Automatic feeding system and method for explosive production line

Abstract

An automatic feeding system of an explosive production line comprises a truss manipulator (1), a crusher (2), a conveyor (3) and a water phase configuration tank (4), the crusher (2) is located below the truss manipulator (1), the inlet end of the conveyor (3) is communicated with a bottom discharging port of the crusher (2), and a solid raw material adding port, a solution adding port and a process water adding port are formed in the top of the water phase configuration tank (4); the device has the advantages that bagged sodium nitrate raw materials are grabbed through the truss manipulator, the feeding ticket is crushed and then conveyed into the water phase preparation tank to be stirred and mixed, automatic bag breaking and feeding are achieved, and the labor intensity of workers is relieved.

Description

Technical Field

[0001] The present invention relates to the field of civil explosive production, and particularly to an automatic feeding system and method for an explosive production line. Background Art

[0002] At present, on the expanded ammonium nitrate explosive production line, an aqueous solution is mixed and prepared in a configuration tank in the water-oil phase preparation workshop, and then transported to the explosive production station. In the existing water-oil phase preparation workshop, manual bag breaking, manual handling and feeding, and manual detection of the crystallization point of the aqueous solution are mostly used for operation, which requires fixed operators and has a large labor intensity. Summary of the Invention

[0003] The purpose of the present invention is to provide an automatic feeding system and method for an explosive production line in view of the above deficiencies.

[0004] The present invention includes a truss manipulator, a crusher, a conveyor, and an aqueous phase configuration tank. The crusher is located below the truss manipulator. The inlet end of the conveyor is connected to the bottom discharge port of the crusher. The top of the aqueous phase configuration tank is provided with a solid raw material inlet, a solution inlet, and a process water inlet. One side of the bottom of the aqueous phase configuration tank is provided with a liquid discharge port. The outlet end of the conveyor is connected to the solid raw material inlet.

[0005] A vacuum suction cup is provided at the mechanical arm grasping end of the truss manipulator.

[0006] A bag breaker is provided in the feed hopper at the top of the crusher.

[0007] The conveyor is a screw conveyor.

[0008] An aqueous phase transfer pump is provided on one side of the aqueous phase configuration tank. A filter is provided at the liquid discharge port of the aqueous phase configuration tank. The outlet end of the filter is connected to the inlet end of the aqueous phase transfer pump.

[0009] The filter is a basket filter.

[0010] A heating coil is provided in the aqueous phase configuration tank, and a stirrer is provided in the middle of the aqueous phase configuration tank.

[0011] The steps are as follows: A1. The truss manipulator moves down according to the coordinates determined by the vision detection system to grasp the bagged sodium nitrate raw material. A2. The truss manipulator rises to a safe height and is sent to the upper part of the feed hopper of the crusher through the truss mechanism. A3. The truss manipulator drives the bagged sodium nitrate raw material to descend, pierces the packaging bag on the bag breaker, and the truss manipulator rises. Wait until all the sodium nitrate raw material blocks are poured into the crusher and broken into particles. A4. The truss manipulator sends the empty bag to the bag collection area. A5. Convey the sodium nitrate particles upward through a conveyor into the solid raw material inlet of the aqueous phase preparation tank; A6. Add ammonium nitrate solution into the aqueous phase preparation tank through the solution inlet; A7. Add process water into the aqueous phase preparation tank through the process water inlet; A8. The stirrer in the aqueous phase preparation tank stirs and mixes the raw materials; A9. The solution after mixing and preparation is filtered through a filter and then pumped out by an aqueous phase transfer pump.

[0012] B1. Heat the solution in the aqueous phase preparation tank to 90 - 100 °C through a heating coil and then keep it warm.

[0013] The weight ratio among the sodium nitrate particles, ammonium nitrate solution and process water is as follows: Sodium nitrate particles: 8 - 12 parts; Ammonium nitrate solution: 68 - 80 parts; Process water: 9 - 12 parts; The advantages of the present invention are as follows: The truss manipulator grabs the bagged sodium nitrate raw materials, and after the feeding bag is broken, it is conveyed into the aqueous phase preparation tank for stirring and mixing, realizing automatic bag breaking and feeding, which reduces the labor intensity of the staff. Description of the Drawings

[0014] Figure 1 is the structural schematic diagram of the present invention. Detailed Embodiments

[0015] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0016] Therefore, the detailed description of the embodiments of the present invention provided in the drawings below is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0017] It should be noted that: Similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0018] In the description of the embodiments of the present invention, it should be noted that if terms such as "upper", "lower", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, in the description of the present invention, if terms such as "first", "second", etc. are used only for distinguishing descriptions, they should not be construed as indicating or implying relative importance.

[0019] In the description of the embodiments of the present invention, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set" and "connected" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0020] As shown in the drawings, the present invention comprises a truss manipulator 1, a crusher 2, a conveyor 3 and an aqueous phase configuration tank 4. The crusher 2 is located below the truss manipulator 1. The inlet end of the conveyor 3 is communicated with the bottom discharge port of the crusher 2. The top of the aqueous phase configuration tank 4 is provided with a solid raw material inlet, a solution inlet and a process water inlet. One side of the bottom of the aqueous phase configuration tank 4 is provided with a liquid discharge port. The outlet end of the conveyor 3 is communicated with the solid raw material inlet.

[0021] The mechanical arm grasping end of the truss manipulator 1 is provided with a vacuum suction cup.

[0022] A bag breaker is arranged in the feed hopper at the top of the crusher 2.

[0023] The conveyor 3 is a screw conveyor.

[0024] An aqueous phase delivery pump 5 is arranged on one side of the aqueous phase configuration tank 4. A filter 6 is arranged at the liquid discharge port of the aqueous phase configuration tank 4. The outlet end of the filter 6 is communicated with the inlet end of the aqueous phase delivery pump 5.

[0025] The filter 6 is a basket filter.

[0026] A heating coil 7 is arranged in the aqueous phase configuration tank 4, and a stirrer is arranged in the middle of the aqueous phase configuration tank 4.

[0027] The steps are as follows: A1. The truss manipulator 1 moves down according to the coordinates determined by the vision detection system to grasp the bagged sodium nitrate raw material. A2. The truss manipulator 1 rises to a safe height and is sent above the feed hopper of the crusher 2 through the truss mechanism; A3. The truss manipulator 1 drives the bagged sodium nitrate raw material to descend, punctures the packaging bag on the bag breaker, the truss manipulator 1 rises, and waits until all the sodium nitrate raw material blocks are poured into the crusher 2 and broken into particles; A4. The truss manipulator 1 sends the empty bag to the bag collection area; A5. Through the conveyor 3, 8 - 12 parts of sodium nitrate particles are conveyed upward into the solid raw material inlet of the aqueous phase preparation tank 4; A6. 68 - 80 parts of ammonium nitrate solution are added into the aqueous phase preparation tank 4 through the solution inlet; A7. 9 - 12 parts of process water are added into the aqueous phase preparation tank 4 through the process water inlet; A8. The stirrer in the aqueous phase preparation tank 4 stirs and mixes the raw materials; A9. The mixed and prepared solution is filtered by the filter 6 and then pumped out by the aqueous phase transfer pump 5.

[0028] B1. The solution in the aqueous phase preparation tank 4 is heated to 90 - 100 °C by the heating coil 7 and then kept warm. Example

[0029] The automatic feeding system accurately grabs sodium nitrate mainly depending on the 3D vision detection system. The 3D vision detection system feeds back the accurate position (X, Y, Z) of each bag of sodium nitrate to the telescopic robotic arm of the truss manipulator 1. The X and Y data determine the specific position of each bag, and the Z data determines the height of each bag. The control system drives the truss manipulator 1 according to the X and Y data to send the telescopic robotic arm above the bagged sodium nitrate to be grabbed. The telescopic robotic arm moves down according to the Z data to grab the sodium nitrate bag.

[0030] After the telescopic robotic arm finishes grabbing the bagged sodium nitrate, it rises to a safe height and is sent to the position of the feed hopper of the crusher 2 through the truss mechanism. After reaching the position of the feed hopper, the telescopic robotic arm descends to puncture the sodium nitrate on the bag breaker, and the telescopic robotic arm rises until all the sodium nitrate is poured into the aqueous phase preparation tank 4. The truss mechanism sends the empty bag to the bag collection area and puts it down.

[0031] A certain amount of ammonium nitrate solution with a concentration of 85% - 97% and process water are added into the aqueous phase preparation tank 4, stirred and mixed by the stirrer. The mixed and prepared solution is filtered by the filter 6 and then pumped out by the aqueous phase transfer pump 5 and transported to the expanded ammonium nitrate explosive production line.

Claims

1. An automatic feeding system for an explosive production line, characterized in that It includes a truss manipulator (1), a crusher (2), a conveyor (3) and an aqueous phase configuration tank (4). The crusher (2) is located below the truss manipulator (1). The inlet end of the conveyor (3) is communicated with the bottom discharge port of the crusher (2). The top of the aqueous phase configuration tank (4) is provided with a solid raw material inlet, a solution inlet and a process water inlet. One side of the bottom of the aqueous phase configuration tank (4) is provided with a liquid discharge port. The outlet end of the conveyor (3) is communicated with the solid raw material inlet.

2. The automatic feeding system for an explosive production line according to claim 1, wherein A vacuum suction cup is arranged at the grasping end of the robotic arm of the truss manipulator (1).

3. An automatic feeding system for an explosive production line according to claim 2, characterized in that, A bag breaker is arranged in the feed hopper at the top of the crusher (2).

4. An automatic feeding system for an explosive production line according to claim 3, characterized in that The conveyor (3) is a screw conveyor.

5. The automatic feeding system for an explosive production line according to claim 4, wherein, An aqueous phase transfer pump (5) is arranged on one side of the aqueous phase configuration tank (4). A filter (6) is arranged at the liquid discharge port of the aqueous phase configuration tank (4). The outlet end of the filter (6) is communicated with the inlet end of the aqueous phase transfer pump (5).

6. The automatic feeding system for an explosive production line according to claim 5, characterized in that, The filter (6) is a basket filter.

7. An automatic feeding system for an explosive production line according to claim 1, characterized in that, A heating coil (7) is arranged in the aqueous phase configuration tank (4), and a stirrer is arranged in the middle of the aqueous phase configuration tank (4).

8. An automatic feeding method for an explosive production line, characterized in that, The steps are as follows: A1. The truss manipulator (1) moves down according to the coordinates determined by the vision detection system to grasp the bagged sodium nitrate raw material. A2. The truss manipulator (1) rises to a safe height and is sent above the feed hopper of the crusher (2) through the truss mechanism. A3. The truss manipulator (1) drives the bagged sodium nitrate raw material to descend, pierces the packaging bag on the bag breaker, and the truss manipulator (1) rises. Wait until all the sodium nitrate raw material blocks are poured into the crusher (2) and broken into particles. A4. The truss manipulator (1) sends the empty bag to the bag collection area. A5. The sodium nitrate particles are conveyed upward through the conveyor (3) into the solid raw material inlet of the aqueous phase configuration tank (4). A6. Ammonium nitrate solution is added into the aqueous phase configuration tank (4) through the solution inlet. A7. Process water is added into the aqueous phase configuration tank (4) through the process water inlet. A8. The stirrer in the aqueous phase configuration tank (4) stirs and mixes the raw materials. A9. The mixed and configured solution is filtered by the filter (6) and then pumped out by the aqueous phase transfer pump (5).

9. The automatic feeding method for an explosive production line according to claim 8, characterized in that, B1. The solution in the aqueous phase configuration tank (4) is heated to 90 - 100 °C by the heating coil (7) and then kept warm.

10. An automatic feeding method for an explosive production line, characterized in that, The weight ratio among the sodium nitrate particles, ammonium nitrate solution and process water is as follows: Sodium nitrate particles: 8 - 12 parts; Ammonium nitrate solution: 68 - 80 parts; Process water: 9 - 12 parts.

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