CN109092176A - A drug charging system and method - Google Patents
A drug charging system and method Download PDFInfo
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- CN109092176A CN109092176A CN201811145939.1A CN201811145939A CN109092176A CN 109092176 A CN109092176 A CN 109092176A CN 201811145939 A CN201811145939 A CN 201811145939A CN 109092176 A CN109092176 A CN 109092176A
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- mixed
- mixing container
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- 238000000034 method Methods 0.000 title claims abstract description 51
- 239000003814 drug Substances 0.000 title description 6
- 229940079593 drug Drugs 0.000 title description 2
- 238000002156 mixing Methods 0.000 claims abstract description 225
- 239000000463 material Substances 0.000 claims abstract description 124
- 238000012546 transfer Methods 0.000 claims abstract description 21
- 238000011068 loading method Methods 0.000 claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 12
- 239000011344 liquid material Substances 0.000 claims description 38
- 239000011343 solid material Substances 0.000 claims description 33
- 238000010438 heat treatment Methods 0.000 claims description 21
- 239000007788 liquid Substances 0.000 claims description 18
- 239000000203 mixture Substances 0.000 claims description 9
- 238000004321 preservation Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 6
- 230000032258 transport Effects 0.000 claims description 6
- 239000012530 fluid Substances 0.000 claims description 2
- 238000009413 insulation Methods 0.000 claims 2
- 229910001220 stainless steel Inorganic materials 0.000 claims 1
- 239000010935 stainless steel Substances 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 34
- 238000004519 manufacturing process Methods 0.000 abstract description 18
- 239000002360 explosive Substances 0.000 description 22
- 238000010348 incorporation Methods 0.000 description 21
- 239000000843 powder Substances 0.000 description 17
- 239000004449 solid propellant Substances 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 10
- 230000002572 peristaltic effect Effects 0.000 description 10
- 230000000694 effects Effects 0.000 description 8
- 239000007787 solid Substances 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 239000002002 slurry Substances 0.000 description 5
- 238000005266 casting Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003805 vibration mixing Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000010892 electric spark Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000012774 insulation material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000009740 moulding (composite fabrication) Methods 0.000 description 1
- 239000002086 nanomaterial Substances 0.000 description 1
- 239000007800 oxidant agent Substances 0.000 description 1
- 230000001590 oxidative effect Effects 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000003380 propellant Substances 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F31/00—Mixers with shaking, oscillating, or vibrating mechanisms
- B01F31/60—Mixers with shaking, oscillating, or vibrating mechanisms with a vibrating receptacle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
- B01F35/00—Accessories for mixers; Auxiliary operations or auxiliary devices; Parts or details of general application
- B01F35/71—Feed mechanisms
Landscapes
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Accessories For Mixers (AREA)
Abstract
The embodiment of the application relates to the technical field of material mixing, in particular to a charging system and a charging method. The charging system comprises a mixer, a mixing container, an automatic feeding device, an automatic material transferring device and a control device; the automatic feeding device is used for loading materials to be mixed into the mixing container according to a preset mass ratio; the mixer is used for controlling the temperature, the vacuum degree, the vibration acceleration and the mixing time of the mixing container filled with the materials to be mixed; the automatic material transfer device is used for transferring the mixing container among the feeding station, the mixing station and the transfer station; the control device is in signal connection with the mixing machine, the automatic feeding device and the automatic material transferring device and is used for controlling the mixing machine, the automatic feeding device and the automatic material transferring device to act. The charging system can solve the problems of long operation time and low production efficiency in the charging process in the prior art.
Description
Technical field
This application involves material hybrid technology fields, and in particular, to the dress of a kind of solid-propellant pulps and PBX explosive
Medicine system and method.
Background technique
Modern war has the characteristics that highlight lines, quickly decides the issue of the battle, for this purpose, in solid propellant and PBX (polymer
Bonded explosive, plastic bonded explosive) to introduce high solids content, nano material, mechanical sensitivity in explosive formulation quick
The high-performance energetic material of sense, while manufacture low-cost, high-volume in the short time, which proposes, also to be realized to the production of missile armament
It is required that；Wherein, the powder charge process of solid propellant and PBX explosive is then the core link in its preparation process.
The powder charge process of existing solid propellant and PBX explosive includes the techniques such as premix, mixing, casting, and each process is divided
Cloth is in different explosion-proof worker-houses, but existing mixed processes generally require 2~4 hours, and leading to existing powder charge process, there are operations
The time long problem low with production efficiency.
Summary of the invention
The charge system and method for a kind of solid-propellant pulps and PBX explosive are provided in the embodiment of the present application, with solution
Certainly powder charge process has that activity duration length is low with production efficiency in the prior art.
According to the first aspect of the embodiment of the present application, the powder charge of a kind of solid-propellant pulps and PBX explosive is provided
System, the charge system include mixing machine, mixing vessel, automatic feeding device, material automatic transferring and control dress
It sets；
The automatic feeding device is used for material to be mixed according to preset quality than being packed into the mixing vessel；
The mixing machine is used to that the mixing vessel equipped with the material to be mixed to be driven to be vibrated, and described in control
Temperature, vacuum degree, vibration acceleration and the incorporation time of mixing vessel；
Material automatic transferring, which is used to convey the mixing between charging station, mixing station and transfer station, to be held
Device；
The control device is connect with the mixing machine, automatic feeding device and the equal signal of material automatic transferring,
For controlling the mixing machine, automatic feeding device and the movement of material automatic transferring.
Preferably, mixing machine includes rack, vibration unit, control unit, heating unit and vacuum unit；
The vibration unit drives the mixing vessel to make forced vibration for generating vibration；
The heating unit heats the material to be mixed for generating heat；
The vacuum unit is for vacuumizing the mixing vessel；
Described control unit and the control device, the vibration unit, the heating unit and the vacuum unit
Equal signal connection, for the control instruction of receiving control device, and based on the received, the control instruction controls the vibration list
First, the described heating unit and vacuum unit opening and closing.
Preferably, automatic feeding device includes the equal solid material automatic gauge charging connecting with the control device signal
Unit and liquid material automatic gauge dosage unit；
The solid material automatic gauge dosage unit is for measuring solid material, and by the solids after metering
Material is packed into the mixing vessel；
The liquid material automatic gauge dosage unit is for measuring liquid material, and by the liquids after metering
Material is packed into the mixing vessel.
Preferably, the solid material automatic gauge dosage unit include for store solids material hopper, for pair
The first metering units that solid material is measured and the auxiliary conveying assembly for conveying solid material；The hopper is installed on
At the top of first metering units；The bottom of the hopper is provided with valve.
Preferably, first metering units are the first explosion-proof electronic scale.
Preferably, the liquid material automatic gauge dosage unit includes the heat preservation hopper and use for storing liquid material
In the second metering units measured to liquid material；The outlet of the heat preservation hopper and the entrance of second metering units
Connection.
Preferably, second metering units include that peristaltic pump, the second explosion-proof electronic claim and are set to the second anti-explosion electric
The liquid tank that son deserves to be called；
The communication of the entrance of the peristaltic pump and the heat preservation hopper, and outlet and the institute of the peristaltic pump
State liquid tank connection；
The outlet of the liquid tank is equipped with liquid valve.
Preferably, the material automatic transferring includes the homing guidance transfer car(buggy) connecting with the control device signal
AGV (Automated Guided Vehicle) and manipulator；
The homing guidance transfer car(buggy) AGV is provided with the car body for loading the mixing vessel, and described for receiving
The movable signal that control device is sent, the movable signal is moved based on the received；
The manipulator is used to receive the control signal that the control device is sent, and controls signal based on the received to institute
Mixing vessel is stated to be dismounted and carried automatically.
Preferably, the manipulator is truss manipulator.
Preferably, the mixing vessel is rustless steel container, plastic containers, engine or PBX explosive assembly casing.
According to the second aspect of the embodiment of the present application, provide a kind of using such as any one dress in above-mentioned technical proposal
The loading method of medicine system, the loading method include:
Mixing vessel is transported to mixing machine by material automatic transferring；
Automatic feeding device is by material to be mixed according to preset quality than the mixing vessel is added；
The material to be mixed being packed into the mixing vessel is mixed according to parameter preset using the mixing machine, institute
Stating parameter preset includes resonance acceleration, temperature, vacuum degree and default incorporation time；
The mixing vessel is transported to designated position by the material automatic transferring.
Preferably, the material to be mixed being packed into the mixing vessel is carried out according to parameter preset using the mixing machine
Mixing, specifically includes:
Material to be mixed in the mixing vessel is heated to preset temperature threshold；
Start the mixing machine, preset time is mixed to the material to be mixed；
Vacuumize the mixing vessel；
The material to be mixed is continuesd to mix to default incorporation time, when the default incorporation time is greater than described default
Between；
It will restore in the mixing vessel to normal atmosphere (An)；
Stop the mixing machine.
Preferably, using the mixing machine to the material to be mixed being packed into the mixing vessel according to parameter preset into
In row mixing:
The resonance acceleration is 0~110g；
The temperature is 25 DEG C~125 DEG C；
The vacuum degree is 1kPa~20kPa；
The incorporation time is 5min~50min.
Using the charge system provided in the embodiment of the present application, since the charge system is provided with to mixing vessel according to pre-
If the automatic feeding device that mass ratio charges, driving mixing vessel are vibrated the material to be mixed so that in mixing vessel
It carries out the mixing machine for resonating mixed and conveys the material automatic transferring of mixing vessel between stations, it is mixed by resonating
Conjunction has the characteristics that mix without dead angle, mixing uniformity is good and incorporation time is short, and incorporation time is made to shorten to 5min by 2h~4h
~50min, and due to resonance mixed process in energy loss it is small, can be improved mixing efficiency and energy-saving effect be good；It is mixing
In the process casting and cleaning process can be saved, is mentioned using engine or PBX explosive assembly casing directly as mixing vessel
High production efficiency and safety；Therefore, powder charge process in the prior art is able to solve using above-mentioned charge system there are operations
The time long problem low with production efficiency.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present application, constitutes part of this application, this Shen
Illustrative embodiments and their description please are not constituted an undue limitation on the present application for explaining the application.In the accompanying drawings:
Fig. 1 is that the structure of mixing machine and material automatic transferring is shown in a kind of charge system provided by the embodiments of the present application
It is intended to；
Fig. 2 be in Fig. 1 the A of mixing machine and material automatic transferring to structural schematic diagram；
Fig. 3 is a kind of structural schematic diagram of mixing machine provided by the embodiments of the present application；
Fig. 4 is a kind of structural schematic diagram of solid material automatic gauge dosage unit provided by the embodiments of the present application；
Fig. 5 is the B of solid material automatic gauge dosage unit in Fig. 4 to structural schematic diagram；
Fig. 6 is a kind of structural schematic diagram of liquid material automatic gauge dosage unit provided by the embodiments of the present application；
Fig. 7 is a kind of working principle diagram of charge system provided by the embodiments of the present application；
Fig. 8 is a kind of process flow chart of loading method provided by the embodiments of the present application；
The concrete technology flow process figure of mixing step in the loading method that Fig. 9 provides for Fig. 8.
Appended drawing reference:
1- mixing machine；2- automatic feeding device；3- material automatic transferring；4- control device；5- mixing vessel；11-
Rack；21- solid material automatic gauge dosage unit；22- liquid material automatic gauge dosage unit；31- homing guidance transhipment
Vehicle AGV；32- manipulator；210- bracket；211- hopper；The first metering units of 212-；213- assists conveying assembly；214- valve；
215- diversion pipeline；221- keeps the temperature hopper；The second metering units of 222-；2221- peristaltic pump；The second explosion-proof electronic of 2222- claims；
2223- liquid tank.
Specific embodiment
During realizing the application, inventors have found that in the powder charge process of solid propellant and PBX explosive, it is existing
There are mixed processes to generally require 2~4 hours, existing powder charge process is caused to there is a problem of that activity duration length is low with production efficiency.
In view of the above-mentioned problems, a kind of charge system and method are provided in the embodiment of the present application, since the charge system is set
It is equipped with control device, automatic feeding device, mixing machine and material automatic transferring, resonance mixing tool is carried out by mixing machine
Have the characteristics that mixing without dead angle, mixing uniformity is good and incorporation time is short, make incorporation time by 2h~4h shorten to 5min~
50min, and due to resonance mixed process in energy loss it is small, can be improved mixing efficiency and energy-saving effect be good；It was mixing
In journey casting and cleaning process can be saved, is improved using engine or PBX explosive assembly casing directly as mixing vessel
Production efficiency and safety；Therefore, powder charge process in the prior art is able to solve using above-mentioned charge system there are when operation
Between the long problem low with production efficiency.
In order to which technical solution in the embodiment of the present application and advantage is more clearly understood, below in conjunction with attached drawing to the application
Exemplary embodiment be described in more detail, it is clear that described embodiment be only the application a part implement
Example, rather than the exhaustion of all embodiments.It should be noted that in the absence of conflict, embodiment and reality in the application
The feature applied in example can be combined with each other.
Embodiment one
The embodiment of the present application provides the charge system of a kind of solid-propellant pulps and PBX explosive, such as Fig. 1, Fig. 3 and figure
Shown in 4 structures, the charge system include mixing machine 1, automatic feeding device 2, material automatic transferring 3, control device 4 and
Mixing vessel 5；As shown in Fig. 7 structure, control device 4 and mixing machine 1, automatic feeding device 2 and material automatic transferring 3
Equal signal connection, acts for controlling mixing machine 1, automatic feeding device 2 and material automatic transferring 3；
Mixing machine 1 is used to that the mixing vessel 5 equipped with material to be mixed to be driven to be vibrated, and controls the temperature of mixing vessel 5
Degree, vacuum degree, vibration acceleration and incorporation time；Mixing vessel 5 can for mixing kettle shown in structure in Fig. 1 and Fig. 2, no
Become rusty steel container or plastic containers, or engine shown in structure or PBX explosive assembly casing in Fig. 3；Automatic feeding device 2
For material to be mixed to be packed into mixing vessel 5 according to preset quality ratio；
Automatic feeding device 2 may include that the solid material automatic gauge for being measured and being loaded to solid material adds
Material unit 21 and liquid material automatic gauge dosage unit 22 for slurry or liquid material to be measured and loaded,
Solid material automatic gauge dosage unit 21 and liquid material automatic gauge dosage unit 22 are connect with 4 signal of control device,
And it is controlled by control device 4；
Material automatic transferring 3 is used to convey mixing vessel between charging station, mixing station and transfer station
5；As shown in Fig. 1 and Fig. 2 structure, material automatic transferring 3 may include homing guidance transfer car(buggy) AGV31 (Automated
Guided Vehicle) and manipulator 32；AGV31 for make mixing vessel 5 charging station, mixing station and transfer station it
Between transport automatically, that is, conveying of the mixing vessel 5 between mixing machine 1 and automatic feeding device 2 is realized by AGV31, certainly,
Mixing vessel 5 can also be transported to other stations by AGV31；Manipulator 32 for tearing mixing vessel 5 open automatically
Mixing vessel 5 is being transported to each station by AGV31 and then is being pacified mixing vessel 5 by manipulator 32 by dress and carrying
It is attached to mixing machine 1 or automatic feeding device 2, can also be filled mixing vessel 5 from mixing machine 1 or auto feed by manipulator 32
2 are set to disassemble.
In specific production process, the working principle of above-mentioned charge system are as follows: under the control of control device 4, material is certainly
Turn shipping unit 3 obtains mixing vessel 5, and mixing vessel 5 is transported to automatic feeding device 2, right by automatic feeding device 2
Material to be mixed is packed into mixing vessel 5 after being weighed, and material to be mixed may include solid material or liquid material, then pass through
Mixing vessel 5 equipped with material to be mixed is conveyed and is installed to mixing machine 1 by material automatic transferring 3, after mixing machine 1 is opened
Vibration is generated, and mixing vessel 5 is driven to generate resonance, so that the material to be mixed in mixing vessel 5 is sufficiently mixed shape by vibration
Mixing vessel 5 is transported to other process by material automatic transferring 3 again after the completion of mixing, so as to postorder by resulting mixture
The progress of work.
Since above-mentioned charge system transports mixing machine 1, automatic feeding device 2 and material by control device 4 automatically
The control of device 3 can be realized the charging to solid-propellant pulps and PBX explosive, mixing and conveying, make entire powder charge process
It realizes and automatically controls, and by the resonance mixing of material to be mixed in the realization mixing vessel 5 of mixing machine 1, mixed by resonance
So that incorporation time is shortened to 5min~50min by 2h~4h, and mix without dead angle, mixing uniformity is good, mixed tensor loss
It is small, it can be improved mixing efficiency and energy-saving effect be good；When using engine or PBX explosive assembly casing directly to make in mixed process
When for mixing vessel 5, makes missile armament straight forming, casting and cleaning process can be saved, improve production efficiency and safety
Property；Therefore, using above-mentioned charge system have incorporation time is short, mixing without dead angle, mixing uniformity is good, mixed tensor loses
It is small, energy saving, mixing efficiency is high, and then improve production efficiency and safety, additionally it is possible to solve powder charge process in the prior art and deposit
In the activity duration long problem low with production efficiency.
In a kind of specific embodiment, as shown in Fig. 3 structure, mixing machine 1 includes that rack 11, vibration unit, control are single
Member, heating unit and vacuum unit；Vibration unit drives mixing vessel 5 to make forced vibration for generating vibration；Heating is single
Member is treated mixed material and is heated for generating heat；Vacuum unit is for vacuumizing mixing vessel 5；Mixing
Machine 1 in mixed process, by heating unit in mixing vessel 5 or mixing vessel 5 material to be mixed carry out directly or
Heating is connect, the demand for heat in mixed process is met；Vacuumize process can be carried out to mixing vessel 5 by vacuum unit, with
Realization controls the vacuum degree of mixing vessel 5；Control unit and control device 4, vibration unit, heating unit and vacuum
The equal signal connection of unit, for the control instruction of receiving control device 4, control instruction controls vibration unit, adds based on the received
Hot cell and vacuum unit opening and closing；Vibration unit may include driving assembly, loading module and counter mass；Vibration unit
In driving assembly, loading module and counter mass can be installed on rack 11, and vibration is generated by driving assembly, with
Loading module and counter mass is driven to carry out forced vibration, mixing vessel 5 is installed on loading module or counter mass, to realize altogether
Vibration mixing；Heating unit may include intelligent temperature control component, motor and water tank；Vacuum unit may include vacuum pump, filter
And solenoid valve.
When the vibration frequency of mixing machine 1 reaches third rank or second-order intrinsic frequency, vibration unit generates dither effect,
Kinetic energy with certain acceleration movement is transmitted in mixing vessel 5, and the storeroom to be mixed in mixing vessel 5 generates all-bottom sound
Wave breaks the boundary layer between material, and Flow of Goods and Materials is free, generates numerous microring array area, and material is promoted quickly to mix.Vibration
When mixing, the amplitude and acceleration of system sharply become larger, and energy needed for system is minimum, and the energy that system generates is completely used for object
Effective mixing of material.After the completion of mixing, mixing vessel 5 is taken out, mixing vessel 5 can be with quick-replaceable, without online clear
Reason.
Since above-mentioned mixing machine 1 includes vibration unit, control unit, heating unit and vacuum unit, in mixed process
In, it can be realized the heating of mixing vessel 5, vacuumize and mixing of resonating, make the mixing of solid-propellant pulps and PBX explosive only
It can be rapidly completed by vibration unit, and mixing vessel 5 can be not necessarily to Hand scarf, can further be mentioned with quick-replaceable
High efficiency and utilization rate of equipment and installations.
Specifically, above-mentioned control unit may include adaptive algorithm module, Vibration Synchronization control module, sensor, watch
Take motor and safety interlocking control module.
Control unit passes through adaptive algorithm module, Vibration Synchronization control module, sensor, servo motor and safety connection
Lock control module realizes the control to the various functions of mixing machine 1, so that mixing machine 1 can be to be mixed in mixing vessel 5
Material carries out resonance mixing, and the degree of automation of mixed process is improved while shortening incorporation time.
As shown in Fig. 4, Fig. 5 and Fig. 6 structure, automatic feeding device 2 includes the solids connecting with 4 signal of control device
Expect automatic gauge dosage unit 21 and liquid material automatic gauge dosage unit 22；Solid material automatic gauge dosage unit 21 is used
It is measured in solid material, and the solid material after metering is packed into mixing vessel 5；The charging of liquid material automatic gauge is single
Member 22 is packed into mixing vessel 5 for measuring to liquid material, and by the liquid material after metering.
Since automatic feeding device 2 includes that solid material automatic gauge dosage unit 21 and liquid material automatic gauge feed
Unit 22, therefore, automatic feeding device 2 can by solid material automatic gauge dosage unit 21 to solid-propellant pulps and
Solid material in PBX explosive is measured and is fed, and can be by liquid material automatic gauge dosage unit 22 to solid
The liquid materials such as the medicine slurry in body Composite Propellant Slurry and PBX explosive are measured and are fed, by the solid propellant medicine after metering
The raw material of slurry and PBX explosive is added in mixing vessel 5, can be improved production efficiency by automatic gauge and charging and assembly line is made
Industry.
As shown in Fig. 4 and Fig. 5 structure, solid material automatic gauge dosage unit 21 includes the material for store solids material
Bucket 211, the first metering units 212 for being measured to solid material and for the auxiliary conveying group in conveying solid material
Part 213；Hopper 211 is installed on 212 top of the first metering units；The bottom of hopper 211 is provided with valve 214.First metering is single
Member 212 is the first explosion-proof electronic scale.As shown in Figure 4 and Figure 5, solid material automatic gauge dosage unit 21 may include bracket
210, hopper 211, the first metering units 212 and the auxiliary conveying group on bracket 210 and for store solids material are installed on
Part 213, the valve 214 for being installed on 211 bottom of hopper and the diversion pipeline 215 for carrying out water conservancy diversion to material；Pass through auxiliary
Conveying assembly 213 can control the position of diversion pipeline 215, so that diversion pipeline 215 is exported with corresponding hopper 211
It is corresponding, so that the material of outflow hopper 211 enters in mixing vessel 5；Mixing vessel 5 can be by material automatic transferring 3
It is transported to the lower part of hopper 211, and is entered in mixing vessel 5 by 215 water conservancy diversion material of diversion pipeline；The quantity of hopper 211 can
To be configured according to the type of practical material, 3 hoppers 211 for containing aluminium powder, oxidant and explosive such as can be set,
And equipped with the auxiliary conveying assembly 213 for powder material conveying below hopper 211, hopper 211 is seated anti-after leveling
It is fixed on first metering units such as quick-fried electronic scale 212；Valve 214 can be the valves such as pneumatic operated valve, motor-driven valve, solenoid valve, hydraulic operated valve
Door, e.g., Pneumatic gate valve；When charging, the valve 214 of 211 bottom gas of hopper is opened, and the materials such as aluminium powder will be in auxiliary conveying group
The effect of part 213 is lower to be added in mixing vessel 5.
Due to solid material automatic gauge dosage unit 21 by the first metering units 212 to the material in hopper 211 into
Row metering weighing, and the addition of material is controlled by the valve 214 of 211 bottom of hopper, to realize to solid material
Accurate control.
As shown in Fig. 6 structure, liquid material automatic gauge dosage unit 22 includes the insulation material for storing liquid material
Bucket 221 and the second metering units 222 for being measured to liquid material；Outlet and the second metering for keeping the temperature hopper 221 are single
The entrance connection of member 222.Fig. 6 is a rough schematic of liquid material automatic gauge dosage unit 22, is used for storing liquid
One or more can be arranged in the heat preservation hopper 221 of body material according to the variety classes and quantity of material, and heat preservation hopper 221 goes out
Mouth is connect with the second metering units 222, is carried out metering weighing to liquid material by the second metering units 222, is then passed through again
Liquid valve 224 flows into mixing vessel 5；Liquid valve 224 can be any control liquid such as pneumatic operated valve, hydraulic operated valve, motor-driven valve, solenoid valve
The valve of body on-off；Second metering units 222 may include that peristaltic pump 2221, the second explosion-proof electronic claim 2222 and be set to
Two explosion-proof electronics claim the liquid tank 2223 on 2222, and as shown in Fig. 6 structure, the outlet of heat preservation hopper 221 connects peristaltic pump 2221,
Squeezed by the hose to peristaltic pump 2221, the thick liquid in hose made to flow, the outlet of peristaltic pump 2221 with
The entrance of liquid tank 2223 is in fluid communication, and the outlet of liquid tank 2223 can be equipped with liquid valve 224, liquid tank by pipeline
2223, which are fixed on the second explosion-proof electronic, claims above 2222, when feeding to liquid material, can pass through 2221 He of peristaltic pump
Second explosion-proof electronic claims 2222 pairs of materials to carry out double measure.Liquid material can flow for liquid or medicine slurry etc.
Dynamic solidliquid mixture.
Liquid material automatic gauge dosage unit 22 claims 2222 double measures by peristaltic pump 2221 and the second explosion-proof electronic,
The accurate measurement and auto feed of liquid material can be achieved.
On the basis of above-mentioned various charge systems, as shown in Fig. 1 and Fig. 2 structure, material automatic transferring 3 be can wrap
Include the homing guidance transfer car(buggy) AGV31 and manipulator 32 connecting with 4 signal of control device；AGV31 is provided with for loading
The car body of mixing vessel 5, and the movable signal sent for receiving control device 4, movable signal is moved based on the received；
Manipulator 32 is used for the control signal that receiving control device 4 is sent, and control signal carries out certainly mixing vessel 5 based on the received
Dynamic dismounting and carrying
Manipulator 32 can be truss manipulator 32；AGV31 is for realizing mixing vessel 5 in charging station, mixing station
And the automatic transhipment between transfer station；Manipulator 32 is for being dismounted and being carried automatically to mixing vessel 5.
Above-mentioned AGV31 can be equipped with self-navigations mechanisms such as magnetic stripe or laser heads, can be along the navigation routine row of setting
It sails, and the automatic transporting machine people with System Programming and model selection mechanism, release mechanism and various transfer functions, AGV31
Has the characteristics that high degree of automation, flexible, safe.AGV31 can be positioned in real time during the motion and be travelled on the road of setting
On line, the instruction for receiving system runs to defined position, to realize the automation of production line material conveying, intelligent sum number
According to change.
AGV31 can also be driven using fire-proof motor, and be provided with wheel using wheel type mobile, and communication can use
The master console of radio station and AGV31 are communicated, and communication distance is greater than 100 meters, will not generate electric spark.In order to improve
The safety of AGV31 reaches specified station in every operation one week, carries out once removing electrostatic.
As shown in Fig. 1 structure, when manipulator 32 is truss manipulator, manipulator can be realized tearing open automatically for mixing vessel 5
The work unloaded and carried.Truss mechanical hand is built by multi-dimensional robotic's walking axle, and each robot ambulation axis is by heavily loaded aluminium profiles
The composition such as material, idler wheel linear guide and servo motor, and using idler wheel V-type rail as motion guide rail；Motion work can
Using synchronous belt, rack-and-pinion or ball-screw.
The spatial movement of manipulator 32 can be realized by three orthogonal linear motions.The control of manipulator 32
Core can be realized by industrial control unit (ICU)s such as PLC, motion controller, single-chip microcontrollers, and the position precision of mechanical hand can be made less than 20 μ
m；Manipulator 32 is handled the analysis of various input (various sensors, button etc.) signals by controller, makes certain patrol
Volume judgement after, each output element such as relay, motor driver, indicator light is assigned and executes order, completion tri- axis of X, Y, Z it
Between Union Movement, the operation process such as automatic dismantling and carrying are realized with this.
The multi-functional end that manipulator 32 can be configured with having the functions such as vacuum suction, clamping, visual identity executes
Mechanism, multi-functional end effector mechanism can realize each movement by pneumatic clamper, straight line cylinder, rotary cylinder, vacuum chuck etc., real
The now unmanned operation of the process.
Embodiment two
The embodiment of the present application provides a kind of loading method that powder charge is carried out using above-mentioned charge system, such as Fig. 8 and Fig. 9 institute
Show, loading method the following steps are included:
Mixing vessel 5 is transported to mixing machine 1 by step S10, material automatic transferring 3；
Step S20, automatic feeding device 2 is by material to be mixed according to preset quality than mixing vessel 5 is added；
Step S30, the material to be mixed being packed into mixing vessel 5 using 1 Dui of mixing machine are mixed according to parameter preset,
Parameter preset includes resonance acceleration, temperature, vacuum degree and default incorporation time；
Mixing vessel 5 is transported to designated position by step S40, material automatic transferring 3.
In above-mentioned loading method, mixing vessel 5 is conveyed by material automatic transferring 3 and is carried out accordingly to each device
Mixing vessel 5 can be added according to preset quality ratio in material to be mixed by operation, automatic feeding device 2, and right by mixing machine 1
Mixing vessel 5 carries out vibration mixing, can be realized the automation of powder charge process by the above method, and right by mixing machine 1
Mixing vessel 5, which carries out vibration, makes internal material to be mixed carry out resonance mixing,
As shown in figure 9, in above-mentioned loading method, in step s 30, using in 1 pair of loading mixing vessel 5 of mixing machine
Material to be mixed is mixed according to parameter preset, is specifically included:
Step S31, material to be mixed in heated mixing vessel 5 to preset temperature threshold；It is carried out treating mixed material
During heating, mixed material can be treated by way of heated mixing vessel 5 and carries out indirect heating；Preset temperature threshold
For the corresponding temperature value being arranged according to practical material；
Step S32 starts mixing machine 1, treats mixed material mixing preset time；Start mixing machine 1, passes through mixing machine 1
Vibration drive mixing vessel 5 in material to be mixed carry out resonance mixing；
Step S33 vacuumizes mixing vessel 5；Mixing vessel 5 can be vacuumized by vacuum unit, and passed through
Vacuum unit controls the vacuum degree in mixing vessel 5；
Step S34 continuess to mix material to be mixed to default incorporation time, presets incorporation time and be greater than preset time；
Step S35 will restore in mixing vessel 5 to normal atmosphere (An)；
Step S36 stops mixing machine 1.
It, can be according to the actual situation by way of repeatedly feeding into mixing vessel 5 in practical material mixed process
Add material to be mixed.In multiple charging, following steps can be used:
After mixing machine 1 reaches the default incorporation time of current material to be mixed and stops mixing machine 1, to mixing vessel 5
Middle addition institute material to be mixed to be added, repeats step S31~step S36 again.
The case where the embodiment of the present application is for repeatedly adding material to be mixed, can after material to be mixed is added every time,
Heating is repeated, vacuumizes, mix, restoring atmospheric pressure and shutdown, in the material to be mixed of current generation reaches default
After technique requires, mixing vessel can be opened, material to be mixed next time to be added is added, continued to heat, vacuumize, mix
Conjunction, recovery atmospheric pressure and shutdown and etc., and so on, until requiring the addition of all materials to be mixed of completion according to technique.
The accumulative incorporation time of the material to be mixed repeatedly added can be 5min~25min.
During repeatedly adding material to be mixed, the incorporation time of the material to be mixed added every time can be identical
Can be different, the temperature of heating can be the same or different, and the mixed time can be the same or different.
In above-mentioned steps S30, in the material to be mixed being packed into mixing vessel 5 using 1 Dui of mixing machine according to default ginseng
Number is mixed, and the specific setting parameter of mixing machine 1 can be with are as follows:
Resonance acceleration is 0~110g, e.g., 10g, 20g, 30g, 40g, 50g, 60g, 70g, 80g, 90g, 100g, 110g；
Temperature is 25 DEG C~125 DEG C, e.g., 25 DEG C, 30 DEG C, 35 DEG C, 40 DEG C, 45 DEG C, 50 DEG C, 55 DEG C, 60 DEG C, 65 DEG C, 70
℃,75℃,80℃,85℃,90℃,95℃,100℃,105℃,110℃,115℃,120℃,125℃；
Vacuum degree be 1kPa~20kPa, e.g., 1kPa, 2kPa, 3kPa, 4kPa, 5kPa, 6kPa, 7kPa, 8kPa, 9kPa,
10kPa,11kPa,12kPa,13kPa,14kPa,15kPa,16kPa,17kPa,18kPa,19kPa,20kPa；
Incorporation time be 5min~50min, e.g., 5min, 10min, 15min, 20min, 25min, 30min, 35min,
40min、45min、50min。
Using the charge system and method provided in the embodiment of the present application, since the charge system can be right by mixing machine
Material to be mixed in mixing vessel carries out resonance mixing, make mixing without dead angle and mixing uniformity it is good, when can shorten mixing
Between and improve mixing efficiency；Auto feed can be carried out to mixing vessel 5 by automatic feeding device, and passes through material from turn
Shipping unit makes the automatic conveying between stations of mixing vessel 5, at the same time it can also straight using engine or PBX explosive assembly casing
It connects as mixing vessel, powder charge process can be reduced, improve production efficiency；Therefore, using above-mentioned charge system and method energy
Enough shorten incorporation time and improves production efficiency.
Although the preferred embodiment of the application has been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the application range.
Obviously, those skilled in the art can carry out various modification and variations without departing from the essence of the application to the application
Mind and range.In this way, if these modifications and variations of the application belong to the range of the claim of this application and its equivalent technologies
Within, then the application is also intended to include these modifications and variations.
Claims (13)
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| CN113044492A (en) * | 2019-12-28 | 2021-06-29 | 中国科学院沈阳自动化研究所 | TNT automatic transfer feeding device |
| CN113648891A (en) * | 2021-08-05 | 2021-11-16 | 内蒙古航天红峡化工有限公司 | A system and method for enhancing acoustic resonance mixing |
| CN113694797A (en) * | 2021-11-01 | 2021-11-26 | 苏州智伟信自动化科技有限公司 | Automatic stirring and blending device and method for corrosive solution |
| CN117445013A (en) * | 2023-12-22 | 2024-01-26 | 吉林省吉邦自动化科技有限公司 | VGA platform and six-degree-of-freedom manipulator fusion control system |
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| CN113694797A (en) * | 2021-11-01 | 2021-11-26 | 苏州智伟信自动化科技有限公司 | Automatic stirring and blending device and method for corrosive solution |
| CN117445013A (en) * | 2023-12-22 | 2024-01-26 | 吉林省吉邦自动化科技有限公司 | VGA platform and six-degree-of-freedom manipulator fusion control system |
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Application publication date: 20181228 |