Automatic mixing and dispensing equipment for gunpowder
By designing an automated mixing and dispensing equipment, and utilizing collaborative robots and precision weighing devices, the automated mixing, weighing, and dispensing of gunpowder powder has been achieved. This solves the problems of low efficiency and significant safety hazards associated with manual operation, and improves production efficiency and quality stability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- BEIJING UNIKON TECH CO LTD
- Filing Date
- 2025-08-22
- Publication Date
- 2026-07-10
AI Technical Summary
In existing technologies, gunpowder mixing and packaging operations rely on manual operation, resulting in low production efficiency, high labor intensity, high safety hazards, and unstable quality, making it difficult to meet the needs of high precision and multi-batch gunpowder automation.
An automated gunpowder mixing and dispensing device was designed, comprising a mixing mechanism, a receiving and weighing mechanism, a collaborative robot, and a dispensing mechanism. The collaborative robot enables automated mixing, weighing, and dispensing, while the combination of a vibrating feeder and a precision weighing device ensures high accuracy and flexibility.
It realizes the automated mixing, weighing and dispensing of gunpowder powder, improves production efficiency, reduces labor costs, eliminates safety hazards, and is applicable to the mixing, weighing and dispensing of different types of gunpowder, thus expanding its scope of application.
Smart Images
Figure CN224477103U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of gunpowder production, specifically to an automatic gunpowder mixing and dispensing equipment. Background Technology
[0002] The mixing and packaging of gunpowder powder are involved in various fields, including military industry, fireworks and firecrackers, mining engineering, and chemical engineering. However, in many cases, the weighing, mixing, and packaging of gunpowder powder are still done manually. This manual method is not only inefficient and labor-intensive, but also poses significant safety hazards. Furthermore, human error can affect the quality of powder mixing, weighing, and packaging, which in turn affects the stability of the subsequent gunpowder properties.
[0003] With technological advancements, some automatic gunpowder mixing and dispensing devices have emerged in existing technologies. For example, patent CN208995412U discloses a gunpowder mixing machine for fireworks. This device mainly utilizes pneumatic methods to achieve gunpowder mixing. During operation, the gunpowder raw materials are weighed according to a certain ratio and placed into the raw material barrels. Then, the spray pipe and nozzle are connected to an external high-pressure air source. The regulating valve on the spray pipe and the discharge valve on the raw material barrel are opened, and the raw materials are sprayed into the first mixing zone using high-pressure airflow. The mixed gunpowder passes through a partition and enters the second mixing zone. At this time, the high-speed airflow sprayed by the nozzle achieves secondary mixing of the gunpowder. Finally, the gunpowder falls to the bottom of the mixing barrel. After mixing is completed, the discharge port is opened to output the gunpowder.
[0004] Patent CN216024674U discloses an automatic discharge device for an automatic pyrotechnic mixer. During operation, the device controls the movement of an electric push rod, which in turn drives a vertical shaft to rotate, thereby rotating a horizontal shaft. This moves the receiving bucket to the discharge port of the automatic pyrotechnic mixer, allowing the electric push rod to reset and carry the receiving bucket out. This device effectively receives and moves the material discharged from the automatic pyrotechnic mixer, replacing the manual bucket handling required by workers.
[0005] However, with the development of technology, companies in related fields have increasingly higher requirements for the precision of automatic gunpowder mixing and packaging. In particular, due to the special characteristics of gunpowder products such as small batches, multiple batches, and unconventional processes, there is an urgent need for an automated gunpowder mixing and packaging equipment that can meet multiple process requirements such as high precision, multiple ratios, and high efficiency. Utility Model Content
[0006] The purpose of this utility model is to provide an automatic gunpowder mixing and dispensing equipment, which can automatically realize the mixing, weighing and dispensing of gunpowder powder, improve production efficiency and work quality, eliminate personal safety hazards, and is applicable to the mixing, weighing and dispensing of different types of gunpowder, with a wide range of applications.
[0007] The objective of this utility model is achieved through the following technical solution:
[0008] An automatic gunpowder mixing and dispensing device includes a frame, a mixing mechanism, a receiving and weighing mechanism, a collaborative robot, a discharging mechanism, and a receiving hopper. The mixing mechanism and the receiving and weighing mechanism are both located on one side of the frame. The mixing mechanism includes a swingable mixing drum, and the receiving and weighing mechanism is located below the discharging end of the mixing drum. The receiving and weighing mechanism includes a receiving lifting plate, and a receiving weighing device is provided on the receiving lifting plate. When the mixing drum discharges, the upper end of the receiving hopper is aligned with the discharging end of the mixing drum, and the lower end is... On the receiving and weighing device; the discharge mechanism is located on the upper end of the equipment frame, and the discharge mechanism includes a movable discharge component, a discharge guide trough and a vibrating feeder, wherein the movable discharge component is provided with a movable discharge sleeve, and the discharge sleeve is located on the upper side of the discharge guide trough. One end of the discharge guide trough is provided with a perforated discharge plate communicating with the vibrating feeder, and the other end is provided with a material ball recovery hole. After the receiving hopper finishes receiving the material, it is picked up by the collaborative robot and moved to the discharge sleeve, and the lower part of the receiving hopper is provided with a hopper output control valve.
[0009] The upper part of the equipment frame is provided with a mixing bottle station seat for storing multiple mixing bottles, and the mixing bottles are picked up by the collaborative robot and poured into the mixing tank; in addition, the upper part of the equipment frame is provided with a feeding hopper station seat for storing a mixing feeding hopper, and the mixing feeding hopper is picked up by the collaborative robot and placed at the feeding end of the mixing tank.
[0010] The mixing mechanism includes a mixing drive device, a mixing drive shaft, a swing frame, and a hinge frame. The mixing drive shaft is driven to rotate by the mixing drive device, and the swing frame is driven to rotate by the mixing drive shaft. The lower two sides of the mixing barrel are respectively hinged to the corresponding sides of the swing frame through a first hinge shaft, and the upper two sides of the mixing barrel are respectively hinged to the corresponding sides of the hinge frame through a second hinge shaft. The hinge frame is fixed to the equipment frame by a mounting shaft.
[0011] The mixing tank has an inlet control valve at the upper feed end and an outlet control valve at the lower discharge end.
[0012] The material receiving and weighing mechanism includes a material receiving lifting device, and the material receiving lifting plate is driven to lift and lower through the material receiving lifting device; the material receiving and weighing device is provided with a material receiving weighing seat, the lower end of the material receiving hopper is placed in the material receiving weighing seat when receiving material, and a hopper in-position detection element is provided on one side of the material receiving weighing seat.
[0013] The receiving hopper includes an upper hopper section and a lower output pipe section, wherein the hopper section is equipped with a pneumatic vibrator and the output pipe section is equipped with a hopper output control valve.
[0014] The moving discharge assembly includes a lifting module, a lifting base, and a transverse module. The lifting base is driven to lift and lower via the lifting module. The transverse module is mounted on the lifting base and has a transverse slider. The discharge sleeve is fixedly connected to the transverse slider.
[0015] The vibrating feeder includes a weighing sensor, a vibrator, and a discharge channel plate. The upper side of the input end of the discharge channel plate is provided with a feeding hopper, and the lower side is provided with a vibrator. The lower side of the vibrator is provided with a weighing sensor. The output end of the discharge channel plate is provided with an output port. The lower side of the porous discharge plate of the discharge guide groove is provided with a discharge hopper, and the lower end of the discharge hopper is aligned with the feeding hopper.
[0016] After all the powder inside the receiving hopper on the discharge sleeve is discharged, the receiving hopper is removed by a collaborative robot. The discharge sleeve, together with the remaining mixed material balls inside, moves along the discharge guide groove to the material ball recycling hole, wherein the diameter of the mixed material balls is larger than the diameter of the discharge hole on the porous discharge plate.
[0017] The discharge mechanism includes a discharge mounting frame, and the discharge mounting frame is provided with a vertical plate, a first support plate and a second support plate from top to bottom. The movable discharge component is provided on the vertical plate. The first support plate is provided with a ball recycling bottle, and the ball recycling bottle is located below the ball recycling hole. The vibrating feeder is provided on the second support plate.
[0018] The advantages and positive effects of this utility model are as follows:
[0019] 1. This utility model can automatically realize the mixing, weighing and packaging of gunpowder powder. The entire working process requires no human intervention except for placing the mixing bottle. This not only improves production efficiency and reduces labor costs, but also ensures human-machine isolation during mixing and packaging, eliminating potential personal safety hazards.
[0020] 2. The mixing bottle of this utility model can be filled with appropriate types of powder according to actual conditions. At the same time, when the mixing tank is output, the receiving weighing device in the receiving weighing mechanism can accurately detect the weight of the receiving hopper. When dispensing, the vibrating feeder in the dispensing mechanism can achieve accurate output of the weight of a single dispensing. This improves the weighing and dispensing accuracy of this utility model and ensures the quality of weighing and dispensing. On the other hand, it also makes this utility model applicable to the mixing, weighing and dispensing of different types of gunpowder, thus improving the flexibility and scope of application of this utility model.
[0021] 3. This utility model utilizes collaborative robots to realize the process transfer of components such as dispensing bottles and receiving hoppers, which can ensure the accuracy of process transfer. At the same time, compared with devices such as conveyor belts, collaborative robots can also make the overall structure of this utility model compact, reduce the floor space, and save production space. Attached Figure Description
[0022] Figure 1 This is a schematic diagram of the overall structure of this utility model.
[0023] Figure 2 for Figure 1 A schematic diagram of the structure of the equipment frame, mixing mechanism, and receiving and weighing mechanism.
[0024] Figure 3 for Figure 1 A structural diagram of a collaborative robot.
[0025] Figure 4 for Figure 1 A schematic diagram of the material discharge mechanism.
[0026] Figure 5 for Figure 4 Another structural diagram of the discharge mechanism.
[0027] Figure 6 for Figure 5 Enlarged view of point A in the image.
[0028] Figure 7 for Figure 6 A schematic diagram of the structure of the mobile material discharge assembly.
[0029] Among them, 1 is the equipment frame, 2 is the mixing mechanism, 201 is the mixing tank, 2011 is the inlet control valve, 202 is the mixing drive device, 203 is the drive pulley, 204 is the swing frame, 205 is the articulated frame, 206 is the mixing drive shaft, 207 is the mounting shaft, 3 is the collaborative robot, 301 is the gripper drive device, 302 is the gripper, 4 is the discharge mechanism, 401 is the recycling bottle holder, 402 is the moving discharge assembly, 4021 is the discharge sleeve, 4022 is the lifting module, 4023 is the lateral movement module, 4024 is the lifting seat, 403 is the discharge guide groove, 4031 is the perforated discharge plate, 4032 is the discharge hopper, and 4033 is... The components are as follows: ball recovery hole, 404 is discharge mounting bracket, 4041 is vertical plate, 4042 is first support plate, 4043 is second support plate, 405 is vibrating feeder, 4051 is feeding hopper, 4052 is output port, 4053 is discharge channel plate, 4054 is vibrator, 5 is dispensing bottle, 6 is mixing bottle, 7 is mixing feed hopper, 8 is receiving hopper, 801 is hopper section, 802 is output pipe section, 803 is pneumatic vibrator, 9 is receiving weighing mechanism, 901 is receiving lifting device, 902 is receiving lifting plate, 903 is receiving weighing device, 904 is receiving weighing base, 10 is control module, and 11 is ball recovery bottle. Detailed Implementation
[0030] The present invention will now be described in further detail with reference to the accompanying drawings.
[0031] like Figures 1-2 As shown, this utility model includes a machine frame 1, a mixing mechanism 2, a receiving and weighing mechanism 9, a collaborative robot 3, a discharging mechanism 4, and a receiving hopper 8. The mixing mechanism 2 and the receiving and weighing mechanism 9 are both located on one side of the machine frame 1. The mixing mechanism 2 includes a swingable mixing bucket 201, and the receiving and weighing mechanism 9 is located below the discharging end of the mixing bucket 201. Figure 2 As shown, the receiving and weighing mechanism 9 includes a receiving lifting plate 902, and a receiving weighing device 903 is provided on the receiving lifting plate 902. When the mixing tank 201 discharges material, the upper end of the receiving hopper 8 is connected to the discharge end of the mixing tank 201, and the lower end is provided on the receiving weighing device 903; Figure 1 As shown, the discharge mechanism 4 is located at the upper end of the equipment frame 1, and as... Figures 4-7 As shown, the discharge mechanism 4 includes a moving discharge assembly 402, a discharge guide trough 403, and a vibrating feeder 405, wherein... Figure 7 As shown, the movable discharge assembly 402 is equipped with a movable discharge sleeve 4021, and as... Figure 6 As shown, the discharge sleeve 4021 is located on the upper side of the discharge guide groove 403. One end of the discharge guide groove 403 is provided with a perforated discharge plate 4031 that communicates with the vibrating feeder 405, and the other end is provided with a ball recovery hole 4033; Figures 4-5 As shown, after the receiving hopper 8 finishes receiving material, it is picked up by the collaborative robot 3 and moved to the discharging sleeve 4021. The receiving hopper 8 is equipped with a hopper output control valve at its lower part. Figure 3 As shown, the collaborative robot 3 is a commercially available product. Its mobile end is equipped with a gripper 302 that is driven to open and close by a gripper drive device 301 to achieve gripping and transfer. The gripper drive device 301 can be a gripper cylinder.
[0032] like Figure 1 As shown, in this embodiment, the upper end of the equipment frame 1 is equipped with a mixing bottle station for storing multiple mixing bottles 6. Before production, workers load the gunpowder raw materials and mixing pellets to be mixed into the corresponding mixing bottles 6. Labels can be affixed to each mixing bottle 6 for identification. During production, the collaborative robot 3 sequentially picks up each mixing bottle 6 and pours its internal raw materials or mixing pellets into the mixing tank 201 of the mixing mechanism 2. Alternatively, this invention can directly pour the material from the mixing bottle 6 into the inlet end of the mixing tank 201. This method is suitable for situations where the mixing bottle 6 is relatively small. Figure 1 As shown, this utility model can also be equipped with a mixing hopper 7 as needed. The mixing hopper 7 is normally placed at the feeding hopper station seat on the upper end of the equipment frame 1. When the mixing barrel 201 is being fed, the collaborative robot 3 can first pick up the mixing hopper 7 and place it at the feeding end of the mixing barrel 201, and then sequentially pick up each ingredient bottle 6 to pour the raw materials or mixing balls into the mixing hopper 7. After the material input is complete, the mixing hopper 7 is returned to the feeding hopper station seat by the collaborative robot 3. This method is suitable for situations where the ingredient bottles 6 are relatively large, especially when the diameter of the ingredient bottles 6 is equal to or greater than the diameter of the feeding end of the mixing barrel 201. In this embodiment, the ingredient bottle station seat has multiple station holes for inserting and storing each ingredient bottle 6, and the feeding hopper station seat has a hopper insertion hole for inserting and storing the mixing hopper 7.
[0033] like Figures 1-2 As shown, in this embodiment, the mixing mechanism 2 includes a mixing drive shaft 206, a swing frame 204, and a hinge frame 205. The swing frame 204 is driven to rotate by the mixing drive shaft 206. The lower two sides of the mixing barrel 201 are respectively hinged to the corresponding sides of the swing frame 204 via first hinge pins, and the upper two sides of the mixing barrel 201 are respectively hinged to the corresponding sides of the hinge frame 205 via second hinge pins. The hinge frame 205 is fixed to the equipment frame 1 via a mounting shaft 207. When this utility model is in operation, the mixing barrel 201 can swing around the second hinge pins on both sides of the hinge frame 205 under the drive of the swing frame 204, thereby realizing automatic mixing operation.
[0034] like Figure 1As shown, in this embodiment, the mixing mechanism 2 further includes a mixing drive device 202, a drive pulley 203, a driven pulley, and a transmission belt. Both the mixing drive device 202 and the mixing drive shaft 206 are located within the equipment frame 1. The drive pulley 203 is mounted on the power shaft of the mixing drive device 202, and the driven pulley is mounted on the mixing drive shaft 206. The drive pulley 203 is connected to the driven pulley via the transmission belt. The mixing drive device 202 drives the mixing drive shaft 206 to rotate via the drive pulley 203, the transmission belt, and the driven pulley. The mixing drive device 202 can be a geared servo motor or similar device.
[0035] like Figure 2 As shown, in this embodiment, the upper feed end of the mixing tank 201 is equipped with an inlet control valve 2011. During feeding, the inlet control valve 2011 opens to allow the gunpowder raw materials and mixing balls to enter the mixing tank 201. After feeding is complete, the inlet control valve 2011 closes to prevent material overflow when the mixing tank 201 swings. The lower discharge end of the mixing tank 201 is equipped with an outlet control valve. During discharge, the outlet control valve opens; during mixing, the outlet control valve closes. The inlet control valve 2011 and the outlet control valve are technologies known in the art, such as the electromagnetic control valve in patent CN203512413U, or other commercially available products.
[0036] like Figure 2 As shown, in this embodiment, the receiving and weighing mechanism 9 includes a receiving lifting device 901, and the receiving lifting plate 902 is driven to rise and fall by the receiving lifting device 901. The receiving lifting device 901 can be a cylinder or other device.
[0037] like Figure 2 As shown, in this embodiment, the receiving and weighing device 903 is provided with a receiving and weighing base 904, and a hopper in-situ detection element is provided on one side of the receiving and weighing base 904. Both the receiving and weighing device 903 and the hopper in-situ detection element are technologies known in the art. For example, the receiving and weighing device 903 can be a high-precision electronic scale, and the hopper in-situ detection element can be a photoelectric switch.
[0038] When this utility model is in operation, the receiving lifting plate 902 is initially in a lowered state. After the collaborative robot 3 moves the receiving hopper 8 onto the receiving weighing seat 904, the hopper in-position detection element detects that the receiving hopper 8 is in position and sends a signal to the equipment control system. The equipment control system then controls the receiving lifting device 901 to start and drives the receiving lifting plate 902 to rise, so that the upper end of the receiving hopper 8 aligns with the discharge end of the mixing tank 201. In addition, during the lifting and lowering process of the receiving hopper 8, the gripper 302 at the end of the collaborative robot 3 no longer clamps the receiving hopper 8 but remains in a holding state. This serves as a lifting guide to prevent the receiving hopper 8 from tilting and failing to align with the discharge end of the mixing tank 201 during lifting and lowering.
[0039] like Figure 2 As shown, in this embodiment, the receiving hopper 8 includes an upper hopper section 801 and a lower output pipe section 802. The hopper section 801 is equipped with a pneumatic vibrator 803, and the output pipe section 802 contains a hopper output control valve. Both the pneumatic vibrator 803 and the hopper output control valve (e.g., an electromagnetic control valve) are well-known technologies in the art and are commercially available products. During material receiving, the lower end of the output pipe section 802 is placed on the receiving weighing seat 904, and the hopper output control valve is closed to prevent material leakage. The gripper 302 of the collaborative robot 3 holds the upper part of the output pipe section 802 but does not clamp it tightly, allowing the output pipe section 802 to move vertically within the gripper 302 without tilting.
[0040] In addition, during material receiving, the receiving weighing device 903 monitors the weight of the receiving hopper 8 and the material inside it in real time. When the weight meets the requirements, the receiving weighing device 903 sends a signal to the equipment control system. The equipment control system controls the outlet control valve at the lower end of the mixing tank 201 to close. Then, the receiving lifting plate 902 descends to make the receiving hopper 8 detach from the mixing tank 201. Then, the collaborative robot 3 picks up the receiving hopper 8 and moves it to the discharge mechanism 4.
[0041] like Figure 4 and Figure 7 As shown, in this embodiment, the moving discharge component 402 in the discharge mechanism 4 includes a lifting module 4022, a lifting seat 4024, and a transverse module 4023. The lifting seat 4024 is driven to lift by the lifting module 4022. The transverse module 4023 is mounted on the lifting seat 4024 and has a transverse slider. The discharge sleeve 4021 is fixedly connected to the transverse slider. The lifting module 4022 and the transverse module 4023 can adopt suitable structures as needed, such as rodless cylinders.
[0042] like Figure 4As shown, in this embodiment, the vibrating feeder 405 in the discharge mechanism 4 includes a weighing sensor, a vibrator 4054, and a discharge channel plate 4053. The upper side of the input end of the discharge channel plate 4053 is provided with a feeding hopper 4051, and the lower side is provided with a vibrator 4054. The lower side of the vibrator 4054 is provided with a weighing sensor. A cavity for conveying materials is formed inside the discharge channel plate 4053. The output end of the discharge channel plate 4053 is provided with an output port 4052. The lower side of the porous discharge plate 4031 of the discharge guide groove 403 is provided with a discharge hopper 4032, and the lower end of the discharge hopper 4032 is aligned with the feeding hopper 4051.
[0043] When the discharge mechanism 4 discharges material, the discharge sleeve 4021 is first driven by the lifting module 4022 and the transverse module 4023 in the moving discharge assembly 402 to be placed on the upper surface of the discharge guide groove 403 and on the upper side of the perforated discharge plate 4031. Then, the collaborative robot 3 inserts the lower end of the output pipe 802 of the receiving hopper 8 into the discharge sleeve 4021. The insertion height of the discharge sleeve 4021 and the output pipe 802 must ensure that the receiving hopper 8 will not tip over. Then, the hopper output control valve in the output pipe 802 opens to discharge material. At this time, the gunpowder powder will fall into the discharge hopper 4032 through the perforated discharge plate 4031, and then into the feeding hopper 4051 of the vibrating feeder 405. The mixed material balls in the material remain on the upper side of the perforated discharge plate 4031 because their diameter is larger than the diameter of the discharge hole on the perforated discharge plate 4031. As the gunpowder powder falls into the feeding hopper 4051, the weighing sensor in the vibrating feeder 405 monitors the weight in real time. When the weight meets the requirements, the weighing sensor sends a signal to the equipment control system. The equipment control system then controls the hopper output control valve in the receiving hopper 8 to close and stop the feeding. Then, the vibrator 4054 in the vibrating feeder 405 starts to vibrate the powder in the feeding hopper 4051 and output it to the dispensing bottle 5 through the cavity in the discharge channel plate 4053. In this embodiment, the structural principle of the vibrating feeder 405 is the same as that of patent CN202542503U. In addition, after the collaborative robot 3 picks up the receiving hopper 8, it first moves along the lower side of the equipment frame 1 to avoid the mixing mechanism 2 and other structures, and then rises above the discharge mechanism 4 and places the receiving hopper 8 on the discharge sleeve 4021. This path can avoid the control circuits of the hopper output control valve and other components of the receiving hopper 8 from getting confused with other circuits.
[0044] Other examples Figure 4 As shown, a pneumatic vibrator 803 is provided on the upper side of the hopper section 801 of the receiving hopper 8. This vibrator is used to vibrate the hopper section 801 to ensure that all the powder inside the receiving hopper 8 is discharged. After all the powder in the receiving hopper 8 has been discharged, the receiving hopper 8 is removed by the collaborative robot 3 for the next receiving cycle. Meanwhile, as... Figure 6 As shown, the discharge sleeve 4021 drives the remaining mixed material balls inside to move along the discharge guide groove 403 to the material ball recovery hole 4033, and the mixed material balls remaining on the upper side of the discharge guide groove 403 fall into the material ball recovery bottle 11 below through the material ball recovery hole 4033.
[0045] like Figure 5 As shown, in this embodiment, the discharge mechanism 4 includes a discharge mounting frame 404, and the discharge mounting frame 404 is provided with a vertical plate 4041, a first support plate 4042, and a second support plate 4043 from top to bottom. The movable discharge component 402 is disposed on the vertical plate 4041, and the ball recycling bottle 11 is disposed on the first support plate 4042. The first support plate 4042 is provided with a recycling bottle seat 401, and a bottle positioning detection element is provided on one side of the recycling bottle seat 401. Only when the bottle positioning detection element detects that the ball recycling bottle 11 is in place can the discharge sleeve 4021 drive the internal mixed balls to move to the ball recycling hole 4033. The bottle positioning detection element can be a photoelectric switch or other components. The vibrating feeder 405 is disposed on the second support plate 4043.
[0046] like Figure 1 As shown in this embodiment, the upper end of the equipment frame 1 is provided with a control module 10. When the present invention is working, after the staff puts in each ingredient bottle 6, they can leave the equipment. At this time, the control module 10 can receive remote signals to control each mechanism to realize automatic mixing, weighing and dispensing operations. The control module 10 is implemented by programming, which is a well-known technology in the field.
[0047] The working principle of this utility model is as follows:
[0048] The present invention includes the following steps in operation:
[0049] Step 1: The staff places the filled ingredient bottles 6 at the ingredient bottle station on the upper part of the equipment frame 1, and then the staff leaves the equipment of this utility model.
[0050] Step 2: The collaborative robot 3 starts according to the set program and pours the raw materials and mixing balls from each ingredient bottle 6 into the mixing tank 201 in the mixing mechanism 2.
[0051] When the volume of the ingredient bottle 6 is relatively small, the collaborative robot 3 can directly align the ingredient bottle 6 with the inlet of the mixing tank 201 and pour in the raw materials. And if... Figure 1As shown, when the volume of the ingredient bottle 6 is relatively large, the collaborative robot 3 can first pick up the mixing hopper 7 on the equipment frame 1 and place it at the feeding end of the mixing barrel 201, and then pour the raw materials or mixing balls in each ingredient bottle 6 into the mixing hopper 7 in sequence. After pouring, the mixing hopper 7 is picked up by the collaborative robot 3 and put back into the feeding hopper station at the top of the equipment frame 1.
[0052] like Figure 2 As shown, the mixing tank 201 is provided with an inlet control valve 2011 at the upper end and an outlet control valve at the lower end. When raw materials are input, the inlet control valve 2011 is opened and the outlet control valve is closed, while the mixing tank 201 remains in a vertical state.
[0053] Step 3: After the mixing tank 201 finishes pouring, the inlet control valve 2011 is closed. Then, the mixing drive shaft 206 in the mixing mechanism 2 is controlled to rotate by the mixing drive device 202, and drives the swing frame 204 to rotate. The swing frame 204 drives the mixing tank 201 to rotate around the second hinge shafts on both sides of the upper hinge frame 205, thereby realizing automatic mixing operation.
[0054] Step 4: After the mixing is completed, the mixing barrel 201 returns to a vertical position. The receiving hopper 8 is picked up by the collaborative robot 3 and placed in the receiving weighing seat 904 on the receiving weighing device 903. Then, the receiving lifting plate 902 in the receiving weighing mechanism 9 starts to rise so that the upper end of the receiving hopper 8 connects with the lower discharge end of the mixing barrel 201.
[0055] Step 5: The outlet control valve at the lower end of the mixing tank 201 opens to start discharging material, and during the material receiving hopper 8 receiving material, the receiving weighing device 903 monitors the weight in real time. When the weight in the receiving hopper 8 meets the requirements, the receiving weighing device 903 sends a signal to the equipment control system, and the equipment control system controls the outlet control valve at the lower end of the mixing tank 201 to close and stop discharging material.
[0056] Step 6: After the mixing tank 201 stops discharging, the receiving lifting plate 902 starts to descend so that the receiving hopper 8 is separated from the mixing tank 201. Then the collaborative robot 3 picks up the receiving hopper 8 and sends it into the discharging mechanism 4.
[0057] Step Seven: As Figures 4-7 As shown, when the discharge mechanism 4 discharges material, the discharge sleeve 4021 is first driven to move to the upper side of the perforated discharge plate 4031 at one end of the discharge guide groove 403 by the lifting module 4022 and the transverse module 4023. Then, the collaborative robot 3 transfers the receiving hopper 8 to the upper part of the discharge sleeve 4021 and inserts the lower end of the output pipe 802 of the receiving hopper 8 into the discharge sleeve 4021. The insertion height of the output pipe 802 and the discharge sleeve 4021 must ensure that the receiving hopper 8 will not tilt.
[0058] Step 8: After the lower end of the receiving hopper 8 is inserted into the discharge sleeve 4021, the hopper output control valve in the lower part of the receiving hopper 8 opens to start discharging. During discharging, the gunpowder powder in the receiving hopper 8 falls into the discharge hopper 4032 through the discharge hole on the porous discharge plate 4031, and then into the feed hopper 4051 of the vibrating feeder 405. The mixed material balls, because their diameter is larger than the discharge hole of the porous discharge plate 4031, remain on the upper surface of the discharge guide groove 403. At the same time, the weighing sensor in the vibrating feeder 405 monitors the weight in real time. When the weight meets the requirements, the hopper output control valve of the receiving hopper 8 closes to stop discharging.
[0059] Step Nine: As Figure 1 As shown, the collaborative robot 3 transfers the dispensing bottle 5 to the dispensing bottle station on the equipment frame 1. Then, the vibrating feeder 405 is activated, causing the gunpowder powder in the feeding hopper 4051 to vibrate and be output into the dispensing bottle 5. After the dispensing bottle 5 is full, it is transferred to the designated station by the collaborative robot 3. Then, the collaborative robot 3 moves the next dispensing bottle 5 to the dispensing bottle station. At the same time, the hopper output control valve at the bottom of the receiving hopper 8 reopens to discharge material until the weighing sensor in the vibrating feeder 405 detects that the weight meets the requirements again. This utility model continuously repeats the above process, thereby realizing the automatic dispensing operation of each dispensing bottle 5 until all the gunpowder powder in the receiving hopper 8 has been discharged.
[0060] Other examples Figure 2 As shown, in step five above, the receiving and weighing device 903 detects the total weight of the material received in the receiving hopper 8. In this step, the weighing sensor in the vibrating feeder 405 can detect the weight of the input material in each dispensing bottle 5. The equipment control system can calculate the number of dispensing times, i.e., the number of dispensing bottles 5 that can be filled, based on the total receiving weight and the weight of each dispensing, thereby achieving control. At the same time, a pneumatic vibrator 803 is provided on the upper side of the hopper section 801 of the receiving hopper 8 to ensure that all the material in the receiving hopper 8 is output and no material remains on the inner wall of the receiving hopper 8. This can ensure accurate calculation and control.
[0061] This invention can also be adapted to other suitable control methods as needed.
[0062] Step 10: After all the gunpowder powder in the receiving hopper 8 has been discharged, it is picked up by the collaborative robot 3 and moved to the discharge end of the mixing tank 201 for the next receiving cycle. The mixed powder balls remain in the discharge sleeve 4021. At this time, if... Figure 6 As shown, the discharge sleeve 4021 drives the internal mixed material balls to move along the discharge guide groove 403 to the material ball recovery hole 4033, and then the mixed material balls fall into the material ball recovery bottle 11 below through the material ball recovery hole 4033.
[0063] Compared to existing technologies, this invention can automatically perform the mixing, weighing, and dispensing of gunpowder powder. The entire process, except for placing the mixing bottle 6, requires no manual intervention, thus improving production efficiency, reducing labor costs, and eliminating personal safety hazards. Furthermore, this invention can meet the mixing and weighing requirements of different types of gunpowder, improving its flexibility and applicability.
Claims
1. An automatic gunpowder mixing and dispensing equipment, characterized in that: The equipment includes a frame (1), a mixing mechanism (2), a receiving and weighing mechanism (9), a collaborative robot (3), a discharging mechanism (4), and a receiving hopper (8). The mixing mechanism (2) and the receiving and weighing mechanism (9) are both located on one side of the frame (1). The mixing mechanism (2) includes a swingable mixing bucket (201), and the receiving and weighing mechanism (9) is located below the discharge end of the mixing bucket (201). The receiving and weighing mechanism (9) includes a receiving lifting plate (902), and a receiving and weighing device (903) is provided on the receiving lifting plate (902). When the mixing bucket (201) discharges, the upper end of the receiving hopper (8) is aligned with the discharge end of the mixing bucket (201), and the lower end is located at the receiving and weighing device (903). The discharge mechanism (4) is located on the upper end of the equipment frame (1), and the discharge mechanism (4) includes a movable discharge component (402), a discharge guide groove (403) and a vibrating feeder (405). The movable discharge component (402) is provided with a movable discharge sleeve (4021), and the discharge sleeve (4021) is located on the upper side of the discharge guide groove (403). One end of the discharge guide groove (403) is provided with a multi-hole discharge plate (4031) that communicates with the vibrating feeder (405), and the other end is provided with a ball recovery hole (4033). After the receiving hopper (8) finishes receiving the material, it is picked up by the collaborative robot (3) and moved to the discharge sleeve (4021). The lower part of the receiving hopper (8) is provided with a hopper output control valve.
2. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The upper end of the equipment frame (1) is provided with a mixing bottle station for storing multiple mixing bottles (6), and the mixing bottles (6) are picked up by the collaborative robot (3) and poured into the mixing tank (201); in addition, the upper end of the equipment frame (1) is provided with a feeding hopper station for storing a mixing feeding hopper (7), and the mixing feeding hopper (7) is picked up by the collaborative robot (3) and placed at the feeding end of the mixing tank (201).
3. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The mixing mechanism (2) includes a mixing drive device (202), a mixing drive shaft (206), a swing frame (204), and a hinge frame (205). The mixing drive shaft (206) is driven to rotate by the mixing drive device (202), and the swing frame (204) is driven to rotate by the mixing drive shaft (206). The lower two sides of the mixing barrel (201) are respectively hinged to the corresponding sides of the swing frame (204) through the first hinge shaft. The upper two sides of the mixing barrel (201) are respectively hinged to the corresponding sides of the hinge frame (205) through the second hinge shaft. The hinge frame (205) is fixed on the equipment frame (1) by the mounting shaft (207).
4. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The mixing tank (201) is equipped with an inlet control valve (2011) at the upper feed end and an outlet control valve at the lower discharge end.
5. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The receiving and weighing mechanism (9) includes a receiving lifting device (901), and the receiving lifting plate (902) is driven to lift by the receiving lifting device (901); the receiving and weighing device (903) is provided with a receiving weighing seat (904), the lower end of the receiving hopper (8) is placed in the receiving weighing seat (904) when receiving material, and a hopper in-position detection element is provided on one side of the receiving weighing seat (904).
6. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The receiving hopper (8) includes an upper hopper section (801) and a lower output pipe section (802), wherein the hopper section (801) is provided with a pneumatic vibrator (803) and the output pipe section (802) is provided with a hopper output control valve.
7. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The moving discharge assembly (402) includes a lifting module (4022), a lifting seat (4024), and a transverse module (4023). The lifting seat (4024) is driven to lift by the lifting module (4022). The transverse module (4023) is mounted on the lifting seat (4024) and is provided with a transverse slider. The discharge sleeve (4021) is fixedly connected to the transverse slider.
8. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The vibrating feeder (405) includes a weighing sensor, a vibrator (4054), and a discharge channel plate (4053). The upper side of the input end of the discharge channel plate (4053) is provided with a feeding hopper (4051), and the lower side is provided with a vibrator (4054). The lower side of the vibrator (4054) is provided with a weighing sensor. The output end of the discharge channel plate (4053) is provided with an output port (4052). The lower side of the perforated discharge plate (4031) of the discharge guide groove (403) is provided with a discharge hopper (4032), and the lower end of the discharge hopper (4032) is aligned with the feeding hopper (4051).
9. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: After all the powder is discharged from the receiving hopper (8) on the discharge sleeve (4021), the receiving hopper (8) is taken away by the collaborative robot (3). The discharge sleeve (4021) together with the remaining mixed material balls inside moves along the discharge guide groove (403) to the material ball recycling hole (4033), wherein the diameter of the mixed material balls is larger than the diameter of the discharge hole on the porous discharge plate (4031).
10. The automatic gunpowder mixing and dispensing equipment according to claim 1, characterized in that: The discharge mechanism (4) includes a discharge mounting frame (404), and the discharge mounting frame (404) is provided with a vertical plate (4041), a first support plate (4042) and a second support plate (4043) from top to bottom. The movable discharge component (402) is provided on the vertical plate (4041), the first support plate (4042) is provided with a ball recycling bottle (11), and the ball recycling bottle (11) is provided below the ball recycling hole (4033). The vibrating feeder (405) is provided on the second support plate (4043).