvent replenishing mechanism, the self-cleaning medicine preparation mechanism, and the medicine awakening and discharging mechanism are all on the right; The automatic feeding and loading mechanism for empty medicine cups comprises a set of interlocking transfer windows, a set of stepping mechanisms, and a set of automatic loading mechanisms for empty medicine cups, wherein the stepping mechanisms are arranged in the interlocking transfer windows, and the interlocking transfer windows are composed of a set of sliding doors and protective steel barrels installed on opposite sides, and only one side door is opened and closed during operation, the stepping mechanisms comprise a set of temporary storage platforms, lifting cylinders, and transverse cylinders, and the automatic loading mechanism for empty medicine cups comprises multiple sets of cylinders that can realize the coordinated action of grabbing, lifting, and rotating operations; The large medicine cup automatic feeding and receiving mechanism comprises a set of interlocking transfer windows and a set of large medicine cup feeding mechanism, wherein a medicine cup placement platform is arranged in the interlocking transfer window; the large medicine cup feeding mechanism comprises a feeding cylinder, a rotating cylinder, and an extending cylinder; The medicine dispensing and painting mechanism comprises a workbench, a medicine mixing and measuring medicine dispensing mechanism, a paint dotting mechanism, a medicine cup transmission module, and a double-station tray on the module for carrying medicine cups. The medicine mixing and measuring medicine dispensing mechanism and the paint dotting mechanism are both arranged directly above the workbench; the medicine cup transmission module is arranged on one side of the workbench at the lower end of the workbench; a medicine cup placement tray is arranged on the sliding end of the medicine cup transmission module; The paint dispensing mechanism provided on the paint dispensing mechanism includes a high-precision paint dispensing valve, which is connected to a vertical lifting cylinder through an adjustment plate; the adjustment plate is provided with an arc-shaped long strip hole and a threaded hole to ensure that the angle of the paint dispensing valve can be adjusted, and a lifting cylinder is provided at the lower end of the paint dispensing valve, and a weighing sensor is provided on the lifting cylinder; The medicine mixing and metering dispensing mechanism comprises a dispensing mechanism bracket and a rotating large medicine barrel, one end of which is connected to a rotating shaft; the rotating shaft is connected to a self-rotating motor through a coupling; the self-rotating motor and the rotating shaft are both fixedly connected to a "X"-shaped bracket; the "X"-shaped bracket is connected to the medicine dispensing mechanism bracket through two connecting shafts on the left and right sides; one end of the connecting shaft on one side is connected to the revolving motor through a coupling; The lower end of the large medicine barrel of the medicine mixing and dosing mechanism is provided with an intermediate transition funnel connected to the medicine dispensing mechanism bracket; the lower end of the transition funnel of the medicine mixing and dosing mechanism is provided with a weighing sensor, one end of which is connected to the weighing lifting cylinder through a connecting plate, and the stroke of the weighing lifting cylinder is adjustable; at the weighing end of the weighing sensor, a weighing tray is provided, and its structure is that the middle part of the bottom is hollow, and two groups of L-shaped claws of different lengths are provided on the four sides thereof; The medicine static mechanism includes a set of grabbing manipulators, which are connected to the transmission module through a connecting plate; the transmission module is fixed on the gantry bracket; a temporary storage tray that can accommodate multiple medicine cups is arranged directly below the grabbing manipulator; The solvent replenishing mechanism includes a high-precision paint-pointing valve, which is connected to a vertical lifting cylinder through an adjustment plate; the adjustment plate is provided with an arc-shaped long strip hole and a threaded hole to ensure that the angle of the paint-pointing valve can be adjusted, and the lower end of the paint-pointing valve is provided with a lifting cylinder, on which a weighing sensor is provided; The self-cleaning medicine dispensing mechanism comprises a medicine dispensing frame, a medicine dispensing cylinder is arranged at the upper left end of the medicine dispensing frame, and an adjustable liquid level buffer is arranged at the left end of the medicine dispensing cylinder; a C-shaped mounting frame is arranged on the sliding end of the medicine dispensing cylinder; coaxial mounting holes are provided at the upper and lower ends of the C-shaped mounting frame, and a pneumatic motor is arranged at the upper end, and the working end of the pneumatic motor is connected to one end of the medicine dispensing connecting rod through a coupling; a long strip mounting hole is arranged on the bottom end of the medicine dispensing connecting rod, and the mixing tool is inserted into the long strip mounting hole; a bearing support with a flange plate is arranged on the upper surface of the lower end of the C-shaped mounting frame, and the medicine dispensing connecting rod is inserted into the inner hole of the bearing support; a guide sleeve is arranged on the lower surface of the lower end of the C-shaped mounting frame, and the internal structure of the guide sleeve is a trumpet structure shape, and the closing end of the trumpet structure cooperates with the outer ring of the bearing support; A medicine cup lifting cylinder is arranged at the lower left end of the medicine preparation frame of the self-cleaning medicine preparation mechanism; a medicine cup lifting support plate is arranged at the protruding end of the medicine cup lifting cylinder; The self-cleaning medicament preparation mechanism has a material receiving cylinder disposed in the middle of the right side of the medicament preparation frame, and a cleaning tank bracket disposed at the extended end thereof; The medicine discharging mechanism comprises a set of interlocking transfer windows, a set of grabbing manipulators, a transmission module and a set of temporary storage trays, and the grabbing manipulators are vertically hoisted on the transmission module; The self-cleaning medicine preparation mechanism, solvent replenishment mechanism, and medicine discharging mechanism are all arranged on the second workbench; one end of the second workbench is provided with a transmission module, on which a medicine cup tray is provided.

2. A sensitive agent preparation system for explosives according to claim 1, characterized in that: The intermediate transition funnel of the medicine mixing and metering medicine dispensing mechanism is connected to the medicine dispensing mechanism bracket through a funnel fixing frame.

3. A sensitive agent preparation system for explosives according to claim 1, characterized in that: The intermediate transition funnel of the medicine mixing and metering dispensing mechanism adopts an elliptical structural design, with a retaining edge arranged on one end and a dust cover arranged on the bottom.

4. A sensitive agent preparation system for explosives according to claim 1, characterized in that: The medicine mixing and dosing mechanism is provided with a plurality of groups of detachable limit pins on the outer edge of the L-shaped claws of the weighing tray.

5. The sensitive agent preparation system for explosives according to claim 1 is characterized by: The weighing sensor selected for the medicine mixing and dosing mechanism is a high-precision weighing sensor. A sensor base plate is arranged at the bottom of the weighing sensor, and an upper sheath is arranged at the upper end of the weighing sensor.

6. A sensitive agent preparation system for explosives according to claim 1, characterized in that: The end of the rotating shaft of the medicine mixing and dosing mechanism connected to the rotating large medicine barrel is a disc-shaped structure with a hollow interior, and an arc groove is symmetrically provided at one end of the disc, and the other end of the rotating disc is provided with two threaded holes for installing quick-release pins; at the same time, a limiting pin is provided on the disc, and a step shaft is provided at the bottom of the rotating large medicine barrel, and a fan-shaped baffle that cooperates with the arc groove is symmetrically provided at the end of the step shaft, and the baffle is symmetrically provided with holes for installing quick-release pins.

7. A sensitive agent preparation system for explosives according to claim 1, characterized in that: A plurality of conical holes are evenly arranged on the temporary storage tray of the medicine static mechanism, and a staggered cylinder is arranged at the lower end of the temporary storage tray.

8. The sensitive agent preparation system for explosives according to claim 1 is characterized by: The upper end of the self-cleaning agent preparation cleaning tank bracket is symmetrically provided with a limit pin, the upper edge of the cleaning tank is symmetrically provided with two hanging ears, and each hanging ear is provided with a through hole, and the limit pin passes through the through hole on the hanging ear to hang the cleaning tank on the cleaning tank bracket.

9. A sensitive agent preparation system for explosives according to claim 1, characterized in that: The mixing tool of the self-cleaning agent preparation mechanism is provided with a group of mixing blades vertically distributed up and down, and each blade is an inclined structure.

10. An automatic preparation process for sensitive agents for explosives, characterized by: The following steps are involved: 1) The large medicine cup loading mechanism grabs the large medicine cup in the transfer window to the top of the medicine mixing and metering mechanism, adds the medicine into the large medicine barrel, and completes the medicine pouring; 2) The self-rotating motor of the medicine mixing and dosing mechanism drives the large medicine barrel to rotate to mix the medicine; 3) The automatic feeding mechanism for empty medicine cups uses the automatic feeding mechanism for empty medicine cups to grab the first empty medicine cup in the transfer window and transport it to the tray of the first transmission module; at the same time, the stepping mechanism in the transfer window sends the second medicine cup to the grabbing position to wait for grabbing; 4) The first transmission module first delivers the empty medicine cup to the lower end of the paint dispensing mechanism. The lifting cylinder drives the weighing sensor to drag the medicine cup on the module tray upward. The paint adding valve completes the quantitative paint adding according to the set value. At the same time, the lower weighing sensor weighs the added paint to determine whether the added paint is completed and reaches the set value. If there is a deviation from the set value, an alarm is issued; 5) The first transmission module delivers the primer-coated medicine cup to the medicine mixing and quantitative dispensing mechanism station. The lifting cylinder drives the weighing sensor to drag the medicine cup on the module tray to the lower end of the transition funnel for quantitative dispensing. After the dispensing is completed, the specific weighing value is fed back to the PLC; 6) The first transmission module sends the medicine cup to the lower end of the paint dispensing mechanism again for secondary paint dispensing. At the same time, the PLC controls the amount of paint added for the second time based on the specific weighing value to ensure that the final dispensed medicine and the added paint have a 1:1 correspondence; 7) The first transmission module delivers the medicine cup to the unloading position, and the second transmission module drives the second grabbing manipulator to place the medicine cup on the static platform to allow the medicine to stand still, ensuring that the medicine and the paint are completely infiltrated; 8) The first transmission module returns to the loading position, and the automatic empty medicine cup loading mechanism delivers the grabbed second empty medicine cup to the first transmission module, and steps 3) to 7) are repeated, and so on; 9) After the medicine cup has been left standing for a certain period of time, the second transmission module drives the second grabbing manipulator to deliver the medicine cup that has been left standing to the third transmission module; 10) The third transmission module then goes to the lower end of the solvent replenishing mechanism and the self-cleaning agent preparation mechanism in turn to complete the replenishment of the adhesive and the preparation of the agent respectively; 11) After the preparation of the medicine is completed, the third transmission module sends the medicine cup to the unloading position, and the fourth transmission module grabs the medicine cup to the medicine awakening tray. At this time, the manual can send the medicine cup in the temporary storage tray to the interlocking transfer window according to production needs, and the manual can directly collect it outside the workshop; 12) When production is finished, the large medicine cup feeding mechanism drives the large medicine cup to the lower end of the transition funnel, recovers all the medicines in the large medicine barrel into the large medicine cup, and returns the large medicine cup with the remaining medicine collected to the transfer window.

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