CN206208691U - Density of Emulsion Explosive intelligent checking system - Google Patents
Density of Emulsion Explosive intelligent checking system Download PDFInfo
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- CN206208691U CN206208691U CN201620994687.XU CN201620994687U CN206208691U CN 206208691 U CN206208691 U CN 206208691U CN 201620994687 U CN201620994687 U CN 201620994687U CN 206208691 U CN206208691 U CN 206208691U
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Abstract
The utility model discloses a kind of Density of Emulsion Explosive intelligent checking system, the system includes：For placing at least one set of container mounting table for measuring container, the weighing device for carrying out weighing measurement to measurement container, for carrying out the vision sensing equipment of height detection to measuring the liquid surface level in container, for shifting measurement container between container mounting table and weighing device and obtaining the emulsion on production line online and transfer them to the transfer mechanism and control device measured in container；Control device control transfer mechanism transfer measures container and picks up emulsion and be transferred to measurement container, and receive the measurement container of weighing device detection and receiving the forward and backward liquid level data of emulsion in the measurement container for receiving the forward and backward weight data of emulsion and vision sensing equipment detection, realize the on-line checking to Density of Emulsion Explosive, it is whole manually to participate in, greatly improve the security performance of Emulsion Explosive Production.
Description
Technical field
The utility model is related to civil explosive industry Emulsion Explosive Production field, especially, is related to a kind of Density of Emulsion Explosive intelligence
Can detecting system.
Background technology
At present, emulsion is the leading products of commercial explosive, and with the extensive use of emulsion, its quality is also more next
More attract attention.Density is the important performance characteristic of emulsion, and it influences detonation sensitivity, explosion velocity and the performance of emulsion,
Even influence the quality of its product.Although the production technology of emulsion experienced discontinuous, semi continuous to continous way three
The development in stage, but emulsion semi-finished product Density Detection is still using offline, artificial method to be detected.
The existing method for emulsion semi-finished product Density Detection is mainly density agar diffusion method and graduated cylinder method, both sides
Method belongs to offline method, it is impossible to meet《Industrial explosive materials industry " 12 " development plan》Requirement, i.e., should
The commercial explosive that explicitly points out of planning promotes production process intelligent and producing equipment digitlization, improve production line NC postprocessing and
Automatization level, strengthens integrated application, innovation and application and Enterprise Informatization system and the civil explosive industry supervision system of IT application in enterprises
The linking of system, raises the management level.
Viscosity is larger in itself for emulsion, almost without mobility, using existing supercritical ultrasonics technology, vibratory drilling method, light electric-examination
The online Density Detection method such as survey method, gamma-rays method is not suitable for the measurement of Density of Emulsion Explosive, therefore using traditional
Tuning fork densitometer or quality meter cannot measure its density value；Other emulsion is higher to heat sensitivity and mechanical sensitivity, has
Explosivity, this brings greatly hidden danger to emulsion safety in production.
CN201120275672.5 discloses a kind of emulsion explosive density detector, its principle be allow parenchyma quantity sensor and
Paraplasm quantity sensor measures the quality G1 and G2 of main measuring bottle and secondary measuring bottle respectively, then to being put into the main measuring bottle containing measurement liquid
Measurement thing, and to a certain amount of measurement liquid is entered in secondary measuring bottle, parenchyma quantity sensor and paraplasm quantity sensor again read off main amount
Bottle and secondary measuring bottle quality G3 and G4, sample rate is obtained using formula ρ=(G3+G4-G1-G2) * ρ 1/ (G4-G2), and wherein ρ 1 is
Measure the density of liquid.It has the disadvantage not solve the functions such as automatic sampling, real-time detection, closed-loop control, particular without consideration
Due to the error that measurement liquid surface tension is brought to measurement result.Therefore, existing Density of Emulsion Explosive fast detector can not
Realize automatic sampling, can not analyze and reduced density testing result, no warning function, automatically adjusting for density can not be realized,
Guidance to producing has hysteresis quality.
CN201210287586.5 discloses a kind of emulsion semi-finished product density on-line quick detection system, and its principle is
Allow emulsion on production line to determine volume, and by measure it is multigroup determine the quality of emulsion in volume, and use experimental fit
Formula measures the density of emulsion, and the system certainly into autonomous control system, automatic sampling；Have the disadvantage：Emulsion reality
Production uses open type Belt Conveying, it is impossible to realizes that emulsion determines volume sampling, in addition, emulsion viscosity is larger, has
Stronger adhesiveness, even if being conveyed using volume flexible pipe is determined, but cannot also avoid remaining influence of the emulsion to density measure,
Therefore the system is not suitable for the production of existing emulsion.
It is opaque, it is impossible to flow without fixed shape because emulsion is a kind of colloidal state, while emulsification is fried
The automation of medicine manufacturing technique requirent, isolated operation, far distance controlled, therefore, the on-line checking of Density of Emulsion Explosive is always one
Individual problem.In order to reduce line personnel quantity, the automatization level of Emulsion Explosive Production security and production technology is improved, needed badly
Design a kind of Density of Emulsion Explosive intelligent checking system.
Utility model content
The utility model provide a kind of Density of Emulsion Explosive intelligent checking system, with solve existing emulsion due to
Its colloidal state and the demand of safety in production, it is difficult to effectively carry out the technical problem of online Density Detection.
The technical solution adopted in the utility model is as follows：
A kind of Density of Emulsion Explosive intelligent checking system is provided, including：Container for placing at least one set of measurement container
Mounting table, for measurement container carry out weighing measurement weighing device, for measurement container in liquid surface level carry out height
The vision sensing equipment of detection is spent, container is measured for the transfer between container mounting table and weighing device and is obtained production line online
On emulsion and transfer them to measurement container in transfer mechanism and control device；Control device connection transfer mechanism,
Weighing device and vision sensing equipment, hold for controlling transfer mechanism to shift measurement container and pickup emulsion and being transferred to measurement
Device, and the measurement container of weighing device detection is received in the forward and backward weight data of reception emulsion and vision sensing equipment inspection
The measurement container of survey is preset and emulsion not phase in measurement container receiving emulsion forward and backward liquid level data
Molten liquid.
Further, transfer mechanism is industrial robot, and the movable axis of industrial robot is provided with and holds for shifting measurement
The auxiliary smelting tool of device and pickup emulsion, the side of auxiliary smelting tool is provided with the clamping device for shifting measurement container, another
Side is provided with the sampling mechanism for picking up emulsion.
Further, also including the intermediate conveying device on emulsion explosive production line, intermediate conveying device include into
Material conveyer structure, transfer material mechanism and conveying body, feeding conveyor structure are used for emulsification of the reception from a upper operation and fry
Medicine, located at the material position that goes out of feeding conveyor structure, conveying body is located at transfer material mechanism lower section, for receiving for transfer material mechanism
Through transfer material mechanism export emulsion and be transferred to subsequent processing, industrial robot control sampling mechanism in transfer material mechanism
Locate online feeding.
Further, transfer material mechanism is in funnel-form, and clamping device includes cylinder and by air cylinder driven to clamp measurement
The jaw of container, sampling mechanism is bowl-type structure.
Further, the utility model detecting system is also included for positioning support container mounting table, weighing device and regarding
Feel the detection platform of sensing device, vision sensing equipment is oppositely arranged with weighing device.
Further, vision sensing equipment include mounting bracket, in mounting bracket for gathering view data
Vision sensor and view data is processed to obtain the graphics processing unit of liquid level data, graphics processing unit warp
Data wire connects control device.
Further, weighing device is weigh balance or weighing sensor, and connects control device through data wire.
Further, control device connects the control system of emulsion explosive production line through PORT COM.
The utility model has the advantages that：
The utility model Density of Emulsion Explosive intelligent checking system, by control device and transfer mechanism, weighing device, regards
Feel that sensing device is combined, realize the online transfer to measuring container and automatic sampling, and it is final to obtain data with reference to on-line checking
The on-line checking to Density of Emulsion Explosive is realized, it is whole without manually participating in, greatly improve the security of Emulsion Explosive Production
Can, efficiently solve that viscosity is big, the problem of the online Density Detection of emulsion of poor fluidity, explosive, it is easy to real-time monitoring
The production of emulsion, beneficial to the quality of production and automation generation level that improve emulsion.
In addition to objects, features and advantages described above, the utility model also has other purposes, feature and excellent
Point.Below with reference to accompanying drawings, the utility model is described in further detail.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing being further understood to of the present utility model, of the present utility model
Schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model.In accompanying drawing
In：
Fig. 1 is the structural representation of the utility model preferred embodiment Density of Emulsion Explosive intelligent checking system；
Fig. 2 is the structural representation of control device in the utility model preferred embodiment Density of Emulsion Explosive intelligent checking system
Figure；
Fig. 3 a are the structural representations before setting-out in the utility model preferred embodiment Density of Emulsion Explosive Intelligent Measurement；
Fig. 3 b are the structural representations after setting-out in the utility model preferred embodiment Density of Emulsion Explosive Intelligent Measurement；
Fig. 4 is one of schematic flow sheet of the utility model preferred embodiment Density of Emulsion Explosive intelligent detecting method；
Fig. 5 is the two of the schematic flow sheet of the utility model preferred embodiment Density of Emulsion Explosive intelligent detecting method.
Description of reference numerals：
1st, container is measured；
2nd, container mounting table；
3rd, weighing device；
4th, vision sensing equipment；
5th, control device；
6th, transfer mechanism；61st, auxiliary smelting tool；611st, clamping device；612nd, sampling mechanism；
7th, intermediate conveying device；71st, feeding conveyor structure；72nd, transfer material mechanism；73rd, conveying body；
8th, detection platform；
9th, the first data wire；
10th, the second data wire；
11st, the 3rd data wire.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Reference picture 1, preferred embodiment of the present utility model provides a kind of Density of Emulsion Explosive intelligent checking system, bag
Include：For placing the container mounting table 2 of at least one set of measurement container 1, the dress of weighing for carrying out weighing measurement to measurement container 1
Put 3, for carrying out the vision sensing equipment 4 of height detection to the liquid surface level in measurement container 1, in container mounting table 2
The emulsion on measurement container 1 and online acquisition production line is shifted between weighing device 3 and is transferred them in measurement container 1
Transfer mechanism 6 and control device 5；The connection of control device 5 transfer mechanism 6, weighing device 3 and vision sensing equipment 4, for controlling
The transfer of transfer mechanism processed 6 measures container 1 and pickup emulsion and is transferred to measurement container 1, and receives the survey of the detection of weighing device 3
Amount container 1 is receiving emulsification in the measurement container 1 for receiving the forward and backward weight data of emulsion and the detection of vision sensing equipment 4
The forward and backward liquid level data of explosive, the liquid immiscible with emulsion is preset in measurement container 1.
The present embodiment is combined by control device with transfer mechanism, weighing device, vision sensing equipment, realizes holding measurement
The online transfer of device and automatic sampling, and obtain the online inspection that data are finally realized to Density of Emulsion Explosive with reference to on-line checking
Survey, it is whole to greatly improve the security performance of Emulsion Explosive Production without manually participate in, efficiently solve that viscosity is big, mobility
Difference, the problem of the online Density Detection of emulsion of explosive, are easy to the production of real-time monitoring emulsion, are emulsified beneficial to improving
The quality of production and automation generation level of explosive.
In the present embodiment, transfer mechanism 6 is industrial robot, and the movable axis of industrial robot is provided with for shifting measurement
The auxiliary smelting tool 61 of container 1 and pickup emulsion.Preferably, the artificial six axles articulated robot of industrial machine, auxiliary smelting tool
61 are arranged on the 6th axle of industrial robot, and industrial robot connects control device 5, and auxiliary smelting tool through the first data wire 9
61 under the driving of industrial robot, its radius of clean-up covering aforesaid receptacle mounting table 2, weighing device 3.The present embodiment aids in smelting
The various functions of the collection of tool 61 such as one, the side of auxiliary smelting tool 61 is provided with the clamping device 611 for shifting measurement container 1, another
Side is provided with the sampling mechanism 612 for picking up emulsion.Wherein, clamping device 611 include cylinder and by air cylinder driven with
The jaw of clamping measurement container 1, is easy to carry out loading or unloading operation to measurement container 1 online；Sampling mechanism 612 is bowl-type structure, is used
In the directly extraction emulsion sample from emulsion explosive production line.
Preferably, for the ease of on-line period, the present embodiment also includes the middle conveying on emulsion explosive production line
Device 7, intermediate conveying device 7 includes feeding conveyor structure 71, transfer material mechanism 72 and conveying body 73, feeding conveyor
Structure 71 is used to receive the emulsion from a upper operation, and transfer material mechanism 72 goes out material position, goes out located at feeding conveyor structure 71
Material conveyer structure 73 located at the lower section of transfer material mechanism 72, for receiving the emulsion that is exported through transfer material mechanism 72 and being transferred to
Subsequent processing, the industrial robot control online feeding at transfer material mechanism 72 of sampling mechanism 612.Preferably, transfer material mechanism
72 is in funnel-form, by the automatic sampling for setting special transfer material mechanism 72, convenient artificial cleaning and industrial robot.It is preferred that
Ground, the feed end (at A shown in Fig. 1) of feeding conveyor structure 71 is connected with emulsion preparation system, and feeding conveyor structure
71 use Belt Conveying；The discharge end (at B shown in Fig. 1) of conveying body 73 is connected with the packaging system of emulsion, with
Online package handling is carried out to the emulsion after processing.
Preferably, control device 5 connects the control system of emulsion explosive production line through PORT COM, is easy to control system to exist
The Density of Emulsion Explosive value of the generation of line receiving control device 5, realizes the on-line checking and Real-time Feedback of Density of Emulsion Explosive, is beneficial to
Control system carries out real-time control to the proportioning of each link of emulsion, effectively improves the product quality of emulsion.
Preferably, the present embodiment detecting system is also included for positioning support container mounting table 2, weighing device 3 and vision
The detection platform 8 of sensing device 4, wherein, vision sensing equipment 4 is oppositely arranged with weighing device 3 so that whole detecting system
Compact conformation, occupies little space.
Preferably, vision sensing equipment 4 include mounting bracket, in mounting bracket for gathering regarding for view data
Feel sensor and view data is processed to obtain the graphics processing unit of liquid level data, graphics processing unit is through number
Control device 5 is connected according to line.
In the present embodiment, weighing device 3 connects control device 5 through the second data wire 10, and vision sensing equipment 4 is through the 3rd number
Control device 5 is connected according to line 11.Wherein, weighing device 3 is high-precision weighing balance or weighing sensor；Vision sensing equipment
Vision sensor in 4 is video camera or camera.
The present embodiment measurement container 1 is special container, is placed on container mounting table 2, in order to measure container 1
Just positioning, facilitates industrial robot accurately to capture.
Reference picture 2, the present embodiment control device 5 includes external program input unit, such as host computer or pilot teaching device；Journey
Sequence input block, memory cell, CPU (CPU), detection unit, program allocation unit, robot control unit, title
Weight device control units and communication unit.Control device collection robot control, measuring system control, data acquisition, at data
Reason, data communication, warning system, as an independent control unit, pass through in one with emulsion top level control system
Communication netting twine or cable connection, realize the detection of Density of Emulsion Explosive on-line intelligence and control.
The measuring principle of the Density of Emulsion Explosive intelligent checking system of the present embodiment design is as follows：
Object density ρ：
Because emulsion is water insoluble, and water density, it is known that i.e. ρWater=1g/cm3, emulsion viscosity is larger, nothing
Method assumes emulsion constant mass or constant volume by existing disclosed detection method, and existing method cannot be realized
On-line sampling system and Data Transmission Controlling.
As shown in Fig. 3 a and Fig. 3 b, the utility model embodiment is using 1 group of transparent measurement measurement container of 3L, profile and amount
Cup is similar, and measurement liquid is using water as measurement medium, it is assumed that emulsion is definitely water insoluble, No. 1 measurement container bottom area
A, No. 1 measurement vessel level elemental height is H10, No. 1 container and the gross weight for measuring liquid are M10, add a certain amount of breast
After changing explosive, No. 1 measurement vessel level elemental height is H11, No. 1 container and the gross weight for measuring liquid are M11I.e.：
M11=M1o+Δm
V11=V10+Δv
The quality Δ m of emulsion is：
Δ m=M11-M10
The volume delta V of emulsion is：
Δ V=V11-V10
That is the solid density ρ of emulsion is：
Wherein：
K2- correction factor, is modified according to actual needs, and shadow of the water to its density is partially soluble in compensate emulsion
Ring.
Analyzed more than：If wanting to detect the density of emulsion, the quality and liquid level of No. 1 measurement container are high before and after setting-out
Degree difference；Based on this, embodiment of the present utility model is surveyed using vision sensing equipment to the liquid level for measuring container
Amount, using high-precision weighing balance or sensor to emulsion weight, and vision sensor is using the control of netting twine connection robot
Device processed is attached, data transfer, and weighing device is attached using communication netting twine or cable with robot controller, real
Existing data, control signal transmission.
According to another aspect of the present utility model, a kind of Density of Emulsion Explosive intelligent detecting method is also provided, using above-mentioned
Density of Emulsion Explosive intelligent checking system, the detection method includes：
Detecting system is initialized；
On transfer measurement container 1 to weighing device 3, the measurement container 1 that control device 5 receives the detection of weighing device 3 is not put
Enter the first weight data before emulsion and the detection of vision sensing equipment 4 measurement container 1 be not put into before emulsion the
One liquid level data；
The online emulsion for obtaining processing is simultaneously transferred in measurement container 1；
Control device 5 receives corresponding second weight data of measurement container 1 and vision sensing equipment of the detection of weighing device 3
The corresponding second liquid level data of measurement container 1 of 4 detections；
Control device 5 calculates the density value of emulsion according to the data for receiving.
Reference picture 4 and Fig. 5, the detection method that the present embodiment is based on emulsion intelligent checking system are as follows：
The present embodiment is designed with 4 groups of density measures, and every group of measurement realizes that wherein the present embodiment sets using 2 measurement containers
Count the demand that 4 groups of Density Detections are in response to current emulsion explosive production line output；Every group of density measure is measured at twice, finally
Density value is averaged, and according to vision sensing equipment and the repeatable accuracy of weighing device, the difference of density is calculated in real time, is carried out
Feedback.The measurement group number of the quantity of every group of measurement container and measurement container can be adjusted according to actual needs herein, herein
Do not limit.
As shown in figure 4, in the present embodiment, before emulsion starts production, operating personnel place 4 in detection platform
Group measurement container, and isometric water of equivalent is added in container, check each detection signal of emulsion intelligent checking system
Whether sensor, connection software connection is correct, effective, and by system initialization, industrial robot is standby.
When system needs to carry out Density Detection, emulsion top level control system sends Density Detection instruction, density inspection
The control device for surveying intelligence system receives the containers to be measured such as Density Detection instruction (S100), robot detection signal in place
(S101), if measuring container in place (S102), intelligence system control device sends instruction, and control robot is rotating to monitor station just
Front, the attitude of adjustment auxiliary smelting tool so that the clamping jaw on the cylinder of the clamping device of auxiliary smelting tool is parallel with vessel port
(S103), robot slowly moves smelting tool to No. 1 sampling container middle part, and cylinder is closed, and clamps No. 1 sampling container (S104), machine
Device people slowly clamps No. 1 sampling container, and No. 1 container is placed on weighing device 3, and robot returns to home points (S105).
Robot waits 15s (S106), and after after water surface stabilization in No. 1 measurement container, robot controller sends emulsification
Explosive sampling instruction (S107), robot receives emulsion sampling instruction (S111), and robot rotates to intermediate conveying device 7
Front, adjustment auxiliary smelting tool, carry out emulsion sample from the bucket type structure exit of transfer material mechanism 72
(S112), robot rotates to detection platform front and waits (S113)；While robot is sampled, robot control
Device control No. 1 sampling container liquid level of vision sensing equipment 4 pair take pictures, graphics processing unit to liquid level picture at
Reason, and feed back liquid level H before No. 1 measurement container setting-out10(S108), weighing device is weighed to No. 1 measurement container, and instead
The gross weight M of feedback container and liquid10Give memory cell (S109), the memory cell storage liquid level value of robot controller
H10With weight M10, control device send be measured instruction (S110).
Robot is received and is measured instruction (S114), robot adjustment sampling smelting tool attitude, and emulsion sample is put
Put in No. 1 measurement container (S200), robot returns to HOME points and awaits orders, and send sampling and complete signal (S201)；It is same with this
When, system waits 20s, treats liquid level stabilizing (S203), robot controller control No. 1 sampling container of vision sensing equipment 4 pair
Liquid level is taken pictures, and graphics processing unit is processed liquid level picture, and feeds back liquid level H before No. 1 measurement container setting-out11
(S204), weighing device is weighed to No. 1 measurement container, and feeds back the gross weight M of container and liquid11To memory cell
(S205), control device sends and is measured instruction (S206).
Robot is received and is measured instruction (S207), and No. 1 measuring cup is fetched by robot, is placed in the original location, and by No. 2
Measurement container is placed on weighing device (S208), repeats S100~S114 and S200~S205 corresponding steps (S209), feedback 2
Number forward and backward liquid level H of measurement container setting-out20、H21, No. 2 gross weight M of container before and after sampling20、M21(S210), emulsion
Density intelligent checking system robot controller hind computation Density of Emulsion Explosive value ρ1, ρ2And density difference Δ ρ1、Δρ2
(S211), it is considered to sampling robots sampling amount deviation, the density of emulsion twice is averaged, actual emulsion is obtained
Density value ρ and density difference Δ ρ (S212), and by density value feed back Emulsion Explosive Production top level control system in, to carry out
Plan as a whole control.
The measurement of its excess-three group Density of Emulsion Explosive is identical with first group of measurement, is not described in detail herein；
The form not limited to this of the quantity described in the utility model embodiment, layout and sampling smelting tool, can be according to reality
Emulsion Explosive Production needs to be extended.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (8)
1. a kind of Density of Emulsion Explosive intelligent checking system, it is characterised in that including：For placing at least one set of measurement container
(1) container mounting table (2), the weighing device (3) for carrying out weighing measurement to measurement container (1), for measurement container
(1) liquid surface level in carries out the vision sensing equipment (4) of height detection, in the container mounting table (2) and the title
Refitting shifts the emulsion on measurement container (1) and online acquisition production line and transfers them to measurement container (1) between putting (3)
Interior transfer mechanism (6) and control device (5)；The control device (5) connects the transfer mechanism (6), the weighing device
(3) and the vision sensing equipment (4), for controlling the transfer mechanism (6) to shift measurement container (1) and pickup emulsion
And measurement container (1) is transferred to, and the measurement container (1) of weighing device (3) detection is received in the forward and backward weight of reception emulsion
Data and the measurement container (1) of vision sensing equipment (4) detection are receiving the forward and backward liquid level data of emulsion, described
The liquid immiscible with emulsion is preset in measurement container (1).
2. Density of Emulsion Explosive intelligent checking system according to claim 1, it is characterised in that
The transfer mechanism (6) is industrial robot, and the movable axis of the industrial robot is provided with for shifting measurement container
(1) and pickup emulsion auxiliary smelting tool (61), it is described auxiliary smelting tool (61) side be provided with for shift measurement container (1)
Clamping device (611), opposite side is provided with the sampling mechanism (612) for picking up emulsion.
3. Density of Emulsion Explosive intelligent checking system according to claim 2, it is characterised in that
Also include the intermediate conveying device (7) on emulsion explosive production line, the intermediate conveying device (7) is defeated including feeding
Mechanism (71), transfer material mechanism (72) and conveying body (73) are sent, the feeding conveyor structure (71) comes from for receiving
The emulsion of a upper operation, the transfer material mechanism (72) located at the feeding conveyor structure (71) the material position that goes out, it is described go out
Material conveyer structure (73) located at the transfer material mechanism (72) lower section, for receive through the transfer material mechanism (72) export breast
Change explosive and be transferred to subsequent processing, the industrial robot controls the sampling mechanism (612) in the transfer material mechanism
(72) the online feeding in place.
4. Density of Emulsion Explosive intelligent checking system according to claim 3, it is characterised in that
, in funnel-form, the clamping device (611) is including cylinder and by air cylinder driven with clamping for the transfer material mechanism (72)
The jaw of measurement container (1), the sampling mechanism (612) is bowl-type structure.
5. Density of Emulsion Explosive intelligent checking system according to claim 1, it is characterised in that
Also include for positioning the support container mounting table (2), the weighing device (3) and the vision sensing equipment (4)
Detection platform (8), the vision sensing equipment (4) is oppositely arranged with the weighing device (3).
6. Density of Emulsion Explosive intelligent checking system according to claim 5, it is characterised in that
The vision sensing equipment (4) including mounting bracket, in the mounting bracket for gathering regarding for view data
Feel sensor and described image data are processed to obtain the graphics processing unit of liquid level data, described image treatment
Unit connects the control device (5) through data wire.
7. Density of Emulsion Explosive intelligent checking system according to claim 5, it is characterised in that
The weighing device (3) is balance or the weighing sensor of weighing, and connects the control device (5) through data wire.
8. according to any described Density of Emulsion Explosive intelligent checking system of claim 1 to 7, it is characterised in that
The control device (5) connects the control system of emulsion explosive production line through PORT COM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201620994687.XU CN206208691U (en) | 2016-08-30 | 2016-08-30 | Density of Emulsion Explosive intelligent checking system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620994687.XU CN206208691U (en) | 2016-08-30 | 2016-08-30 | Density of Emulsion Explosive intelligent checking system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106198309A (en) * | 2016-08-30 | 2016-12-07 | 长沙长泰机器人有限公司 | Density of Emulsion Explosive intelligent checking system and method |
| CN108007820A (en) * | 2017-12-29 | 2018-05-08 | 安徽佩吉智能科技有限公司 | The robot system and its detection method of a kind of detection density |
| CN110501259A (en) * | 2019-08-12 | 2019-11-26 | 湖南大学 | Density sensing system and Density Detection method |
-
2016
- 2016-08-30 CN CN201620994687.XU patent/CN206208691U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106198309A (en) * | 2016-08-30 | 2016-12-07 | 长沙长泰机器人有限公司 | Density of Emulsion Explosive intelligent checking system and method |
| CN106198309B (en) * | 2016-08-30 | 2019-02-26 | 长沙长泰机器人有限公司 | Density of Emulsion Explosive intelligent checking system and method |
| CN108007820A (en) * | 2017-12-29 | 2018-05-08 | 安徽佩吉智能科技有限公司 | The robot system and its detection method of a kind of detection density |
| CN108007820B (en) * | 2017-12-29 | 2023-09-08 | 安徽佩吉智能科技有限公司 | Robot system for detecting density and detection method thereof |
| CN110501259A (en) * | 2019-08-12 | 2019-11-26 | 湖南大学 | Density sensing system and Density Detection method |
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