CN112159296A - Row-linked firework gunpowder mixing and charging robot production line - Google Patents
Row-linked firework gunpowder mixing and charging robot production line Download PDFInfo
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- CN112159296A CN112159296A CN202011068079.3A CN202011068079A CN112159296A CN 112159296 A CN112159296 A CN 112159296A CN 202011068079 A CN202011068079 A CN 202011068079A CN 112159296 A CN112159296 A CN 112159296A
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- C—CHEMISTRY; METALLURGY
- C06—EXPLOSIVES; MATCHES
- C06B—EXPLOSIVES OR THERMIC COMPOSITIONS; MANUFACTURE THEREOF; USE OF SINGLE SUBSTANCES AS EXPLOSIVES
- C06B21/00—Apparatus or methods for working-up explosives, e.g. forming, cutting, drying
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- C—CHEMISTRY; METALLURGY
- C06—EXPLOSIVES; MATCHES
- C06B—EXPLOSIVES OR THERMIC COMPOSITIONS; MANUFACTURE THEREOF; USE OF SINGLE SUBSTANCES AS EXPLOSIVES
- C06B21/00—Apparatus or methods for working-up explosives, e.g. forming, cutting, drying
- C06B21/0033—Shaping the mixture
Abstract
The invention discloses a row-type firework powder mixed charge robot production line, which comprises a conveying table and two turnover type mixed charge devices, wherein the conveying table is provided with a conveying table; the distance between the inner firework cylinders is different in the Y direction between the turnover type mixed charging devices; the turnover type mixed charging device comprises a stand platform, a material injection mechanism, a lifting driving mechanism, a turnover driving mechanism and a material mixing mechanism; the mixing mechanism comprises a mixing bin body, an upper valve plate, a middle valve plate and a lower valve plate; the mixing bin body is provided with a through hole and a rotating shaft body; the through holes are arranged in a matrix array; the upper valve plate, the middle valve plate and the lower valve plate are sequentially arranged on the mixing bin body at intervals in a penetrating manner; the upper valve plate, the middle valve plate and the lower valve plate divide the through hole into an upper mixing cavity and a lower mixing cavity; the invention forms a small-dose distributed mixing mode, avoids potential safety hazards existing in the mixing and conveying process, reduces the time of the powder in a continuous active deflagration state in the mixing process, greatly reduces the danger in the mixing process, and has mechanical operation and high efficiency.
Description
Technical Field
The invention relates to a gang-type firework powder mixing and charging robot production line.
Background
When the firework barrel is produced, gunpowder needs to be assembled, powder charging is an important process in the firework production process, and the mixed gunpowder needs to be loaded into each firework inner barrel of the firework barrel. The existing charging machine generally mixes the raw materials of an oxidant and a reducing agent in a centralized manner to form gunpowder, and then charges the mixed gunpowder into an inner tube of a firework, so that great potential safety hazards exist in the mixing and conveying process, and once an accident occurs, the loss is great; in the gunpowder mixing process, the raw materials of the oxidant and the reducing agent are added simultaneously, so that all the gunpowder raw materials are in a high-risk state of explosive combustion in the whole mixing process.
Disclosure of Invention
The invention aims to overcome the defects and provide a production line of a gang-type firework powder mixing and charging robot.
In order to achieve the purpose, the invention adopts the following specific scheme:
a row-type firework powder mixed charge robot production line comprises a conveying table and two turnover mixed charge devices which are arranged on the same side of the conveying table at intervals; the conveying table is used for conveying the firework cylinder to be charged for the two turnover type mixed charging devices along the X direction and conveying the firework cylinder subjected to charging operation by the two turnover type mixed charging devices out of the working area; the distance between the two turnover type mixed charging devices in the Y direction is different by one firework inner barrel; the turnover type mixed charging device is used for mixing the raw materials of the gunpowder and loading the gunpowder after the mixed charging into a firework barrel to be charged.
The turnover type mixed charging device further comprises a rack table, a material injection mechanism, a lifting driving mechanism, a turnover driving mechanism and a material mixing mechanism; the material injection mechanism is arranged at the top end of the stand platform; the lifting driving mechanism is arranged on the rack platform; the overturning driving mechanism is arranged at the output end of the lifting driving mechanism and is used for driving the material mixing mechanism to perform overturning motion and enabling the material mixing mechanism to synchronously translate in the overturning process;
the mixing mechanism comprises a mixing bin body, an upper valve plate, a middle valve plate and a lower valve plate; the mixing bin body is provided with a plurality of through holes, a rotating shaft body extends from one side of the mixing bin body, and the rotating shaft body is in transmission connection with the output end of the overturning driving mechanism; the through holes are arranged in a matrix array and are arranged at intervals; the upper valve plate movably penetrates through the upper end of the mixing bin body; the middle valve plate movably penetrates through the middle part of the mixing bin body; the lower valve plate movably penetrates through the lower end of the mixing bin body; each through hole is divided into an upper mixing cavity and a lower mixing cavity by the upper valve plate, the middle valve plate and the lower valve plate; the upper valve plate, the middle valve plate and the lower valve plate are respectively provided with a through hole corresponding to each through hole one by one; permanent magnets are fixed at one ends of the upper valve plate, the middle valve plate and the lower valve plate, and return springs are respectively connected with the mixing bin body; and electromagnets are respectively arranged on the mixing bin body corresponding to each permanent magnet.
Furthermore, flexible sealing sleeves are sleeved on the upper port and the lower port of each through hole.
Furthermore, the upper valve plate, the middle valve plate and the lower valve plate are respectively connected with the mixing bin body with two return springs which are arranged side by side at intervals.
The invention further discloses a turnover driving mechanism which comprises a U-shaped turnover bracket, a turnover motor, a rotating sleeve, a fixing plate and two guide pins; the bottom end of the overturning bracket is fixed on the output end of the lifting driving mechanism; two ends of the rotary sleeve are rotatably connected between two ends of the overturning bracket; the overturning motor is fixed at one end of the overturning bracket and is in transmission connection with the rotating sleeve through a reduction gear set; the fixing plate is fixed at one end of the overturning bracket; the rotating shaft body is sequentially movably arranged on the rotating sleeve and the fixed plate in a penetrating way and can rotate along with the rotating sleeve, and two parallel spiral grooves are formed in the rotating shaft body; the two guide pins are oppositely arranged on the fixed plate, and the adjacent ends of the two guide pins are respectively and correspondingly embedded into the two spiral grooves; the adjacent ends of the two guide pins are both hemispherical parts. .
Furthermore, the lifting driving mechanism comprises a lifting motor, a lifting screw rod, a lifting plate and a lifting nut; the lifting motor is fixed at the top end of the rack platform; two ends of the lifting screw are respectively and rotatably connected to the top end and the bottom end of the rack platform; the lifting plate is connected to the rack platform in a sliding manner; the lifting nut is in threaded connection with the lifting screw and is fixed on the lifting plate; the overturning driving mechanism is fixed on the lifting plate.
The invention further provides that the material injection mechanism comprises a material injection seat and two material injectors which are fixed on the bottom surface of the material injection seat at intervals in parallel; one end of the material injection seat is fixed at the top end of the stand platform; each material injection device is provided with a plurality of material injection nozzles which are in one-to-one correspondence with the plurality of penetrations, and material injection inlets which are communicated with the plurality of material injection nozzles; the material injection inlet protrudes out of the material injection seat.
The invention has the beneficial effects that: according to the invention, the upper mixing cavity and the lower mixing cavity which are arranged in a matrix and can be mutually communicated are arranged on the mixing bin body, so that the small doses of the oxidant raw material and the reductant raw material are independently mixed, and the oxidant raw material and the reductant raw material are mixed together after being fully mixed, so that a small-dose distributed mixing mode is formed, and the small-dose distributed mixing mode is mutually independent, thereby avoiding potential safety hazards in the mixing and conveying process, being beneficial to reducing the loss caused by accidents, being capable of reducing the time of the gunpowder in a continuous active deflagration state in the mixing process, and greatly reducing the danger in the mixing process.
The invention is mechanically operated, is suitable for the charging operation of the firework cylinders in batches, improves the production efficiency, lightens the labor intensity and reduces the production cost.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a perspective view of another aspect of the present invention;
FIG. 3 is a perspective view of a roll-over compound charge of the present invention;
FIG. 4 is a perspective view of another perspective of the present invention of a convertible compound charge;
FIG. 5 is a perspective view of the mixing mechanism of the present invention;
FIG. 6 is a perspective view of another perspective of the mixing mechanism of the present invention;
FIG. 7 is a cross-sectional view of a mixing mechanism of the present invention;
FIG. 8 is a perspective view of the tumble drive mechanism of the present invention;
FIG. 9 is an exploded schematic view of the injection mechanism of the present invention;
fig. 10 is a schematic view of the lifting driving mechanism of the present invention mounted on a stand;
description of reference numerals: a1, a transmission platform; a2, a turnover mixing charging device;
1. a rack stand; 2. a material injection mechanism; 21. a material injection seat; 22. a material injection device; 3. a lifting drive mechanism; 31. a lifting motor; 32. a lifting screw; 33. a lifting plate; 34. a lifting nut; 4. a turnover driving mechanism; 41. turning over the bracket; 42. turning over a motor; 43. a rotating sleeve; 44. a fixing plate; 45. a guide pin; 5. a material mixing mechanism; 51. a mixing bin body; 511. a rotating shaft body; 512. an upper mixing chamber; 513. a lower mixing chamber; 514. a helical groove; 52. an upper valve plate; 53. a middle valve plate; 54. a lower valve plate; 55. a permanent magnet; 56. a return spring; 57. an electromagnet; 58. a flexible sealing sleeve.
Detailed Description
The invention will be described in further detail with reference to the following figures and specific examples, without limiting the scope of the invention.
As shown in fig. 1 to 10, the production line of the gang-type firework powder mixed charge robot in the embodiment includes a conveying table a1 and two turnover mixed charge units a2 spaced apart from each other on the same side of a conveying table a 1; the conveying table a1 is used for conveying the firework cylinder to be charged to the two turnover type mixed charging devices a2 and conveying the firework cylinder which is charged by the two turnover type mixed charging devices a2 out of the working area; the distance between the two turnover type mixed charging devices a2 in the Y direction is different by one firework inner barrel; the turnover type mixed powder charging device a2 is used for mixing powder raw materials and loading the mixed powder into a firework barrel to be charged.
For explaining the embodiment, the turnover type mixed charge device near the rear end of the conveying table a1 is defined as a first turnover type mixed charge device, and the turnover type mixed charge device near the front end of the conveying table a1 is defined as a second turnover type mixed charge device; when the firework barrel is actually used, a firework barrel to be charged is placed on the conveying table a1, the conveying table a1 drives the firework barrel to be conveyed forwards along the X direction, when the firework barrel firstly moves to the position right below the first turnover type mixed charging device, the first turnover type mixed charging device mixes powder raw materials, mixed powder is loaded on the firework inner barrel in odd rows and odd positions on the firework barrel, after the completion, the conveying table a1 drives the firework barrel to move backwards by the distance of the firework inner barrel, then the first turnover type mixed charging device loads the mixed powder on the firework inner barrel in even rows and odd positions, after the completion, the conveying table a1 drives the firework barrel to be conveyed forwards until the firework barrel moves to the position right below the second turnover type mixed charging device, and as the distance of the two mixed charging devices a2 is different by one firework inner barrel in the Y direction, therefore, the second turnover type mixed charging device loads the mixed gunpowder on the firework inner cylinders positioned in odd rows of even numbers on the firework cylinder, after the charging is completed, the conveying platform a1 drives the firework cylinder to move backwards by the distance of one firework inner cylinder, then the second turnover type mixed charging device loads the mixed gunpowder on the firework inner cylinders positioned in even rows of even numbers on the firework cylinder, so that the charging operation of all the firework inner cylinders on the firework cylinder is completed, and after the charging is completed, the firework cylinder is conveyed out of the working area by the conveying platform a 1; repeating the above process can continuously carry out the charging operation of the firework cylinder, is suitable for the charging operation of the firework cylinder in batches, improves the production efficiency, lightens the labor intensity and reduces the production cost.
Based on the above embodiment, further, the convertible mixed charging device a2 includes a rack 1, a material injection mechanism 2, a lifting driving mechanism 3, a turnover driving mechanism 4, and a material mixing mechanism 5; the material injection mechanism 2 is arranged at the top end of the stand frame 1; the lifting driving mechanism 3 is arranged on the rack platform 1; the overturning driving mechanism 4 is arranged at the output end of the lifting driving mechanism 3 and is used for driving the material mixing mechanism 5 to perform overturning motion and enabling the material mixing mechanism 5 to synchronously translate in the overturning process;
the mixing mechanism 5 comprises a mixing bin body 51, an upper valve plate 52, a middle valve plate 53 and a lower valve plate 54; a plurality of through holes are formed in the mixing bin body 51, a rotating shaft body 511 extends from one side of the mixing bin body 51, and the rotating shaft body 511 is in transmission connection with the output end of the overturning driving mechanism 4; the through holes are arranged in a matrix array and are arranged at intervals; the upper valve plate 52 movably penetrates through the upper end of the mixing bin body 51; the middle valve plate 53 movably penetrates through the middle part of the mixing bin body 51; the lower valve plate 54 movably penetrates through the lower end of the mixing bin body 51; wherein each through hole is divided into an upper mixing cavity 512 and a lower mixing cavity 513 by the upper valve plate 52, the middle valve plate 53 and the lower valve plate 54; the upper valve plate 52, the middle valve plate 53 and the lower valve plate 54 are respectively provided with a through hole corresponding to each through hole one by one; permanent magnets 55 are fixed at one ends of the upper valve plate 52, the middle valve plate 53 and the lower valve plate 54, and are respectively connected with the mixing bin body 51 through return springs 56; an electromagnet 57 is arranged on the mixing bin body 51 corresponding to each permanent magnet 55.
For convenience of explanation of the present embodiment, the electromagnet 57 corresponding to the upper valve plate 52 is defined as a first electromagnet, the permanent magnet 55 fixed to the upper valve plate 52 is defined as a first permanent magnet, the electromagnet 57 corresponding to the middle valve plate 53 is defined as a second electromagnet, the permanent magnet 55 fixed to the middle valve plate 53 is defined as a second permanent magnet, the electromagnet 57 corresponding to the lower valve plate 54 is defined as a third electromagnet, and the permanent magnet 55 fixed to the lower valve plate 54 is defined as a third permanent magnet; preferably, the first electromagnet and the first permanent magnet are located on one side of the mixing bin body 51, and the second electromagnet, the third electromagnet, the second permanent magnet and the third permanent magnet are located on the other side of the mixing bin body 51, so that interference caused by over-concentration of a magnetic field is avoided; in this embodiment, transfer station a1 is mounted on the bottom end of rack stand 1 of two flip-top compound charges a 2.
The working mode of the embodiment is as follows: when the device works, the middle valve plate 53 is kept in a closed state, the lifting driving mechanism 3 drives the mixing mechanism 5 to ascend through the overturning driving mechanism 4, so that each upper mixing cavity 512 of the mixing bin body 51 is correspondingly matched with the material injection mechanism 2, the upper valve plate 52 is in an opened state, then the material injection mechanism 2 injects an oxidant raw material into each upper mixing cavity 512, after the material injection is completed, the first electromagnet is electrified to magnetically adsorb a first permanent magnet, so that the upper valve plate 52 moves, the inlet of the upper mixing cavity 512 is closed, then the lifting driving mechanism 3 drives the mixing mechanism 5 to downwards probe for a certain distance, then the overturning driving mechanism 4 drives the mixing mechanism 5 to rotate to perform overturning motion, and simultaneously drives the mixing mechanism 5 to horizontally move for the distance of one material injection station, so that the oxidant raw material in the upper mixing cavity 512 is stirred in a rolling manner to perform mixing, and at the moment, the oxidant is in an inert state with, after the mixture is turned over for 180 degrees, the lower mixing chamber 513 is located above, the lifting driving mechanism 3 drives the mixing mechanism 5 to ascend again to be matched with the material injection mechanism 2, the lower valve plate 54 is in an open state, then the material injection mechanism 2 injects the reducing agent raw material into the lower mixing chamber 513, after the material injection is completed, the third electromagnet is electrified to magnetically adsorb the third permanent magnet, so that the lower valve plate 54 is driven to close the inlet of the lower mixing chamber 513, then the lifting driving mechanism 3 drives the mixing mechanism 5 to downwards probe for a certain distance, meanwhile, the turning driving mechanism 4 drives the mixing mechanism 5 to reversely turn for 180 degrees, so that the reducing agent raw material is uniformly mixed in the lower mixing chamber 513, at the moment, the reducing agent raw material is also in a single-property inert state, so that after the oxidizing agent raw material and the reducing agent raw material are respectively and fully and uniformly mixed, the middle valve plate 53 is opened, so that the upper mixing chamber 512 is communicated with the lower mixing chamber 513, then the turning, the oxidant raw material and the reductant raw material are fully mixed to form gunpowder, the gunpowder is in an active deflagration state at the moment, after the oxidant raw material and the reductant raw material are fully mixed uniformly, the mixing mechanism 5 is restored to the initial position, then the firework cylinder is placed under the mixing mechanism 5 in advance, then the lifting driving mechanism 3 drives the mixing mechanism 5 to downwards extend to be in contact with the firework cylinder, so that inlets of the lower mixing chambers 513 correspond to the firework inner cylinders of the firework cylinder one by one, and then the lower valve plates 54 are opened, so that the gunpowder formed by mixing is filled into the firework inner cylinders; the above-mentioned actions are repeated in this way, and the charging operation of the firework barrel can be continuously carried out.
In the actual powder charging process, because the upper mixing chambers 512 or the lower mixing chambers 513 are arranged at intervals, and the firework inner cylinders of the firework cylinder are arranged side by side, in the powder charging process, the powder charging operation of all the firework inner cylinders on the firework cylinder can be completed only by adjusting the positions of the firework inner cylinders through the conveying platform a 1.
This embodiment is through setting up a plurality of matrix arrangements's last compounding chamber 512 and lower compounding chamber 513 that can communicate with each other on blending bunker body 51, make oxidant raw materials and reductant raw materials minidose mix alone earlier, mix both together again after both intensive mixing separately and thoughtlessly join in marriage, form the distributed mode of mixing of minidose, mutual independence, avoid mixing the potential safety hazard that exists in the transportation process, do benefit to the loss that causes when reducing the occurence of failure simultaneously, and can reduce the time of mixing in-process powder and lasting active deflagration state, the danger of the in-process of mixing that significantly reduces.
In the present embodiment, two return springs 56 are preferably connected to the upper valve plate 52, the middle valve plate 53 and the lower valve plate 54, and are spaced from and arranged side by side with respect to the mixing bin body 51. By the arrangement, the upper valve plate 52, the middle valve plate 53 and the lower valve plate 54 are stressed more evenly and move more evenly.
Based on the above embodiment, further, the upper port and the lower port of each through hole are sleeved with a flexible sealing sleeve 58. Through the structure setting, the upper mixing chamber 512 and the lower mixing chamber 513 in the material injection process can form sealing cooperation with the material injection mechanism 2, and form sealing cooperation with the firework inner barrel of the firework barrel, the sealing performance of the whole operation process is improved, the influence on the health of the operation environment and the operation personnel due to powder loss is avoided, and the structure is safer.
Based on the above embodiment, further, the turnover driving mechanism 4 includes a U-shaped turnover bracket 41, a turnover motor 42, a rotating sleeve 43, a fixing plate 44, and two guide pins 45; the bottom end of the turning bracket 41 is fixed on the output end of the lifting driving mechanism 3; two ends of the rotating sleeve 43 are rotatably connected between two ends of the overturning bracket 41; the overturning motor 42 is fixed at one end of the overturning bracket 41 and is in transmission connection with the rotating sleeve 43 through a reduction gear set; the fixing plate 44 is fixed at one end of the turning bracket 41; the rotating shaft body 511 is sequentially movably arranged through the rotating sleeve 43 and the fixing plate 44 and can rotate along with the rotating sleeve 43, and two parallel spiral grooves 514 are formed in the rotating shaft body 511; the two guide pins 45 are oppositely arranged on the fixing plate 44, and adjacent ends of the two guide pins are respectively correspondingly embedded into the two spiral grooves 514. Specifically, the rotating shaft body 511 has a hexagonal prism structure, and the rotating sleeve 43 has a hexagonal through hole, so that the relative sliding between the rotating shaft body 511 and the rotating sleeve 43 can be prevented, and the rotating shaft body 511 can axially move, and the structure is simple and the manufacturing cost is low.
During the in-service use, upset motor 42 passes through reduction gear set and drives rotatory cover 43 and rotate, rotatory cover 43 drives the feed bin body 51 rotatoryly via rotatory axis body 511, carry out the upset motion, rotatory axis body 511 is at rotatory in-process simultaneously, because two uide pins 45 and two helicla flute 514 cooperations, make rotatory axis body 511 along axial displacement at rotatory in-process, thereby drive feed bin body 51 and carry out the translation when the upset motion, thereby realize that feed bin body 51 carries out the translation motion in the upset.
Based on the above embodiment, preferably, the adjacent end portions of the two guide pins 45 are both hemispherical portions. Through the above structure, the resistance received when the guide pin 45 and the rotary shaft body 511 move is reduced, so that the axial movement and the rotary movement of the rotary shaft body 511 are smoother.
Based on the above embodiment, further, the lifting driving mechanism 3 includes a lifting motor 31, a lifting screw 32, a lifting plate 33 and a lifting nut 34; the lifting motor 31 is fixed at the top end of the stand 1; two ends of the lifting screw 32 are respectively and rotatably connected to the top end and the bottom end of the rack platform 1; the lifting plate 33 is connected to the rack 1 in a sliding manner; the lifting nut 34 is in threaded connection with the lifting screw 32 and is fixed on the lifting plate 33; the turnover driving mechanism 4 is fixed on the lifting plate 33.
During the in-service use, lift motor 31 drives lifting screw 32 rotatory, and lifting screw 32 drive lifting nut 34 removes along lifting screw 32, and lifting nut 34 drives lifter plate 33 and removes, and lifter plate 33 drives whole upset actuating mechanism 4 and compounding mechanism 5 and reciprocates, through setting up lift motor 31 and lifting screw 32 cooperation for compounding mechanism 5's displacement precision is higher, guarantees that powder charge operation high accuracy goes on.
Based on the above embodiment, further, the material injection mechanism 2 includes a material injection seat 21 and two material injectors 22 fixed on the bottom surface of the material injection seat 21 side by side at intervals; one end of the material injection seat 21 is fixed at the top end of the rack table 1; each material injector 22 is provided with a plurality of material injection nozzles which are in one-to-one correspondence with the plurality of penetrations, and a material injection inlet which is communicated with the plurality of material injection nozzles; the material injection inlet protrudes out of the material injection seat 21.
During the in-service use, each on the blending bunker body 51 is gone up the material mixing chamber 512 or each down the material mixing chamber 513 one-to-one and a plurality of notes material mouth seal fit, through annotating the material entry simultaneously to a plurality of notes material mouth pay-offs, thereby reach and annotate the material simultaneously in each goes up the material mixing chamber 512 or each down the material mixing chamber 513, set up two and annotate glassware 22, so that oxidant raw materials and reductant raw materials separately annotate the material, avoid annotating the material process and appear the raw materials and mix in advance, the structure is safer.
The above description is only a preferred embodiment of the present invention, and all equivalent changes or modifications of the structure, characteristics and principles described in the present patent application are included in the protection scope of the present patent application.
Claims (8)
1. The utility model provides a gang formula fireworks powder mixes powder charge robot production line which characterized in that: comprises a conveying table (a1) and two turnover type mixed charging devices (a2) which are arranged on the same side of the conveying table (a1) at intervals; the conveying table (a1) is used for conveying the firework cylinder to be charged for the two turnover type mixed charging devices (a2) along the X direction and conveying the firework cylinder which completes charging operation through the two turnover type mixed charging devices (a2) out of the working area; the distance between the two turnover type mixed charging devices (a2) in the Y direction is different by one firework inner cylinder; the turnover type mixed powder charging device (a2) is used for mixing the raw materials of the gunpowder and loading the gunpowder after the mixing into a firework cylinder to be charged.
2. The row-linked firework powder mixed charge robot production line as recited in claim 1, wherein: the turnover type mixed charging device (a2) comprises a rack table (1), a material injection mechanism (2), a lifting driving mechanism (3), a turnover driving mechanism (4) and a material mixing mechanism (5); the material injection mechanism (2) is arranged at the top end of the stand platform (1); the lifting driving mechanism (3) is arranged on the rack table (1); the overturning driving mechanism (4) is arranged at the output end of the lifting driving mechanism (3) and is used for driving the mixing mechanism (5) to perform overturning motion and enabling the mixing mechanism (5) to synchronously translate in the overturning process;
the mixing mechanism (5) comprises a mixing bin body (51), an upper valve plate (52), a middle valve plate (53) and a lower valve plate (54); a plurality of through holes are formed in the mixing bin body (51), a rotating shaft body (511) extends from one side of the mixing bin body (51), and the rotating shaft body (511) is in transmission connection with the output end of the overturning driving mechanism (4); the through holes are arranged in a matrix array and are arranged at intervals; the upper valve plate (52) movably penetrates through the upper end of the mixing bin body (51); the middle valve plate (53) movably penetrates through the middle part of the mixing bin body (51); the lower valve plate (54) movably penetrates through the lower end of the mixing bin body (51); wherein each through hole is divided into an upper mixing cavity (512) and a lower mixing cavity (513) by the upper valve plate (52), the middle valve plate (53) and the lower valve plate (54) together; the upper valve plate (52), the middle valve plate (53) and the lower valve plate (54) are respectively provided with through holes corresponding to the through holes one by one; permanent magnets (55) are fixed at one ends of the upper valve plate (52), the middle valve plate (53) and the lower valve plate (54), and return springs (56) are respectively connected with the mixing bin body (51); and electromagnets (57) are respectively arranged on the mixing bin body (51) corresponding to each permanent magnet (55).
3. The row-connected firework powder mixed charge robot production line as recited in claim 2, wherein: the upper port and the lower port of each through hole are sleeved with flexible sealing sleeves (58).
4. The row-connected firework powder mixed charge robot production line as recited in claim 2, wherein: the upper valve plate (52), the middle valve plate (53) and the lower valve plate (54) are respectively connected with the mixing bin body (51) with two return springs (56) which are arranged side by side at intervals.
5. The row-connected firework powder mixed charge robot production line as recited in claim 2, wherein: the overturning driving mechanism (4) comprises a U-shaped overturning bracket (41), an overturning motor (42), a rotating sleeve (43), a fixing plate (44) and two guide pins (45); the bottom end of the overturning bracket (41) is fixed on the output end of the lifting driving mechanism (3); two ends of the rotary sleeve (43) are rotatably connected between two ends of the overturning bracket (41); the overturning motor (42) is fixed at one end of the overturning bracket (41) and is in transmission connection with the rotating sleeve (43) through a reduction gear set; the fixing plate (44) is fixed at one end of the overturning bracket (41); the rotary shaft body (511) is sequentially movably arranged in the rotary sleeve (43) and the fixed plate (44) in a penetrating way and can rotate along with the rotary sleeve (43), and two spiral grooves (514) which are arranged in parallel are formed in the rotary shaft body (511); the two guide pins (45) are oppositely arranged on the fixed plate (44), and the adjacent ends of the two guide pins are respectively and correspondingly embedded into the two spiral grooves (514); the adjacent end parts of the two guide pins (45) are all hemispherical parts.
6. The row-connected firework powder mixed charge robot production line as recited in claim 2, wherein: the lifting driving mechanism (3) comprises a lifting motor (31), a lifting screw (32), a lifting plate (33) and a lifting nut (34); the lifting motor (31) is fixed at the top end of the rack table (1); two ends of the lifting screw (32) are respectively and rotatably connected to the top end and the bottom end of the stand platform (1); the lifting plate (33) is connected to the rack platform (1) in a sliding manner; the lifting nut (34) is in threaded connection with the lifting screw (32) and is fixed on the lifting plate (33); the overturning driving mechanism (4) is fixed on the lifting plate (33).
7. The row-linked firework powder mixed charge robot production line as recited in claim 1, wherein: the material injection mechanism (2) comprises a material injection seat (21) and two material injectors (22) which are fixed on the bottom surface of the material injection seat (21) at intervals in parallel; one end of the material injection seat (21) is fixed at the top end of the stand platform (1); each material injection device (22) is provided with a plurality of material injection nozzles which are in one-to-one correspondence with the plurality of penetrations, and material injection inlets which are communicated with the plurality of material injection nozzles; the material injection inlet protrudes out of the material injection seat (21).
8. The row-linked firework powder mixed charge robot production line as claimed in claims 1 to 6, wherein: the material injection mechanism (2) comprises a material injection seat (21) and two material injectors (22) which are fixed on the bottom surface of the material injection seat (21) at intervals in parallel; one end of the material injection seat (21) is fixed at the top end of the stand platform (1); each material injection device (22) is provided with a plurality of material injection nozzles which are in one-to-one correspondence with the plurality of penetrations, and material injection inlets which are communicated with the plurality of material injection nozzles; the material injection inlet protrudes out of the material injection seat (21).
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| CN202011068079.3A CN112159296A (en) | 2020-10-08 | 2020-10-08 | Row-linked firework gunpowder mixing and charging robot production line |
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| CN202011068079.3A CN112159296A (en) | 2020-10-08 | 2020-10-08 | Row-linked firework gunpowder mixing and charging robot production line |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140355A (en) * | 2022-07-04 | 2022-10-04 | 轻工业西安机械设计研究院有限公司 | Automatic propellant powder mixing and boxing device |
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|---|---|---|---|---|
| GB745192A (en) * | 1953-12-08 | 1956-02-22 | Philip Rose | An improved firework |
| CN205448848U (en) * | 2016-03-27 | 2016-08-10 | 莫玲芝 | Fireworks assembly device's charge machine constructs |
| CN106139991A (en) * | 2016-08-25 | 2016-11-23 | 湖南省无疆信息科技有限公司 | The automatic mixing system of pyrotechnic composition |
| CN209085453U (en) * | 2018-09-30 | 2019-07-09 | 上栗县环球烟花制造有限公司 | Fireworks automatic assembly line |
| CN209917806U (en) * | 2019-04-02 | 2020-01-10 | 长沙山普智能科技有限公司 | Material mixing machine |
| CN110953937A (en) * | 2020-02-26 | 2020-04-03 | 长沙玺宸自动化科技有限公司 | Powder mixing bionic mechanical arm and firework inner barrel powder mixing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB745192A (en) * | 1953-12-08 | 1956-02-22 | Philip Rose | An improved firework |
| CN205448848U (en) * | 2016-03-27 | 2016-08-10 | 莫玲芝 | Fireworks assembly device's charge machine constructs |
| CN106139991A (en) * | 2016-08-25 | 2016-11-23 | 湖南省无疆信息科技有限公司 | The automatic mixing system of pyrotechnic composition |
| CN209085453U (en) * | 2018-09-30 | 2019-07-09 | 上栗县环球烟花制造有限公司 | Fireworks automatic assembly line |
| CN209917806U (en) * | 2019-04-02 | 2020-01-10 | 长沙山普智能科技有限公司 | Material mixing machine |
| CN110953937A (en) * | 2020-02-26 | 2020-04-03 | 长沙玺宸自动化科技有限公司 | Powder mixing bionic mechanical arm and firework inner barrel powder mixing system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115140355A (en) * | 2022-07-04 | 2022-10-04 | 轻工业西安机械设计研究院有限公司 | Automatic propellant powder mixing and boxing device |
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Application publication date: 20210101 |