Multi-faceted mixing drum and its usage method, automatic uniform mixing device and method

Abstract

This invention discloses a multi-faceted mixing drum, in which the drum base plate and sidewalls form a hollow regular prism structure; several flow-dispersing ridges converge at one end to the center of the drum base plate, and the other end connects to the side ridges; between each pair of flow-dispersing ridges is a regular conical surface with the center of a regular polygon as its vertex, the flow-dispersing ridge as its generatrix, and the bottom arc tangent to the drum base plate; each conical surface is divided into a slanted sliding surface and a gathering and guiding zone. This invention also discloses a method for using the multi-faceted mixing drum, including pouring powder into the gathering center; tilting the multi-faceted mixing drum, allowing the mixture to slide to the lower edge of the sidewall; and rotating the multi-faceted mixing drum, causing the mixture to be uniformly mixed through the guiding and turbulence zones. This invention also discloses an automatic uniform mixing device, including a base frame, a three-dimensional driving module, and a medicine box gripper module. This invention improves the uniformity and intrinsic safety of mixing multi-component, high-density-difference energetic powders, and has broad application prospects in the mixing of multi-component, high-density-difference energetic powder materials.

Description

Technical Field

[0001] This invention relates to a multi-faceted mixing drum and its method of use, an automatic uniform mixing device and method, and particularly to an automatic uniform mixing device and method applicable to multi-component, high-density-difference energetic powder materials, belonging to the field of pyrotechnic agent mixing technology. Background Technology

[0002] Pyrotechnics are widely used in systems such as aerospace launch vehicles. Pyrotechnic agents are the key factors that determine the success or failure of ignition and whether it is safe and reliable. The uniformity of mixed pyrotechnic agents, which are energetic powder mixtures, is an important factor that directly affects the reliability of pyrotechnic output and the consistency of products.

[0003] Mixed pyrotechnic agents are mainly multi-component energetic powder materials with high density differences. Their mixing process is manual or semi-automatic, which has problems such as batch-to-batch uniformity differences caused by production process fluctuations and direct contact between personnel and energetic powder materials. Therefore, it is necessary to realize the automatic uniform mixing of multi-component energetic powder materials with high density differences. By automatically mixing, the quality and safety issues of batch-to-batch uniformity differences and direct contact between personnel and energetic powder materials can be solved, thereby improving the mixing uniformity and inherent safety.

[0004] Currently, the mixing of multi-component, high-density-difference energetic powder materials is done manually or semi-automatically. This process has the following problems: 1) The production process of manual / semi-automatic mixing methods is highly volatile, resulting in significant differences in uniformity within and between batches for multi-component, high-density-difference energetic powder materials; 2) Direct contact between personnel and energetic powder materials poses a risk of accidental explosion, especially for highly electrostatically sensitive energetic dust. Existing manual / semi-automatic mixing methods are no longer adequate to meet the requirements for uniformity and personnel protection during the mixing of multi-component, high-density-difference energetic powder materials.

[0005] To ensure the uniformity and inherent safety of multi-component, high-density-difference energetic powder materials, an automated uniform mixing method is required. This method aims to achieve human-machine separation during the mixing process, thereby improving the uniformity and inherent safety of the mixture. Summary of the Invention

[0006] The purpose of this invention is to overcome the aforementioned defects and provide a multi-faceted mixing drum and its usage method, as well as an automatic uniform mixing device and method. This solves the technical problems of large variations in uniformity within and between batches, and poor safety due to face-to-face contact between humans and energetic powder materials, inherent in existing manual / semi-automatic mixing methods. This invention improves the uniformity and inherent safety of mixing multi-component, high-density-difference energetic powders, and has broad application prospects in the mixing of multi-component, high-density-difference energetic powder materials.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0008] A multi-faceted mixing drum includes: a drum body base plate, a drum body side wall, a flow-dispersing ridge, an oblique sliding surface, and a convergence and guiding area;

[0009] The drum body base plate is a regular polygon, and the drum body base plate and the drum body side wall are combined to form a hollow regular prism structure with an open top;

[0010] The flow-disrupting prism, oblique sliding surface, and convergent flow-guiding zone are located inside the cavity of the prism structure;

[0011] Several turbulence ribs converge at one end to the center of the drum body bottom plate, and the other end is connected to several side ribs of the prism structure; the center of the drum body bottom plate forms a gathering center, which is used to receive the energetic powder mixture poured in from the outside;

[0012] Between each pair of turbulence ribs is a conical surface, with the center of the drum body base plate as the vertex and the turbulence rib as the generatrix. The arc of the bottom surface of the conical surface is tangent to the drum body base plate.

[0013] The conical surface is divided into three equal parts. The part adjacent to the turbulence ridge is the oblique sliding surface, and the part between the two oblique sliding surfaces is the aggregation and guiding zone. The aggregation and guiding zone is used to guide the energetic powder mixture from the aggregation center to the lower edge of the drum side wall to form irregular aggregation. Each turbulence ridge and the oblique sliding surfaces on both sides form the turbulence zone. The turbulence zone is used to perform convective shearing on the energetic powder mixture during the rotation of the multi-faceted mixing drum.

[0014] Furthermore, each turbulence rib is at an angle α to the drum body base plate, where α = 3° to 10°.

[0015] Furthermore, along the direction from the center of the drum body base plate to the side edge of the prism structure, the width of the oblique sliding surface and the converging guide zone gradually increases.

[0016] Furthermore, the connection between the turbulence ridge and the oblique sliding surface is rounded for a smooth transition.

[0017] Furthermore, the edges of each side of the regular prism are rounded to create a smooth transition and form a turbulence-inducing inner angle;

[0018] The turbulence zone is composed of the inner angle of the turbulence, the turbulence ridge, and the oblique sliding surfaces on both sides.

[0019] The radius of the fillet at the inner corner of the turbulence is 1 to 5 times the radius of the fillet at the connection between the turbulence ridge and the oblique sliding surface.

[0020] Furthermore, the multi-faceted mixing drum is a one-piece molded structure, and except for the rounded corners, the inner cavity of the regular prism structure is treated with a smooth transition.

[0021] The above-mentioned method of using a multi-faceted mixing drum includes:

[0022] Pour the energetic powder mixture into the gathering center of the multi-faceted mixing drum;

[0023] The multi-faceted mixing drum is tilted with the drum body bottom plate as the base surface. The energetic powder mixture slides and diffuses through the arbitrary agglomeration and guiding zone to the lower edge of the drum body side wall, and the energetic powder mixture agglomerates irregularly.

[0024] The multi-faceted mixing drum rotates, causing the irregularly aggregated energetic powder mixture to move along the drum sidewall through the aggregation and turbulence zones in sequence. During the rotation, the turbulence zone continuously enhances convective shearing, making the energetic powder mixture uniformly mixed.

[0025] An automatic uniform mixing device includes a base frame, a three-dimensional driving module, a medicine box gripper module, an automatic loading / unloading limiting frame, and a multi-faceted mixing drum rotating mixing module;

[0026] The three-dimensional drive module and the automatic loading / unloading limit frame are installed on the base frame;

[0027] The three-dimensional drive module is used to drive the multi-faceted mixing drum rotation mixing module and the medicine box gripper module to move to the target feeding position or the target unloading position;

[0028] The automatic loading / unloading limit frame includes medicine boxes and a limit frame for holding the medicine boxes;

[0029] The medicine box gripper module includes a rotary cylinder and a pneumatic gripper. The pneumatic gripper is used to grip the medicine box, and the rotary cylinder is used to drive the pneumatic gripper to rotate, so as to realize the feeding and discharging of medicine at the feeding position.

[0030] The multi-faceted mixing drum rotary mixing module includes the aforementioned multi-faceted mixing drum and an explosion-proof servo motor; the explosion-proof servo motor is used to drive the multi-faceted mixing drum to rotate, tilt, or spin, thereby realizing the mixing of energetic powder mixtures and the feeding and pouring of medicine at the feeding position.

[0031] An automatic uniform mixing method, implemented using the aforementioned automatic uniform mixing device, includes:

[0032] The S1 medicine box gripper module grips the medicine box containing the energetic powder mixture to be mixed from the limiting frame;

[0033] S2 explosion-proof servo motor drives the multi-faceted mixing drum to rotate and tilt to the feeding position;

[0034] The S3 3D drive module drives the medicine box gripper module and the multi-faceted mixing drum to reach the target feeding position;

[0035] The S4 medicine box gripper module rotates to complete the feeding and dispensing of medicine;

[0036] After S5 finishes dispensing the medicine, the medicine box gripper module picks up the empty medicine box and returns it to the limit frame;

[0037] The S6 medicine box gripper module is reset, the explosion-proof servo motor drives the multi-faceted mixing drum to rotate and adjust the tilt angle, and then the explosion-proof servo motor drives the multi-faceted mixing drum to rotate, so that the energetic powder mixture is mixed evenly.

[0038] After S7 has finished mixing, the medicine box gripper module picks up the empty medicine box from the limit frame;

[0039] The S8 3D drive module drives the medicine box gripper module and the multi-faceted mixing drum to reach the target feeding position;

[0040] The S9 explosion-proof servo motor drives the multi-faceted mixing drum to rotate and tilt, completing the feeding and pouring of medicine.

[0041] The S10 medicine box gripper module picks up the medicine box and returns it to the limit frame, and then the medicine box gripper module resets.

[0042] Compared with the prior art, the present invention has at least one of the following advantages:

[0043] (1) This invention creatively proposes a multi-faceted mixing drum, which cleverly sets up a turbulence zone and a convergence and guiding zone to form a three-dimensional mixing motion with convection mixing as the main process and diffusion mixing and shear mixing as the combined processes, effectively improving the mixing uniformity.

[0044] (2) Based on the structure of the multi-faceted mixing drum, the present invention proposes a mixing method. Through tilting, rotation and other operations, the energetic powder material in the mixing drum is uniformly mixed. The process has high reliability and good repeatability.

[0045] (3) The present invention proposes an automatic uniform mixing device and method to enhance the uniformity of mixing, which can realize automatic feeding and automatic unloading, realize automatic mixing to enhance the uniformity of mixing, and improve the uniformity and inherent safety of mixing energetic powders with multiple components and high density difference. Attached Figure Description

[0046] Figure 1 This is a simplified design diagram of a regular polygonal multi-faceted mixing drum for enhancing convective shearing in this invention;

[0047] Figure 2 This is a simplified diagram of the inner cavity design of the regular polygonal multi-faceted mixing drum for enhancing convective shearing in this invention;

[0048] Figure 3 This is a schematic diagram of the internal structure of the automatic uniform mixing device for enhancing mixing uniformity in this invention.

[0049] Figure 4 This is a schematic diagram of the XYZ axis module structure of the automatic uniform mixing device for enhancing mixing uniformity in this invention;

[0050] Figure 5 This is a schematic diagram of the medicine box gripper module structure of the automatic uniform mixing device for enhancing mixing uniformity in this invention.

[0051] Figure 6 This is a schematic diagram of the automatic loading / unloading limit frame structure of the automatic uniform mixing device for enhancing mixing uniformity in this invention;

[0052] Figure 7 This is a schematic diagram of the multi-faceted mixing drum rotating mixing module of the automatic uniform mixing device for enhancing mixing uniformity in this invention. Detailed Implementation

[0053] The features and advantages of the present invention will become clearer and more apparent from the following detailed description.

[0054] The term “exemplary” as used herein means “serving as an example, embodiment, or illustration.” Any embodiment illustrated herein as “exemplary” is not necessarily to be construed as superior to or better than other embodiments. Although various aspects of embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated otherwise.

[0055] This invention provides an automatic uniform mixing method for multi-component, high-density-difference energetic powder materials, which mainly includes a regular polygonal multi-faceted mixing drum design to enhance convective shear and an automatic uniform mixing device to enhance mixing uniformity.

[0056] Enhanced Convection Shearing Polygonal Multi-faceted Mixing Drum Design: The multi-faceted mixing drum is based on an integrated regular polygonal open container. Its structure mainly consists of a drum base plate, drum side walls, turbulence ribs, oblique sliding surfaces, a convergence center, a convergence guiding zone, and turbulence inner angles. The multi-faceted mixing drum achieves full enhancement of convection shearing through the structural design of turbulence ribs, oblique sliding surfaces, and turbulence inner angles, forming a three-dimensional mixing motion with convection mixing as the main component and diffusion mixing and shear mixing as a combined effect.

[0057] Specifically, both the drum body base plate and the drum body sidewalls are arranged in the shape of regular polygons, forming a hollow regular prism structure with an open top. The turbulence ribs, oblique sliding surfaces, converging centers, converging guide zones, and turbulence inner angles are all located within the cavity of the regular prism structure. One end of the turbulence ribs converges at the center of the drum body base plate, while the other end connects to several side edges of the regular prism structure. They extend from the center of the regular polygon to each inner angle, rising with increasing distance from the center, forming an extension angle α (α = 3°–10°). All turbulence ribs have rounded corners for a smooth transition. Between every two turbulence ribs is a regular conical surface with the center of the regular polygon as its vertex, the turbulence rib as its generatrix, and its conical base tangent to the drum body base plate. Each conical surface is divided into three equal parts: the part adjacent to the turbulence rib is the oblique sliding surface, and the part tangent to the drum body base plate is the converging guide zone. Along the direction from the center of the drum's base plate towards the side edge of the regular polygonal prism structure, the width of the oblique sliding surface and the converging and guiding zone gradually increases. Specifically, this is manifested in the gradual increase of the arc length L of the bottom surface of the conical surface, with the arc length L being proportional to the distance X from the center. Furthermore, the interior corners of each regular polygonal prism are rounded to form turbulence-inducing interior corners. The width of the turbulence-inducing interior corner region is (1-5) times the width of the rounded transition of the turbulence-inducing prism (width refers to the radius of the rounded corner). Each turbulence-inducing prism, together with the oblique sliding surfaces on both sides and the turbulence-inducing interior corners, forms the turbulence-inducing zone. The overall structure of the regular polygonal multi-faceted mixing drum is integrally molded without welds. Except for the rounded transition structure described above, the inner cavity undergoes a smooth transition treatment, and a coating treatment is applied depending on the application scenario.

[0058] During mixing, the energetic powder mixture is poured into the center of the multi-faceted mixing drum. After the drum rotates and tilts at a certain angle with the bottom plate as its base, the energetic powder mixture slowly slides and diffuses through the aggregation and guiding zone between any two oblique sliding surfaces to the lower edge of the drum sidewall, where the powder mixture irregularly aggregates. The multi-faceted mixing drum rotates around its axis, causing the irregularly aggregated powder mixture to rotate along the inner wall of the drum sequentially through the aggregation and guiding zone and the turbulence zone (oblique sliding surface, turbulence ridge, and turbulence inner angle). During the rotation, the turbulence zone (oblique sliding surface, turbulence ridge, and turbulence inner angle) continuously enhances convective shear. By controlling mixing parameters such as material filling rate, tilt angle, rotation speed, and rotation time (generally, the correlation between mixing parameters and mixing uniformity in a mixing motion system is not a simple linear law, but depends on the specific structure of the mixing container and the characteristics of the mixing materials. Taking a regular octagonal multi-faceted mixing drum for mixing firing propellant as an example, this invention provides a set of combination ranges of mixing parameters for reference: material filling rate = 35%~60%, tilt angle = 30°~60°, rotation speed = 60rpm~300rpm, rotation time = 30min~120min), a staged uniform mixing motion is achieved through the first stage (convective mixing), the second stage (convective mixing and shear mixing), and the third stage (diffusion mixing). This achieves uniform mixing of multi-component, high-density-difference energetic powder materials, with the system uniformity (σ) fluctuating around a stable value σ0. The mixture system is ultimately in the dynamic mixing stage of micro-particles, that is, the mixing and separation phases of the powder are in equilibrium.

[0059] An automated uniform mixing device for enhanced mixing uniformity: The automated uniform mixing device consists of a base frame, three-dimensional drive modules (X-axis module, Y-axis module, Z-axis module), a medicine box gripper module, an automatic loading / unloading limit frame, and a multi-faceted mixing drum rotary mixing module. The X-axis module, Y-axis module, Z-axis module, and automatic loading / unloading limit frame are bolted to the base frame. The medicine box gripper module and the multi-faceted mixing drum rotary mixing module are bolted to the XYZ-axis modules. The medicine box gripper module consists of a rotary cylinder and pneumatic grippers. The automatic loading / unloading limit frame consists of a medicine box, limit holes, and a limit frame. The multi-faceted mixing drum rotary mixing module consists of a regular polygonal multi-faceted mixing drum, a reducer, and an explosion-proof servo motor.

[0060] During the automatic uniform mixing process, the manual operator places the medicine box onto the automatic loading / unloading limit frame. The medicine box gripper module picks up the medicine box from the automatic loading / unloading limit frame, while the multi-faceted mixing drum rotating module rotates and tilts to the loading position. The XYZ axis module drives the medicine box gripper module and the multi-faceted mixing drum rotating module to perform XYZ axis position compensation, ensuring the loading and unloading position is appropriate. Subsequently, the medicine box gripper module rotates to complete the loading and unloading. After unloading, the medicine box gripper module picks up the unloaded empty medicine box and returns it to the automatic loading / unloading limit frame. The medicine box gripper module resets, and the multi-faceted mixing drum rotating module adjusts its tilt angle, rotating at a certain frequency to uniformly mix the energetic powder mixture inside the mixing drum. The material filling rate, tilt angle, rotation speed, and mixing time are determined according to the mixing conditions. After mixing, the medicine box gripper module picks up the empty medicine box from the automatic loading / unloading limit frame. The XYZ axis module drives the medicine box gripper module and the multi-faceted mixing drum rotation mixing module to perform XYZ axis position compensation, ensuring the dispensing position is appropriate. Subsequently, the multi-faceted mixing drum rotation mixing module rotates to complete the dispensing. After dispensing, the medicine box gripper module picks up the filled medicine box and places it back onto the automatic loading / unloading limit frame, and then the medicine box gripper module resets.

[0061] This invention proposes a regular polygonal multi-faceted mixing drum that enhances convective shear. The integrally molded regular polygonal multi-faceted mixing drum achieves full enhancement of convective shear through the structural design of turbulent ridges, oblique sliding surfaces, and turbulent inner angles. It forms a three-dimensional mixing motion with convective mixing as the main component, and diffusion mixing and shear mixing working together. This allows multi-component energetic powder materials with high density differences to be gradually mixed uniformly. It solves the problems of large batch-to-batch uniformity differences and face-to-face contact between humans and energetic powder materials in manual mixing methods, and improves the uniformity and inherent safety of mixing multi-component energetic powders with high density differences.

[0062] This invention proposes an automatic uniform mixing device to enhance mixing uniformity. The device automatically feeds materials through a clamping mechanism and an XYZ axis position compensation module. The rotating mixing module of the regular polygonal multi-faceted mixing drum can achieve a certain angle of tilt and a certain frequency of rotation. By further determining the mixing parameters such as rotation speed, swing amplitude, filling rate, and mixing time, the energetic powder material in the mixing drum is driven to be uniformly mixed. After mixing, the clamping mechanism and the XYZ axis position compensation module automatically unload the materials, realizing automatic mixing with enhanced mixing uniformity. This improves the uniformity and inherent safety of mixing multi-component energetic powders with high density differences.

[0063] Example:

[0064] like Figures 1-7 As shown,

[0065] This invention provides an automatic uniform mixing method for multi-component, high-density-difference energetic powder materials, comprising a regular polygonal multi-faceted mixing drum design to enhance convective shearing and an automatic uniform mixing device to enhance mixing uniformity.

[0066] like Figure 1 and Figure 2 The design of the polygonal multi-faceted mixing drum enhances convective shearing: The multi-faceted mixing drum is based on an integrated polygonal open container. Its structure mainly consists of a drum base plate 1, drum side walls 2, turbulence ribs 3, oblique sliding surfaces 4, a convergence center 5, a convergence guiding zone 6, and turbulence inner angles. The multi-faceted mixing drum achieves full enhancement of convective shearing through the structural design of turbulence ribs 3, oblique sliding surfaces 4, and turbulence inner angles, forming a three-dimensional mixing motion with convective mixing as the main component and diffusion mixing and shear mixing as a combined effect.

[0067] Specifically, both the drum body base plate 1 and the drum body sidewalls 2 are arranged in the shape of regular polygons. The two together form a hollow regular prism structure with an open top. The turbulence ribs 3, oblique sliding surfaces 4, converging centers 5, converging and guiding areas 6, and turbulence inner angles are all located in the inner cavity of the regular prism structure. One end of the turbulence ribs 3 converges at the center of the drum body base plate 1, and the other end connects to several side edges of the regular prism structure. It extends from the center of the regular polygon to each inner angle of the regular polygon. As it extends, it rises as the distance from the center increases, forming an extension angle α (α = 3° to 10°). All turbulence ribs 3 have rounded corners for a smooth transition. Between each pair of turbulence ribs 3 is a regular conical surface with the center of a regular polygon as its vertex, the turbulence rib 3 as its generatrix, and the conical base tangent to the drum body base plate 1. Each conical surface is divided into three equal parts: the part adjacent to the turbulence rib 3 is the oblique sliding surface 4, and the part tangent to the drum body base plate is the converging and guiding zone 6. Along the direction from the center of the drum body base plate 1 towards the side edge of the regular prism structure, the width of the oblique sliding surface 4 and the converging and guiding zone 6 gradually increases. Specifically, the arc length L of the bottom surface of the conical surface gradually increases, and the arc length L is proportional to the distance X from the center. In addition, the interior corners of the regular polygonal prism are rounded to form turbulence interior corners. The width of the turbulence interior corner region is (1 to 5) times the width of the rounded transition of the turbulence rib 3. Each turbulence rib 3, together with the oblique sliding surfaces 4 on both sides and the turbulence interior corners, constitutes the turbulence zone. The overall structure of the regular polygonal multi-faceted mixing drum is integrally formed without welding seams. Except for the rounded corner transition structure mentioned above, the inner cavity is treated with smooth transition and coating treatment is applied according to the application scenario.

[0068] During mixing, the energetic powder mixture is poured into the gathering center 5 of the multi-faceted mixing drum. After the multi-faceted mixing drum rotates and tilts at a certain angle with the drum base plate 1 as the base plane, the energetic powder mixture slowly slides and diffuses through the gathering and guiding zone 5 between any two oblique sliding surfaces 4 to the lower edge of the drum side wall 2, where the powder mixture irregularly gathers. The multi-faceted mixing drum rotates around its axis, causing the irregularly gathered powder mixture to rotate along the inner wall of the multi-faceted mixing drum sequentially through the gathering and guiding zone 6 and the turbulence zone (turbulence ridge 3, oblique sliding surface 4, and turbulence inner angle) on a fixed axis. During the rotation, the turbulence zone (turbulence ridge 3, oblique sliding surface 4, and turbulence inner angle) continuously enhances convective shear. By controlling mixing parameters such as material filling rate, tilt angle, rotation speed, and rotation time, a staged uniform mixing process is achieved, consisting of three stages: Stage I (convective mixing), Stage II (combined convective and shear mixing), and Stage III (diffusion mixing). This process ensures the uniform mixing of multi-component, high-density-difference energetic powder materials, with the system homogeneity (σ) fluctuating around a stable value σ0. Ultimately, the mixture system reaches a dynamic mixing stage at the microscopic particle level, indicating a balance between powder mixing and separation.

[0069] like Figure 3 and Figure 4 An automatic uniform mixing device to enhance mixing uniformity: The automatic uniform mixing device consists of a base frame 13, an X-axis module 7, a Y-axis module 8, a Z-axis module 9, a medicine box gripper module 10, an automatic loading / unloading limit frame 11, and a multi-faceted mixing drum rotary mixing module 12. The X-axis module 7, Y-axis module 8, Z-axis module 9, and automatic loading / unloading limit frame 11 are bolted to the base frame 13. The medicine box gripper module 10 and the multi-faceted mixing drum rotary mixing module 12 are bolted to the X-axis module 7, Y-axis module 8, and Z-axis module 9. Figure 5 The medicine box gripper module 10 consists of a rotary cylinder 14 and a pneumatic gripper 15, such as... Figure 6 The automatic loading / unloading limit frame 11 consists of a medicine box 16, a limit hole 17, and a limit frame 18, as follows: Figure 7 The multi-faceted mixing drum rotary mixing module 12 consists of a regular polygonal multi-faceted mixing drum 19, a reducer 20, and an explosion-proof servo motor 21.

[0070] During the automatic uniform mixing process, the manual operator places the medicine box 16 onto the automatic loading / unloading limit frame 11. The medicine box gripper module 10 grips the medicine box 16 from the automatic loading / unloading limit frame 11. Simultaneously, the multi-faceted mixing drum rotating mixing module 12 rotates and tilts to the loading position. The X-axis module 7, Y-axis module 8, and Z-axis module 9 drive the medicine box gripper module 10 and the multi-faceted mixing drum rotating mixing module 12 to perform XYZ axis position compensation, ensuring the loading and unloading positions are appropriate. Subsequently, the medicine box gripper module 10 rotates to complete the loading and unloading. After unloading, the medicine box gripper module 10 grips the unloaded empty medicine box 16 back to the automatic loading / unloading limit frame 11. The medicine box gripper module 10 resets, and the multi-faceted mixing drum rotating mixing module 12 adjusts its tilt angle, rotating at a certain frequency to drive the energetic powder mixture in the mixing drum for uniform mixing. The material filling rate, tilt angle, rotation speed, mixing time, and other mixing parameters depend on the mixing conditions. After mixing, the medicine box gripper module 10 grips the empty medicine box 16 from the automatic loading / unloading limit frame 11. The X-axis module 7, Y-axis module 8, and Z-axis module 9 drive the medicine box gripper module 10 and the multi-faceted mixing drum rotation mixing module 12 to perform XYZ axis position compensation, so that the dispensing position is appropriate. Then, the multi-faceted mixing drum rotation mixing module 12 rotates to complete the dispensing. After dispensing, the medicine box gripper module 10 grips the filled medicine box 16 onto the automatic loading / unloading limit frame 11, and the medicine box gripper module 10 resets.

[0071] This invention is applicable to the automatic uniform mixing of multi-component, high-density-difference energetic powder materials in the field of pyrotechnic agent mixing technology.

[0072] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

[0073] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A multi-faceted mixing drum, characterized in that, include: Drum body base plate (1), drum body side wall (2), turbulence ridge (3), oblique sliding surface (4) and convergence guide area (6); The drum body base plate (1) is a regular polygon, and the drum body base plate (1) and the drum body side wall (2) are combined to form a hollow regular prism structure with an open top; The flow-disrupting prism (3), the oblique sliding surface (4), and the convergence and guiding zone (6) are located in the inner cavity of the prism structure; One end of several turbulence ribs (3) converges at the center of the drum body base plate (1), and the other end is connected to several side ribs of the prism structure; the center of the drum body base plate (1) forms a gathering center (5), which is used to receive the energetic powder mixture poured in from the outside; Between each pair of turbulence ribs (3) is a conical surface. The conical surface has the center of the drum body base plate (1) as the vertex and the turbulence ribs (3) as the generatrix. The arc of the bottom surface of the conical surface is tangent to the drum body base plate (1). The conical surface is divided into three equal parts. The part adjacent to the turbulence ridge (3) is the oblique sliding surface (4), and the part between the two oblique sliding surfaces (4) is the aggregation and guiding zone (6). The aggregation and guiding zone (6) is used to guide the energetic powder mixture from the aggregation center (5) to the lower edge of the drum side wall (2) to form irregular aggregation. Each turbulence ridge (3) and the oblique sliding surfaces (4) on both sides form a turbulence zone. The turbulence zone is used to perform convective shearing on the energetic powder mixture during the rotation of the multi-faceted mixing drum. Along the direction from the center of the drum body bottom plate (1) to the side edge of the prism structure, the width of the oblique sliding surface (4) and the converging guide area (6) gradually increases; The connection between the turbulence ridge (3) and the oblique sliding surface (4) is rounded to create a smooth transition.

2. The multi-faceted mixing drum according to claim 1, characterized in that, Each turbulence rib (3) is at an angle α to the drum body base plate (1), where α = 3°~10°.

3. The multi-faceted mixing drum according to claim 1, characterized in that, The edges of the regular prism are rounded to create a smooth transition and form a turbulent inner angle. The turbulence zone is composed of the inner angle of the turbulence, the turbulence ridge (3), and the oblique sliding surfaces (4) on both sides.

4. A multi-faceted mixing drum according to claim 3, characterized in that, The radius of the rounded corner at the inner corner of the turbulence is 1 to 5 times the radius of the rounded corner at the connection between the turbulence ridge (3) and the oblique sliding surface (4).

5. A multi-faceted mixing drum according to claim 4, characterized in that, The multi-faceted mixing drum is a one-piece molded structure. Except for the rounded corners, the inner cavity of the regular prism structure is smoothed.

6. A method of using a multi-faceted mixing drum according to any one of claims 1-5, characterized in that, include: Pour the energetic powder mixture into the gathering center of the multi-faceted mixing drum (5); The multi-faceted mixing drum is tilted with the drum body bottom plate (1) as the base surface. The energetic powder mixture slides and diffuses through the arbitrary agglomeration and guiding zone (6) to the lower edge of the drum body side wall (2). The energetic powder mixture is irregularly agglomerated. The multi-faceted mixing drum rotates, causing the irregularly agglomerated energetic powder mixture to move along the drum sidewall (2) through the agglomerated flow guide zone (6) and the turbulence zone in sequence. During the rotation, the turbulence zone continuously strengthens the convection shear, making the energetic powder mixture uniformly mixed.

7. An automatic uniform mixing device, characterized in that, It includes a base frame (13), a three-dimensional drive module, a medicine box gripper module (10), an automatic loading / unloading limit frame (11), and a multi-faceted mixing drum rotating mixing module (12). The three-dimensional drive module and the automatic loading / unloading limit frame (11) are installed on the base frame (13); The three-dimensional driving module is used to drive the multi-faceted mixing drum rotation mixing module (12) and the medicine box gripper module (10) to move to the target feeding position or the target unloading position; The automatic loading / unloading limit frame (11) includes a medicine box (16) and a limit frame (18) for carrying the medicine box (16). The medicine box gripper module (10) includes a rotary cylinder (14) and a pneumatic gripper (15). The pneumatic gripper (15) is used to grip the medicine box (16), and the rotary cylinder (14) is used to drive the pneumatic gripper (15) to rotate, so as to realize the feeding and discharging of medicine at the feeding position. The multi-faceted mixing drum rotary mixing module (12) includes an explosion-proof servo motor (21) and a multi-faceted mixing drum as described in any one of claims 1-5; the explosion-proof servo motor (21) is used to drive the multi-faceted mixing drum to rotate, tilt or rotate, so as to realize the mixing of energetic powder mixtures and the feeding and pouring of medicine at the feeding position.

8. An automatic uniform mixing method, characterized in that, The automatic uniform mixing device according to claim 7 is used to achieve this, comprising: The S1 medicine box gripper module (10) grips the medicine box (16) containing the energetic powder mixture to be mixed from the limiting frame (18). The S2 explosion-proof servo motor (21) drives the multi-faceted mixing drum to rotate and tilt to the feeding position; The S3 three-dimensional drive module drives the medicine box gripper module (10) and the multi-faceted mixing drum rotating mixing module (12) to the target feeding position; The S4 medicine box gripper module (10) rotates to complete the feeding and dispensing of medicine; After S5 finishes dispensing the medicine, the medicine box gripper module (10) picks up the empty medicine box (16) and returns to the limit frame (18). The S6 medicine box gripper module (10) is reset, the explosion-proof servo motor (21) drives the multi-faceted mixing drum to rotate and adjust the tilt angle, and then the explosion-proof servo motor (21) drives the multi-faceted mixing drum to rotate, so that the energetic powder mixture is mixed evenly. After S7 is mixed, the medicine box gripper module (10) grips the empty medicine box (16) from the limit frame (18). The S8 three-dimensional drive module drives the medicine box gripper module (10) and the multi-faceted mixing drum rotating mixing module (12) to the target feeding position; The S9 explosion-proof servo motor (21) drives the multi-faceted mixing drum to rotate and tilt to complete the feeding and pouring of medicine; The S10 medicine box gripper module (10) grips the medicine box (16) and returns to the limit frame (18), and the medicine box gripper module (10) is reset.

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