CN220131405U - Protection system for mechanical arm of loading expanded ammonium nitrate explosive - Google Patents
Protection system for mechanical arm of loading expanded ammonium nitrate explosive Download PDFInfo
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- CN220131405U CN220131405U CN202321244425.8U CN202321244425U CN220131405U CN 220131405 U CN220131405 U CN 220131405U CN 202321244425 U CN202321244425 U CN 202321244425U CN 220131405 U CN220131405 U CN 220131405U
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- Prior art keywords
- protection
- mechanical arm
- ammonium nitrate
- arm
- protection system
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- 239000002360 explosive Substances 0.000 title claims abstract description 44
- PAWQVTBBRAZDMG-UHFFFAOYSA-N 2-(3-bromo-2-fluorophenyl)acetic acid Chemical compound OC(=O)CC1=CC=CC(Br)=C1F PAWQVTBBRAZDMG-UHFFFAOYSA-N 0.000 title claims abstract description 24
- 230000006698 induction Effects 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 239000006247 magnetic powder Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000036632 reaction speed Effects 0.000 description 2
- 229910002651 NO3 Inorganic materials 0.000 description 1
- NHNBFGGVMKEFGY-UHFFFAOYSA-N Nitrate Chemical compound [O-][N+]([O-])=O NHNBFGGVMKEFGY-UHFFFAOYSA-N 0.000 description 1
- 240000007651 Rubus glaucus Species 0.000 description 1
- 235000011034 Rubus glaucus Nutrition 0.000 description 1
- 235000009122 Rubus idaeus Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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- Control And Safety Of Cranes (AREA)
Abstract
The utility model discloses a protection system of an expanded ammonium nitrate loading mechanical arm, which belongs to the technical field of explosive transportation and comprises a protection fence, an induction unit, a braking unit and an alarm control unit, wherein the protection fence is arranged on the periphery of the mechanical arm, the induction unit is arranged on the mechanical arm, the braking unit is arranged on a mechanical arm base motor, the alarm control unit is arranged on the protection fence, the induction unit comprises a visual sensor and a pressure sensor, the visual sensor is arranged at the top of the mechanical arm, and the pressure sensor is arranged at the grasping end of the mechanical arm. The protection system of the mechanical arm for loading the expanded ammonium nitrate explosive adopts the visual sensor and the protection fence as the safety protection for operators, so that the safety of the operators in the running process is ensured; the situation that the reset is difficult to occur can be avoided, and the production efficiency is improved.
Description
Technical Field
The utility model belongs to the technical field of explosive transportation, and particularly relates to a protection system for an expanded ammonium nitrate explosive loading mechanical arm.
Background
When the expanded ammonium nitrate explosive conveyer belt is transported to a transportation vehicle, a mechanical arm is selected for automatic transportation, if the mechanical arm operates according to programmed actions, the mechanical arm can completely neglect the operation key points of the civil explosive equipment for light holding and light placing, frequently collides with a stacking supporting plate and surrounding guardrails, and stops moving until the robot is contacted with the chain of the maximum grabbing and lifting weight, and meanwhile, an intelligent early warning system is lacked, so that great potential safety hazards exist; after the collision, because the mechanical arm strength is large, the restoration is difficult, and after all equipment at the collision part is manually dismantled, the servo motor can work normally, so that the carrying efficiency of the expanded nitrate explosive is seriously affected; in case of failure, the whole line is stopped and the maintenance is waited.
As disclosed in CN205471692U, an explosive loading assembly device is disclosed, wherein more than 2 explosive product boxes are conveyed into a row by using an explosive conveyor, then the arranged whole row of explosive product boxes are moved to a stacker, the stacker moves the whole row of explosive product boxes to the stacking conveyor, and stacks the whole row of explosive product boxes into more than two layers, the stacking conveyor stacks the stacked single-row of explosive product boxes into more than two rows, then the stacked explosive product boxes are moved into a special transfer trolley for explosives, and the special transfer trolley for explosives performs secondary stacking of the stacked explosive product boxes, but the utility model cannot prevent operators from approaching a dangerous range.
Disclosure of Invention
The technical problem to be solved by the utility model is that the mechanical arm completely ignores the operation key points of the light handling and the light placing of civil explosive equipment, frequently collides with the stacking supporting plate and surrounding guardrails, and provides a protection system for the expanded ammonium nitrate explosive loading mechanical arm aiming at the defects of the prior art.
In order to solve the technical problems, the utility model adopts the following technical scheme:
the utility model provides a popped ammonium nitrate explosive loading arm protection system, its includes protection rail, sensing unit, braking unit and alarm control unit, the protection rail sets up in arm week side, sensing unit sets up on the arm, braking unit sets up on arm base motor, alarm control unit sets up on the protection rail, sensing unit includes vision sensor and pressure sensor, vision sensor sets up at the arm top, pressure sensor sets up at the arm gripping end.
Further, the alarm control unit comprises a protection controller and a buzzer, wherein the protection controller is fixed on the front side of the protection fence, and the buzzer is arranged in the protection controller.
Further, the protection controller comprises a control board, a display screen, a device reset button and a device start-stop knob, wherein the control board is arranged inside the protection controller, the device reset button and the device start-stop knob are arranged below the display screen, and the display screen, the device reset button and the device start-stop knob are all arranged on the front side surface of the protection controller.
Further, the braking unit is an electromagnetic brake.
Further, the induction unit, the display screen, the device reset button, the device start-stop knob and the electromagnetic brake are electrically connected with the control panel.
Compared with the prior art, the utility model has the following beneficial effects:
the expanded ammonium nitrate explosive loading mechanical arm protection system selects the visual sensor and the protection fence as the safety protection for operators, if the operators enter the protection fence and the device stop button is not pressed down, the visual sensor camera recognizes that the operators can immediately stop the mechanical arm from swinging, and meanwhile, the buzzer gives an alarm to remind the operators to exit the protection fence, so that the safety of the operators in the running process is ensured; the vision sensor selected by the expanded ammonium nitrate explosive loading mechanical arm protection system can also move along with the mechanical arm gripping mechanism, signals are sent to the protection control board before the mechanical arm collides with the rigid obstacle, the mechanical arm is immediately stopped from swinging, the situation that the mechanical arm is difficult to reset is avoided, and the production efficiency is improved; the motor braking of the expanded ammonium nitrate explosive loading mechanical arm protection system selects an electromagnetic brake, the reaction speed of an electromagnetic reactor is high, and the electromagnetic brake only needs 0.3 seconds from the electrifying to the locking braking; the magnetic powder brake has small volume, large torsion and the same torque, is smaller than the magnetic powder brake, and is suitable for equipment with limited installation space; the service life is long, the failure rate is low, the service life reaches 500 ten thousand times of start and stop, and besides the abrasion of a braking plate, the failure rate is extremely low.
Drawings
The present utility model will be described in further detail with reference to the accompanying drawings.
Fig. 1: the embodiment 1 of the utility model is a structural schematic diagram of a protection system of a loading mechanical arm for expanded ammonium nitrate explosive;
fig. 2: the embodiment 1 of the utility model is a schematic diagram of the installation position of a visual sensor and an electromagnetic brake;
fig. 3: the mechanical arm gripping mechanism of the embodiment 1 of the utility model is structurally schematic;
fig. 4: the embodiment 1 of the utility model is a structural schematic diagram of a protection controller;
the device comprises a 1-protective fence, a 2-protective controller, a 3-conveyor belt, a 4-electromagnetic brake, a 5-visual sensor, a 6-pressure sensor, a 7-extrusion rod, an 8-display screen, a 9-device start-stop knob and a 10-device reset button.
Detailed Description
For a better understanding of the present utility model, the following examples are set forth to further illustrate the utility model, but are not to be construed as limiting the utility model. In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present utility model. It will be apparent, however, to one skilled in the art that the utility model may be practiced without one or more of these details.
Example 1
Referring to fig. 1-4, a protection system for a loading mechanical arm of expanded ammonium nitrate explosive comprises a protection fence 1, an induction unit, a braking unit and an alarm control unit, wherein the protection fence 1 is arranged on the periphery of the mechanical arm, the induction unit is arranged on the mechanical arm, the braking unit is arranged on a base motor of the mechanical arm, the alarm control unit is arranged on the protection fence 1, the induction unit comprises a visual sensor 5 and a pressure sensor 6, the visual sensor 5 is arranged at the top of the mechanical arm, and the pressure sensor 6 is arranged at the gripping end of the mechanical arm.
The alarm control unit comprises a protection controller 2 and a buzzer, wherein the protection controller 2 is fixed on the front side of the protection fence 1, and the buzzer is arranged in the protection controller 2.
The protection controller 2 comprises a control board, a display screen 8, a device reset button 10 and a device start-stop knob 9, wherein the control board is arranged inside the protection controller 2, the device reset button 10 and the device start-stop knob 9 are arranged below the display screen 8, and the display screen 8, the device reset button 10 and the device start-stop knob 9 are all arranged on the front side surface of the protection controller 2.
The braking unit is an electromagnetic brake 4.
The induction unit, the display screen 8, the device reset button 10, the device start-stop knob 9 and the electromagnetic brake 4 are electrically connected with the control panel.
In the embodiment, MPX4115 is selected as a pressure sensor, a raspberry group camera is selected as a vision sensor, and an AT89C51 singlechip is selected as a control board.
The operation flow of the protection system of the mechanical arm for loading the expanded ammonium nitrate explosive is as follows:
when the puffed ammonium nitrate explosive storage bags are transported to the tail end of the conveyor belt 3 through the conveyor belt 3, the mechanical arm controls each transmission mechanism according to a preset program, firstly, the explosive storage bags are lifted up, at the moment, the mechanical arm rotates to the rear end of the explosive transport vehicle, at the moment, if the explosive storage bags are not lifted up enough, the mechanical arm can collide against the tail end baffle of the conveyor belt 3, after the visual sensor 5 is installed, when the mechanical arm is still a certain distance away from the tail end baffle of the conveyor belt 3, the electromagnetic brake 4 is started by the control panel, so that the mechanical arm stops moving, the buzzer alarms, an operator needs to press the device reset button 10, and the display screen records the fault times; when the mechanical arm reaches the rear end of the explosive transport vehicle, the extrusion rod 7 pushes the expanded ammonium nitrate explosive storage bag to enter the vehicle body, at the moment, if the force of the extrusion rod 7 for extruding the explosive storage bag reaches the setting range of the pressure sensor 6, the electromagnetic brake is started by the control panel, so that the mechanical arm stops moving, and at the moment, an operator needs to press the device reset button 10; when personnel enter the range of the protective fence 1 in the operation process of the mechanical arm, the vision sensor 5 transmits signals to the control board, and the control board controls the buzzer to alarm and simultaneously starts the electromagnetic brake 4, so that the mechanical arm is prevented from hurting the personnel.
The expanded ammonium nitrate explosive loading mechanical arm protection system selects the visual sensor and the protection fence as the safety protection for operators, if the operators enter the protection fence and the device stop button is not pressed down, the visual sensor camera recognizes that the operators can immediately stop the mechanical arm from swinging, and meanwhile, the buzzer gives an alarm to remind the operators to exit the protection fence, so that the safety of the operators in the running process is ensured;
the vision sensor selected by the expanded ammonium nitrate explosive loading mechanical arm protection system can also move along with the mechanical arm gripping mechanism, signals are sent to the protection control board before the mechanical arm collides with the rigid obstacle, the mechanical arm is immediately stopped from swinging, the situation that the mechanical arm is difficult to reset is avoided, and the production efficiency is improved;
the motor braking of the expanded ammonium nitrate explosive loading mechanical arm protection system selects an electromagnetic brake, the reaction speed of an electromagnetic reactor is high, and the electromagnetic brake only needs 0.3 seconds from the electrifying to the locking braking; the magnetic powder brake has small volume, large torsion and the same torque, is smaller than the magnetic powder brake, and is suitable for equipment with limited installation space; the service life is long, the failure rate is low, the service life reaches 500 ten thousand times of start and stop, and besides the abrasion of a braking plate, the failure rate is extremely low.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (5)
1. The utility model provides a popped ammonium nitrate explosive loading arm protection system which characterized in that: including protection rail, sensing unit, braking unit and alarm control unit, the protection rail sets up in arm week side, sensing unit sets up on the arm, braking unit sets up on arm base motor, alarm control unit sets up on the protection rail, sensing unit includes vision sensor and pressure sensor, vision sensor sets up at the arm top, pressure sensor sets up at the arm gripping end.
2. The expanded ammonium nitrate explosive loading mechanical arm protection system according to claim 1, wherein: the alarm control unit comprises a protection controller and a buzzer, wherein the protection controller is fixed on the front side of the protection fence, and the buzzer is arranged in the protection controller.
3. The expanded ammonium nitrate explosive loading mechanical arm protection system according to claim 2, wherein: the protection controller comprises a control board, a display screen, a device reset button and a device start-stop knob, wherein the control board is arranged inside the protection controller, the device reset button and the device start-stop knob are arranged below the display screen, and the display screen, the device reset button and the device start-stop knob are all arranged on the front side surface of the protection controller.
4. The expanded ammonium nitrate explosive loading mechanical arm protection system according to claim 1, wherein: the braking unit is an electromagnetic brake.
5. A protection system for a loading arm for expanded ammonium nitrate explosive as recited in claim 3, wherein: the induction unit, the display screen, the device reset button, the device start-stop knob and the electromagnetic brake are electrically connected with the control panel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321244425.8U CN220131405U (en) | 2023-05-22 | 2023-05-22 | Protection system for mechanical arm of loading expanded ammonium nitrate explosive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321244425.8U CN220131405U (en) | 2023-05-22 | 2023-05-22 | Protection system for mechanical arm of loading expanded ammonium nitrate explosive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220131405U true CN220131405U (en) | 2023-12-05 |
Family
ID=88947518
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321244425.8U Active CN220131405U (en) | 2023-05-22 | 2023-05-22 | Protection system for mechanical arm of loading expanded ammonium nitrate explosive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220131405U (en) |
-
2023
- 2023-05-22 CN CN202321244425.8U patent/CN220131405U/en active Active
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