CN115092487A - Automatic industrial explosive packaging system integrating vacuum wrapping and boxing - Google Patents

Automatic industrial explosive packaging system integrating vacuum wrapping and boxing Download PDF

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Publication number
CN115092487A
CN115092487A CN202210954577.0A CN202210954577A CN115092487A CN 115092487 A CN115092487 A CN 115092487A CN 202210954577 A CN202210954577 A CN 202210954577A CN 115092487 A CN115092487 A CN 115092487A
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China
Prior art keywords
conveyor belt
medicine
rolls
assembly
carton
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Granted
Application number
CN202210954577.0A
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Chinese (zh)
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CN115092487B (en
Inventor
潘先峰
杨宗玲
李勇
王晓红
黄嵩
刘伟
刘治兵
焦富江
张冲
张计璨
张春燕
赵彭
冯亭
蔺照东
谢奇员
凌传波
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Ccteg Huaibei Explosive Technique Research Institute Co ltd
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Ccteg Huaibei Explosive Technique Research Institute Co ltd
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Publication of CN115092487A publication Critical patent/CN115092487A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B65/00—Details peculiar to packaging machines and not otherwise provided for; Arrangements of such details
    • B65B65/003—Packaging lines, e.g. general layout
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/16—Sorting according to weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
    • B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
    • B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
    • B07C5/36—Sorting apparatus characterised by the means used for distribution
    • B07C5/361—Processing or control devices therefor, e.g. escort memory
    • B07C5/362—Separating or distributor mechanisms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B31/00—Packaging articles or materials under special atmospheric or gaseous conditions; Adding propellants to aerosol containers
    • B65B31/04—Evacuating, pressurising or gasifying filled containers or wrappers by means of nozzles through which air or other gas, e.g. an inert gas, is withdrawn or supplied
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/36—Arranging and feeding articles in groups by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/40—Arranging and feeding articles in groups by reciprocating or oscillatory pushers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B35/00—Supplying, feeding, arranging or orientating articles to be packaged
    • B65B35/30—Arranging and feeding articles in groups
    • B65B35/44—Arranging and feeding articles in groups by endless belts or chains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B37/00—Supplying or feeding fluent-solid, plastic, or liquid material, or loose masses of small articles, to be packaged
    • B65B37/16—Separating measured quantities from supply
    • B65B37/18—Separating measured quantities from supply by weighing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/105—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B5/00—Packaging individual articles in containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, jars
    • B65B5/10—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles
    • B65B5/106—Filling containers or receptacles progressively or in stages by introducing successive articles, or layers of articles by pushers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B51/00—Devices for, or methods of, sealing or securing package folds or closures; Devices for gathering or twisting wrappers, or necks of bags
    • B65B51/04—Applying separate sealing or securing members, e.g. clips
    • B65B51/08—Applying binding material, e.g. to twisted bag necks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/10—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged
    • B65B57/14—Automatic control, checking, warning, or safety devices responsive to absence, presence, abnormal feed, or misplacement of articles or materials to be packaged and operating to control, or stop, the feed of articles or material to be packaged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B57/00—Automatic control, checking, warning, or safety devices
    • B65B57/20—Applications of counting devices for controlling the feed of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B2220/00—Specific aspects of the packaging operation
    • B65B2220/16—Packaging contents into primary and secondary packaging
    • B65B2220/18—Packaging contents into primary and secondary packaging the primary packaging being bags the subsequent secondary packaging being rigid containers, e.g. cardboard box

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Dispersion Chemistry (AREA)

Abstract

本发明公开了集真空裹包、箱装为一体的工业炸药自动包装系统，包括：进料输送带、分料输送带、若干一次整理组件、二次整理组件、集料组件、机械手、回料输送带、中包裹包机和封箱组件；一次整理组件与分料输送带的出料口连接以接收输送的药卷；二次整理组件，用于接收一次整理组件输送的药卷并对初步整形的药卷进行二次整形以提高后续药卷计数的精确度，二次整理组件末端设置有用于对药卷计数的光电传感器；回料输送带，用于接收一次整理组件散落的药卷、二次整理组件散落的药卷和集料组件中药卷质量不达标的药卷，并输送至分料输送带。本发明实现了不同直径药卷的包装方式的集成，极大节约了生产成本。

Figure 202210954577

The invention discloses an automatic packaging system for industrial explosives that integrates vacuum wrapping and boxing, comprising: a feeding conveyor belt, a material distributing conveyor belt, a plurality of primary finishing components, a secondary finishing component, a collecting component, a manipulator, and a returning material Conveyor belt, middle-package bag machine and box sealing assembly; the primary finishing assembly is connected to the discharge port of the distributing conveyor belt to receive the conveyed rolls; the secondary finishing assembly is used to receive the medicine rolls conveyed by the primary finishing assembly and preliminarily shape it The medicine rolls are reshaped to improve the counting accuracy of the subsequent medicine rolls. The end of the secondary sorting component is provided with a photoelectric sensor for counting the medicine rolls; The medicine rolls scattered by the secondary sorting component and the medicine rolls with substandard quality of the medicine rolls in the collecting component are transported to the distributing conveyor belt. The invention realizes the integration of the packaging methods of the medicine rolls with different diameters, and greatly saves the production cost.

Figure 202210954577

Description

Automatic industrial explosive packaging system integrating vacuum wrapping and boxing
Technical Field
The invention relates to the technical field of explosive packaging, in particular to an automatic industrial explosive packaging system integrating vacuum wrapping and box packaging.
Background
At present, the automatic production line for explosive packaging is produced by a plurality of manufacturers in China, and through years of development, the reliability and the capacity of equipment of the automatic packaging production line are improved to a certain extent, and the power consumption of the whole machine is reduced integrally. The device can realize the operations of cartridge alignment, preforming, bagging, vacuumizing, heat sealing and the like in the middle package link in an explosive production line, and can also realize the operations of middle package counting, box making, boxing, bundling and the like in boxing equipment.
Then the existing explosive packaging production line generally has the following problems:
(1) the existing automatic material arranging technology for industrial explosives is only suitable for packaging small-diameter cartridges, the cartridges naturally enter a stacking bin to be arranged by means of mechanical vibration, manual intervention is required in the material arranging process of the system, the material arranging mode is not perfect, the automation degree is low, and the production capacity is small; the other method is that image positioning and robot technology are adopted, a cartridge conveyed from the upstream is firstly photographed on a conveying belt, the position of a clamping jaw is automatically adjusted according to the image of the cartridge by a robot, the cartridge is placed into a conveying chain plate after falling to grab and adjust the posture of the cartridge, different clamping jaws need to be replaced when the system is used for packaging cartridges with different specifications, an image mode is adjusted, multiple groups of mechanical clamping jaws need to be configured, the replacement time is long, the equipment cost is high, and the production efficiency is low. The reason is that the material arranging mode of the existing packaging system is not perfect and the production efficiency is low.
(2) One mode of the existing industrial explosive grabbing and conveying box is that a cylinder pushes collected quantitative explosive sticks from a material tank to a paper box, and the production capacity is small and the function is incomplete; the other type is that the explosive cartridge is grabbed and thrown into a packaging box through a mechanical arm, and the mechanical arm cannot stretch into the packaging box for discharging, so that the throwing action speed is high, the fall is large, the damage to the explosive cartridge is large, the phenomenon that a buckle is thrown off or the adhesive seam of the explosive cartridge bursts exists, and the explosive cartridge is easy to be grabbed.
Therefore, the development of a new intelligent industrial explosive packaging system is urgently needed, so that the production cost is saved, and the production efficiency of the industrial explosive is ensured.
Disclosure of Invention
Based on the technical problems in the background art, the invention provides an automatic industrial explosive packaging system integrating vacuum wrapping and boxing.
The invention provides an industrial explosive automatic packaging system integrating vacuum wrapping and boxing, which comprises:
the feeding conveyer belt is used for conveying the cartridges;
the distribution conveyer belt is used for receiving the cartridges conveyed by the feeding conveyer belt and is provided with a plurality of discharge ports;
each primary sorting assembly is connected with a discharge port of one distribution conveying belt to receive conveyed cartridges, and the primary sorting assemblies are used for primarily shaping the cartridges;
the secondary arrangement assembly is used for receiving the cartridges conveyed by the primary arrangement assembly and secondarily shaping the primarily shaped cartridges to improve the accuracy of subsequent cartridge counting, and a photoelectric sensor used for counting the cartridges is arranged at the tail end of the secondary arrangement assembly;
the collecting component is used for collecting the prescribed amount of the cartridges conveyed by the secondary arrangement component;
the manipulator is used for grabbing the explosive sticks in the aggregate assembly;
the feed back conveyer belt is used for receiving the cartridges scattered by the primary arrangement assembly, the cartridges scattered by the secondary arrangement assembly and the cartridges in the collection assembly, the quality of which does not reach the standard, and conveying the cartridges to the feed distribution conveyer belt;
the middle packaging machine is used for carrying out vacuum packaging on the cartridges and conveying the cartridges subjected to vacuum packaging to the middle packaging box assembly;
the box sealing assembly is used for sealing the packaging box filled with the cartridges;
when the cartridges need to be directly boxed, a specified amount of cartridges in the collecting bin are placed into the carton on the conveying belt on one side through the manipulator; when the cartridge is required to be packaged in a vacuum mode and then packaged, a specified amount of cartridges in the collecting bin are placed into the feeding end of the middle packaging machine through the mechanical arm, the vacuum packaging of the cartridges is achieved, and the cartridges after the vacuum packaging are conveyed to the middle packaging box assembly to be packaged.
Preferably, once arrangement subassembly includes a plurality of feed rolls that set up side by side, the both sides of feed roll have set gradually first limiting plate and second limiting plate respectively, two the interval of first limiting plate is greater than two the interval of second limiting plate, just still be provided with the arrangement push pedal between first limiting plate and the second limiting plate, arrangement push pedal one end with first limiting plate is articulated, the arrangement push pedal other end outside is provided with the third push rod of its displacement of control, promotes through the third push rod the arrangement push pedal is close to the one end of second limiting plate rotates around articulated portion, realizes two the arrangement push pedal is close to the interval and the two of the one end of second limiting plate the interval of second limiting plate matches, once arrangement subassembly still is including setting up the flexible scraper blade of feed roll top.
Preferably, the secondary arrangement component comprises a plurality of arrangement rollers arranged side by side, an installation frame is further arranged at the tail end of the secondary arrangement component, the installation frame is provided with a brush roller used for arranging the explosive cartridges on the arrangement rollers, and a photoelectric sensor used for counting the explosive cartridges is arranged at the rear end of the installation frame.
Preferably, the mounting rack comprises a reference plate and an adjusting plate which are respectively distributed on two sides of the arrangement roller, one end of the brush roller is hinged with the reference plate, the other end of the brush roller is rotatably connected with an output shaft of a driving motor, the driving motor is installed in an adjusting groove of the adjusting plate, and the position of the driving motor in the adjusting groove can be horizontally adjusted to enable the brush roller and the advancing direction of the medicine roll to form an inclination angle of 10-40 degrees.
Preferably, the subassembly that gathers materials includes receives the feed bin, it has a plurality of grooves of grabbing to receive the feed bin to open, it is provided with the second that is used for weighing to the cartridge to receive the feed bin lower extreme and calls the pouring weight, receive feed bin both ends opening, and the opening part is provided with and is used for the regular second push rod of cartridge.
Preferably, the subassembly that gathers materials still includes the transfer storehouse, the transfer storehouse is located secondary arrangement subassembly and receives the feed bin between, the transfer storehouse is close to receive feed bin one side slip and be provided with the baffle of vertical distribution, get into the feed bin through the control baffle to the cartridge that breaks away from in the direction displacement of transfer storehouse in order to realize the transfer storehouse.
Preferably, the manipulator includes the control main part, the fixed drive actuating cylinder that is provided with in control main part one end below, the output that drives actuating cylinder is provided with the clamping jaw mount, clamping jaw mount lower extreme is provided with two and presss from both sides the material clamping jaw, two press from both sides material clamping jaw one end all through the rotation axis with the clamping jaw mount rotates to be connected, press from both sides the material clamping jaw other end and can rotate so that two around the rotation axis the material clamping jaw is opened or is closed, it still is connected with the connecting rod to drive the actuating cylinder output, connecting rod one end with it is articulated to drive the actuating cylinder output, the connecting rod other end with it is articulated to press from both sides material clamping jaw inner wall, realizes through the displacement that drives the actuating cylinder output that the material clamping jaw rotates so that two around the rotation axis press from both sides the material clamping jaw and open or be closed.
Preferably, the carton sealing assembly comprises a first weighing block, an automatic carton sealing module, a first bundling machine and a second bundling machine, the first weighing block is used for weighing the carton filled with the cartridges, the automatic carton sealing module is used for sealing, the first bundling machine and the second bundling machine are used for bundling, a reversing roller used for adjusting the direction of the carton is further arranged between the first bundling machine and the second bundling machine, a first push rod and an unqualified product conveying belt are arranged on two sides of the first weighing block, and the first push rod and the unqualified product conveying belt are respectively distributed on two sides of the advancing direction of the carton so that the carton with unqualified weight is pushed to the unqualified product conveying belt through the first push rod.
Preferably, the medium package box assembly comprises a workbench, a box-loading conveying belt used for conveying cartons is arranged at the lower end of the workbench, a blanking port matched with the box-loading conveying belt is formed in the middle of the workbench, a first material pushing plate and a second material pushing plate matched with the blanking port are arranged at the upper end of the workbench, a fourth push rod and a fifth push rod are respectively arranged on the outer sides of the first material pushing plate and the second material pushing plate, a medium package conveying belt matched with the first material pushing plate is further arranged on the workbench, vacuum package medicine rolls on the workbench are conveyed to the first material pushing plate through the medium package conveying belt, and enter the cartons on the box-loading conveying belt from the blanking port after being sequentially acted by the first material pushing plate and the second material pushing plate.
The invention provides a packaging method of an industrial explosive automatic packaging system integrating vacuum wrapping and boxing, which is characterized by comprising the following steps:
s1: the feeding conveyer belt conveys the disordered cartridges to the distributing conveyer belt, the distributing conveyer belt arranges the cartridges into transversely entering a primary arrangement assembly, and the cartridges scattered by the primary arrangement assembly are conveyed to the distributing conveyer belt through a feed back conveyer belt;
s2: the primary arrangement component is used for primarily shaping the cartridges so that the axial centers of the cartridges are aligned and conveying the cartridges to the secondary arrangement component, and the cartridges scattered by the secondary arrangement component are conveyed to the distributing conveyer belt through the feeding conveyer belt;
s3: the secondary arrangement component carries out secondary shaping on the preliminarily shaped cartridges to improve the counting precision of the cartridges, then controls the number of the cartridges entering the collection component each time through a photoelectric sensor, and when the collection component detects that the weight of the cartridges is not in accordance with the regulations, the cartridges in the collection component are grabbed and placed on the feed back conveyor belt through a manipulator and are conveyed to the distribution conveyor belt through the feed back conveyor belt;
s4: when the cartridges are required to be directly boxed, S5 is executed, and when the cartridges are required to be vacuum-packed and then boxed, S6 is executed;
s5: a specified amount of cartridges in the collecting bin are placed into the cartons on the conveying belt on one side through the manipulator, and the cartons subjected to cartridge boxing are conveyed to the box sealing assembly through the conveying belt;
s6: the specified amount of cartridges in the collecting bin are placed into the feeding end of a middle wrapping machine through a manipulator, so that the vacuum packaging of the cartridges is realized, the cartridges after the vacuum packaging are conveyed to a first material pushing plate through a middle wrapping conveying belt, the cartridges enter a carton on a boxing conveying belt from a blanking port under the action of a first material pushing plate and a second material pushing plate in sequence, and the carton subjected to cartridge boxing is conveyed to a box sealing assembly through the middle wrapping conveying belt;
s7: the carton that the joint sealing subassembly carried in S5 or S6 carries out weight calibration through first weighing block, realizes the joint sealing with qualified carton after automatic joint sealing module, first bundling machine, switching-over gyro wheel and second strapper are handled, unqualified carton is through first push rod propelling movement to nonconforming article conveyer belt.
The invention has the beneficial technical effects that:
(1) the invention arranges the disordered and disordered explosive sticks conveyed from an upstream process, arranges the arrangement rollers on the conveying belt to arrange the explosive sticks, arranges the side plates on two sides of the conveying belt to arrange the explosive sticks in order, arranges the explosive sticks on the conveying mechanism by the soft scraper above the conveying belt, and ensures that the explosive sticks are arranged in a shape like a Chinese character '1'; the conveying mechanism adopts a mode of combining a belt and an unpowered roller, the cartridges are straightened by a scraper and then fall into a gap between two rollers, and for the cartridges which cannot fall into the gap between the two rollers, the cartridges are conveyed to a feed-back conveying belt through the rotation of a cylindrical brush roller and then returned to the feed-back conveying belt for re-arrangement; the automatic material arranging and feeding device realizes the full automation of the automatic material arranging and feeding process of the disordered-arranged explosive sticks, avoids manual process intervention, is in seamless connection with other devices, operates cooperatively, and is high in material arranging speed, high in efficiency, safe and reliable.
(2) The invention adopts a photoelectric counter to be matched with a material receiving bin, a transfer bin is arranged between the material receiving bin and a secondary sorting assembly, the cartridges conveyed by the secondary sorting assembly fall into the transfer bin through self weight, the number of the cartridges falling into the transfer bin is counted through a photoelectric sensor arranged at the tail end of the secondary sorting assembly, when the set number is reached, a conveying mechanism of the secondary sorting assembly is paused through a PLC logic calculation post-control system, a baffle plate on the outlet surface of the transfer bin is opened, the cartridges fall into the material receiving bin through self weight for weighing, and then the conveying mechanism of the sorting device is started, counted and collected again. In addition, the robot adopts an encircling type grabbing clamping jaw structure, the clamping jaws are designed into an arc-shaped structure, two edge-folded steel plates of each clamping jaw are driven by a telescopic cylinder to move up and down and are folded into an O shape, the explosive rolls are encircled in the clamping jaws without external force, the clamping jaws are suitable for explosive rolls with various diameters and do not need to be frequently replaced, the requirement of middle packaging and packing of the explosive rolls with the diameter phi 25-150 mm can be met by only one set of clamping jaws, the action times are few, the production efficiency is high, and the mechanical loss is low.
(3) The primary arrangement component is processed through the arrangement push plate, so that the axial axis of the explosive cartridge is superposed with the center line of the advancing direction of the explosive cartridge, the explosive cartridge is limited through the second limiting plate, the primary arrangement of the explosive cartridge is realized, the flexible scraper arranged above the feed roller can remove the explosive cartridge which is not consistent with the distribution direction of the feed roller to the return conveying belt, the neatness of the explosive cartridge after arrangement is ensured, and the subsequent secondary arrangement is facilitated.
(4) According to the middle packaging box assembly, the first material pushing plate and the second material pushing plate which are arranged on the workbench push the vacuum-packaged cartridges to the blanking port, and the cartridges enter the carton on the packaging conveying belt through the blanking port, so that automatic packaging of the vacuum-wrapped cartridges is realized.
Drawings
FIG. 1 is a schematic structural diagram of an automatic packaging system for industrial explosive, which integrates vacuum wrapping and boxing;
FIG. 2 is a schematic structural diagram of a finishing assembly according to the present invention;
FIG. 3 is a schematic structural diagram of a secondary collating unit according to the present invention;
fig. 4 is a schematic structural diagram of a mounting frame according to the present invention;
FIG. 5 is a schematic structural view of a collection assembly according to the present invention;
FIG. 6 is a schematic structural view of a material receiving bin according to the present invention;
fig. 7 is a schematic structural diagram of a robot proposed by the present invention;
FIG. 8 is a schematic structural diagram of a box sealing assembly according to the present invention;
fig. 9 is a schematic structural diagram of a middle packing box assembly according to the present invention.
In the figure: 1-feeding conveyer belt, 2-distributing conveyer belt, 3-primary sorting assembly, 4-secondary sorting assembly, 5-manipulator, 6-adjusting groove, 7-box sealing assembly, 8-middle packing box assembly, 9-middle packing wrapping machine, 10-collecting assembly, 11-box opening and bottom sealing machine, 12-returning conveyer belt, 13-first push rod, 14-first weighing block, 15-automatic box sealing module, 16-first bundling machine, 17-reversing roller, 18-second bundling machine, 19-unqualified product conveyer belt, 20-sorting roller, 21-mounting frame, 22-second push rod, 23-collecting bin, 24-photoelectric sensor, 25-middle rotating bin, 26-baffle plate, 27-second weighing block, 28-medicated roll, 29-grabbing groove, 30-control main body, 31-driving cylinder, 32-reference plate, 33-brush roller, 34-adjusting plate, 35-driving motor, 36-feeding roller, 37-third push rod, 38-first limiting plate, 39-second limiting plate, 40-finishing push plate, 41-workbench, 42-boxing conveying belt, 43-fourth push rod, 44-first push plate, 45-middle wrapping conveying belt, 46-fifth push rod, 47-second push plate, 48-blanking port, 49-fixing frame clamping jaw, 50-connecting rod, 51-clamping jaw and 52-rotating shaft.
Detailed Description
Referring to fig. 1, the invention provides an industrial explosive automatic packaging system integrating vacuum wrapping and boxing, comprising:
a feed conveyor belt for conveying the cartridges 28;
the feed conveyer belt 2 is used for receiving the cartridges 28 conveyed by the feed conveyer belt, and the feed conveyer belt 2 is provided with a plurality of discharge ports;
each primary sorting assembly 3 is connected with a discharge hole of one material distribution conveying belt 2 to receive conveyed cartridges 28, and the primary sorting assemblies 3 are used for primarily shaping the cartridges 28;
the secondary arrangement component 4 is used for receiving the cartridges 28 conveyed by the primary arrangement component 3 and secondarily shaping the primarily shaped cartridges 28 so as to improve the counting accuracy of the subsequent cartridges 28, and the tail end of the secondary arrangement component 4 is provided with a photoelectric sensor 24 used for counting the cartridges 28;
the collecting assembly 10 is used for collecting a specified amount of the explosive cartridge 28 conveyed by the secondary finishing assembly 4;
the mechanical arm 5 is used for grabbing the explosive sticks 28 in the aggregate assembly 10;
the feed back conveyer belt 12 is used for receiving the cartridges 28 scattered by the primary sorting assembly 3, the cartridges 28 scattered by the secondary sorting assembly 4 and the cartridges 28 in the collecting assembly 10, the quality of which does not reach the standard, and conveying the cartridges to the feed dividing conveyer belt 2;
the middle packaging machine 9 is used for carrying out vacuum packaging on the explosive roll 28 and conveying the explosive roll 28 after vacuum packaging to the middle packaging box assembly 8;
the box sealing component 7 is used for sealing the packaging box filled with the explosive roll 28;
when the cartridges 28 need to be directly packed, a specified amount of cartridges 28 in the storage bin 23 are placed into the cartons on the conveyor belt on one side through the manipulator 5; when the cartridges 28 need to be vacuum-packed and then packed, a specified amount of the cartridges 28 in the storage bin 23 are placed at the feed end of the middle packing wrapping machine 9 through the manipulator 5, so that the vacuum packing of the cartridges 28 is realized, and the vacuum-packed cartridges 28 are conveyed to the middle packing box assembly 8 for packing.
Referring to fig. 2, as an embodiment of the present invention, the one-time collating assembly 3 includes a plurality of feed rollers 36 arranged side by side, a first limit plate 38 and a second limit plate 39 are respectively and sequentially arranged at two sides of the feed roller 36, the distance between the two first limit plates 38 is larger than the distance between the two second limit plates 39, and a tidying push plate 40 is arranged between the first limit plate 38 and the second limit plate 39, one end of the tidying push plate 40 is hinged with the first limit plate 38, a third push rod 37 for controlling the displacement of the tidying push plate 40 is arranged on the outer side of the other end of the tidying push plate 40, the third push rod 37 pushes one end of the arranging push plate 40 close to the second limit plate 39 to rotate around the hinge part, so that the distance between one ends of the two arranging push plates 40 close to the second limit plate 39 is matched with the distance between the two second limit plates 39, the primary collation assembly 3 further includes a flexible blade disposed above the feed rollers 36.
The primary arrangement assembly 3 of the invention is processed by the arrangement push plate 40, so that the axial axis of the explosive cartridge 28 coincides with the center line of the advancing direction of the explosive cartridge 28, and is limited by the second limiting plate 39, the primary arrangement of the explosive cartridge 28 is realized, and the flexible scraper arranged above the feed roller 36 can remove the explosive cartridge 28 with the direction inconsistent with the distribution direction of the feed roller 36 to the feed back conveyor belt 12, thereby ensuring the neatness of the explosive cartridge 28 after arrangement and facilitating the subsequent secondary arrangement.
Referring to fig. 3 and 4, as an embodiment of the present invention, the secondary sorting assembly 4 includes a plurality of sorting rollers 20 arranged side by side, a mounting frame 21 is further provided at an end of the secondary sorting assembly 4, the mounting frame 21 is provided with a brush roller 33 for sorting the cartridges 28 on the sorting rollers 20, and a photoelectric sensor 24 for counting the cartridges 28 is provided at a rear end of the mounting frame 21.
In addition, the mounting frame 21 includes a reference plate 32 and an adjusting plate 34 respectively disposed at both sides of the tidying roller 20, one end of the brush roller 33 is hinged to the reference plate 32, the other end of the brush roller 33 is rotatably connected to an output shaft of a driving motor 35, the driving motor 35 is installed in an adjusting groove 6 of the adjusting plate 34, and the position of the driving motor 35 in the adjusting groove 6 is horizontally adjusted so that the brush roller 33 and the advancing direction of the medicine roll 28 form an inclination angle of 10-40 °, which is preferably 25 °.
Referring to fig. 5-7, as an embodiment of the present invention, the collecting assembly 10 includes a collecting bin 23, the collecting bin 23 is provided with a plurality of grasping grooves 29, a second weighing block 27 for weighing the cartridges 28 is disposed at a lower end of the collecting bin 23, two ends of the collecting bin 23 are open, and a second pushing rod 22 for regulating the cartridges 28 is disposed at the opening; the collecting assembly 10 further comprises a transfer bin 25, the transfer bin 25 is located between the secondary sorting assembly 4 and the receiving bin 23, vertically distributed baffles 26 are slidably arranged on one side, close to the receiving bin 23, of the transfer bin 25, and the baffles 26 are controlled to move towards a direction away from the transfer bin 25 so that the explosive cartridges 28 in the transfer bin 25 can enter the receiving bin 23; for the manipulator, including control main part 30, control main part 30 one end below is fixed to be provided with and drives actuating cylinder 31, the output that drives actuating cylinder 31 is provided with clamping jaw mount 49, clamping jaw mount 49 lower extreme is provided with two and presss from both sides material clamping jaw 51, two press from both sides material clamping jaw 51 one end all through rotation axis 52 with clamping jaw mount 49 rotates and is connected, press from both sides the material clamping jaw 51 other end and can rotate so that two press from both sides material clamping jaw 51 and open or close around rotation axis 52, the output that drives actuating cylinder 31 still is connected with connecting rod 50, connecting rod 50 one end with the output that drives actuating cylinder 31 is articulated, the connecting rod 50 other end with press from both sides material clamping jaw 51 inner wall is articulated, realizes through the displacement that drives actuating cylinder 31 output that material clamping jaw 51 rotates around rotation axis 52 so that two press from both sides material clamping jaw 51 and open or close.
Referring to fig. 8, in particular, the carton sealing assembly 7 includes a first weighing weight 14 for weighing the carton loaded with the cartridges 28, an automatic carton sealing module 15 for sealing, a first bundling machine 16 and a second bundling machine 18 for bundling, a reversing roller 17 for adjusting the direction of the carton is further disposed between the first bundling machine 16 and the second bundling machine 18, a first push rod 13 and a defective product conveyer belt 19 are disposed on two sides of the first weighing weight 14, and the first push rod 13 and the defective product conveyer belt 19 are respectively distributed on two sides of the advancing direction of the carton so as to push the carton with the unqualified weight to the defective product conveyer belt 19 through the first push rod 13.
In addition, in order to realize the automatic feeding of the cartons, an unpacking and closing machine 11 for unpacking and closing the folded cartons so that the cartons form an accommodating space with an opened upper end is further designed, and a conveying belt is connected to the unpacking and closing machine 11 so as to convey the unpacked cartons to a position matched with the manipulator/middle packing box assembly.
Referring to fig. 9, specifically, the middle packing box assembly 8 includes a workbench 41, a packing conveyer belt 42 for conveying cartons is arranged at the lower end of the workbench 41, a blanking port 48 matched with the packing conveyer belt 42 is formed in the middle of the workbench 41, a first material pushing plate 44 and a second material pushing plate 47 matched with the blanking port 48 are arranged at the upper end of the workbench 41, a fourth pushing rod 43 and a fifth pushing rod 46 are respectively arranged on the outer sides of the first material pushing plate 44 and the second material pushing plate 47, a middle packing conveyer belt 45 matched with the first material pushing plate 44 is further arranged on the workbench 41, the vacuum packed medicine roll 28 on the workbench 41 is conveyed to the first material pushing plate 44 through the middle packing conveyer belt 45, and enters the cartons on the packing conveyer belt 42 from the blanking port 48 after being sequentially acted by the first material pushing plate 44 and the second material pushing plate 47.
The middle packing box assembly 8 of the invention pushes the vacuum packed medicated roll 28 to the blanking port 48 through the first material pushing plate 44 and the second material pushing plate 47 arranged on the workbench 41, and enters the carton on the packing conveyer belt 42 through the blanking port 48, thus realizing the automatic packing of the vacuum packed medicated roll 28.
The invention arranges the disordered and disordered explosive sticks conveyed from an upstream process, arranges the arrangement rollers on the conveying belt to arrange the explosive sticks, arranges the side plates on two sides of the conveying belt to arrange the explosive sticks in order, arranges the explosive sticks on the conveying mechanism by the soft scraper above the conveying belt, and ensures that the explosive sticks are arranged in a shape like a Chinese character '1'; the conveying mechanism adopts a mode of combining a belt and an unpowered roller, the cartridges are straightened by a scraper and then fall into a gap between two rollers, and for the cartridges which cannot fall into the gap between the two rollers, the cartridges are conveyed to a feed-back conveying belt through the rotation of a cylindrical brush roller and then returned to the feed-back conveying belt for re-arrangement; the automatic material arranging and feeding device realizes the full automation of the automatic material arranging and feeding process of the disordered-arranged explosive sticks, avoids manual process intervention, is in seamless connection with other devices, operates cooperatively, and is high in material arranging speed, high in efficiency, safe and reliable.
The invention adopts a photoelectric counter to be matched with a material receiving bin, a transfer bin is arranged between the material receiving bin and a secondary sorting assembly, the cartridges conveyed by the secondary sorting assembly fall into the transfer bin through self weight, the number of the cartridges falling into the transfer bin is counted through a photoelectric sensor arranged at the tail end of the secondary sorting assembly, when the set number is reached, a conveying mechanism of the secondary sorting assembly is paused through a PLC logic calculation post-control system, a baffle plate on the outlet surface of the transfer bin is opened, the cartridges fall into the material receiving bin through self weight for weighing, and then the conveying mechanism of the sorting device is started, counted and collected again. In addition, the robot adopts an encircling type grabbing clamping jaw structure, the clamping jaws are designed into an arc-shaped structure, two edge folding steel plates of each clamping jaw are driven by a telescopic cylinder to move up and down, the O-shaped clamping jaws are folded into an O shape, the explosive cartridge is encircled in the O-shaped clamping jaws without external force, the O-shaped clamping jaws are suitable for explosive cartridges with various diameters, frequent replacement is not needed, the requirement of middle packaging and boxing of the explosive cartridge with the diameter phi of 25-150 mm can be met by only one set of clamping jaws, the action frequency is low, the production efficiency is high, and the mechanical loss is low.
The invention provides a packaging method of an industrial explosive automatic packaging system integrating vacuum wrapping and boxing, which is characterized by comprising the following steps of:
s1: the feeding conveyer belt conveys the disordered cartridges to the distributing conveyer belt, the distributing conveyer belt arranges the cartridges into transversely entering a primary arrangement assembly, and the cartridges scattered by the primary arrangement assembly are conveyed to the distributing conveyer belt through a feed back conveyer belt;
s2: the primary arrangement component is used for primarily shaping the cartridges to enable the axial centers of the cartridges to be aligned, the arrangement push plate is driven to reciprocate through the third push rod, so that the axial axes of the cartridges on the feed roller are coincided with the central line of the advancing direction of the cartridges, the cartridges are limited through the second limiting plate, primary arrangement of the cartridges is achieved, flexible scrapers arranged above the feed roller can reject the cartridges which are inconsistent with the distribution direction of the feed roller to the return conveying belt, the uniformity of the cartridges after arrangement is guaranteed, and subsequent secondary arrangement is facilitated; the cartridges processed by the primary arrangement component are conveyed to a secondary arrangement component, and the cartridges scattered by the secondary arrangement component are conveyed to a distributing conveyer belt by a feed back conveyer belt;
s3: the secondary arrangement component carries out secondary shaping on the preliminarily shaped cartridges to improve the counting precision of the cartridges, then controls the number of the cartridges entering the collection component each time through a photoelectric sensor, and when the collection component detects that the weight of the cartridges is not in accordance with the regulations, the cartridges in the collection component are grabbed and placed on the feed back conveyor belt through a manipulator and are conveyed to the distribution conveyor belt through the feed back conveyor belt;
s4: when the cartridges are required to be directly boxed, S5 is executed, and when the cartridges are required to be vacuum-packed and then boxed, S6 is executed;
s5: a specified amount of cartridges in the collecting bin are placed into the cartons on the conveying belt on one side through the manipulator, and the cartons subjected to cartridge boxing are conveyed to the box sealing assembly through the conveying belt;
s6: the specified amount of cartridges in the collecting bin are placed into the feeding end of a middle wrapping machine through a manipulator, so that the vacuum packaging of the cartridges is realized, the cartridges after the vacuum packaging are conveyed to a first material pushing plate through a middle wrapping conveying belt, the cartridges enter a carton on a boxing conveying belt from a blanking port under the action of a first material pushing plate and a second material pushing plate in sequence, and the carton subjected to cartridge boxing is conveyed to a box sealing assembly through the middle wrapping conveying belt;
s7: the carton that the joint sealing subassembly carried in S5 or S6 carries out weight calibration through first weighing block, realizes the joint sealing with qualified carton after automatic joint sealing module, first bundling machine, switching-over gyro wheel and second strapper are handled, unqualified carton is through first push rod propelling movement to nonconforming article conveyer belt.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1.集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，包括：1. the industrial explosive automatic packaging system integrating vacuum wrapping and box packing is characterized in that, comprising: 进料输送带，用于药卷的输送；Feed conveyor belt, used for the delivery of medicine rolls; 分料输送带，用于接收进料输送带输送的药卷，所述分料输送带设置有若干出料口；The material distribution conveyor belt is used to receive the medicine rolls conveyed by the feeding conveyor belt, and the material distribution conveyor belt is provided with several discharge ports; 若干一次整理组件，每一个一次整理组件均与一个分料输送带的出料口连接以接收输送的药卷，所述一次整理组件用于对药卷初步整形；a plurality of primary finishing components, each primary finishing component is connected with the discharge port of a material distribution conveyor belt to receive the delivered medicine roll, and the primary finishing component is used for preliminarily shaping the medicine roll; 二次整理组件，用于接收一次整理组件输送的药卷并对初步整形的药卷进行二次整形以提高后续药卷计数的精确度，所述二次整理组件末端设置有用于对药卷计数的光电传感器；The secondary sorting component is used for receiving the medicine rolls conveyed by the primary sorting component and performing secondary shaping on the initially shaped medicine rolls to improve the counting accuracy of the subsequent medicine rolls. photoelectric sensor; 集料组件，用于收集经二次整理组件输送的规定量的药卷；The collecting assembly is used to collect the prescribed quantity of medicine rolls conveyed by the secondary finishing assembly; 机械手，用于将抓取集料组件中的药卷；The manipulator is used to grab the medicine roll in the aggregate assembly; 回料输送带，用于接收一次整理组件散落的药卷、二次整理组件散落的药卷和集料组件中药卷质量不达标的药卷，并输送至分料输送带；The return conveyor belt is used to receive the medicine rolls scattered by the primary finishing component, the medicine rolls scattered by the secondary finishing component and the medicine rolls whose quality does not meet the standard in the collecting component, and transport them to the distributing conveyor belt; 中包裹包机，用于对药卷进行真空包装，并将真空包装后的药卷输送至中包装箱组件；The middle wrapping machine is used to vacuum pack the medicine rolls and transport the vacuum packed medicine rolls to the middle packing box assembly; 封箱组件，用于对装有药卷的包装箱进行封箱处理；A sealing component, used for sealing the packing box containing the medicine roll; 当需要对药卷直接装箱处理时，通过机械手将收料仓内的规定量的药卷放入一侧输送带上的纸箱内；当需要对药卷进行真空包装后再进行装箱时，通过机械手将收料仓内的规定量的药卷放入中包裹包机的进料端，实现药卷的真空包装，并将真空包装后的药卷输送至中包装箱组件进行装箱。When the medicine rolls need to be directly packed into boxes, the prescribed amount of medicine rolls in the receiving bin are put into the carton on one side of the conveyor belt by the robot; when the medicine rolls need to be vacuum-packed before packing, The prescribed amount of medicine rolls in the receiving bin are put into the feeding end of the middle wrapping machine by the manipulator to realize the vacuum packaging of the medicine rolls, and the vacuum packed medicine rolls are transported to the middle packing box assembly for packing. 2.根据权利要求1所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述一次整理组件包括若干并排设置的送料辊，所述送料辊的两侧分别依次设置有第一限位板和第二限位板，两所述第一限位板的间距大于两所述第二限位板的间距，且所述第一限位板和第二限位板之间还设置有整理推板，所述整理推板一端与所述第一限位板铰接，所述整理推板另一端外侧设置有控制其位移的第三推杆，通过第三推杆推动所述整理推板靠近所述第二限位板的一端绕铰接部转动，实现两所述整理推板靠近所述第二限位板的一端的间距与两所述第二限位板的间距相配，所述一次整理组件还包括设置在所述送料辊上方的柔性刮板。2 . The automatic packaging system for industrial explosives integrating vacuum wrapping and box packing according to claim 1 , wherein the primary finishing assembly comprises a plurality of feeding rollers arranged side by side, and the two sides of the feeding roller are respectively A first limit board and a second limit board are arranged in sequence, the spacing between the two first limit boards is greater than the spacing between the two second limit boards, and the first limit board and the second limit board A finishing push plate is also arranged between the plates, one end of the finishing push plate is hinged with the first limit plate, and the other end of the finishing push plate is provided with a third push rod for controlling its displacement, and the third push rod is used to pass the third push rod. Push the end of the sorting push plate close to the second limit plate to rotate around the hinge part, so as to realize the distance between the one end of the two sorting push plates close to the second limit plate and the distance between the two second limit plates. The spacing is matched, and the primary finishing assembly further includes a flexible scraper disposed above the feeding roller. 3.根据权利要求1所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述二次整理组件包括若干并排设置的整理滚轮，所述二次整理组件末端还设置有安装架，所述安装架设置有用于对整理滚轮上药卷进行整理的毛刷辊，所述安装架的后端设置有用于对药卷计数的光电传感器。3. The automatic packaging system for industrial explosives integrating vacuum wrapping and box packing according to claim 1, wherein the secondary sorting assembly comprises a plurality of sorting rollers arranged side by side, and the end of the secondary sorting assembly is An installation frame is also provided, the installation frame is provided with a brush roller for arranging the medicine rolls on the sorting roller, and the rear end of the installation frame is provided with a photoelectric sensor for counting the medicine rolls. 4.根据权利要求3所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述安装架包括分别分布在整理滚轮两侧的基准板和调节板，所述毛刷辊一端与所述基准板铰接，所述毛刷辊另一端与驱动电机的输出轴转动连接，所述驱动电机安装在调节板的调节槽内，且所述驱动电机在调节槽内的位置可水平调节以使毛刷辊与药卷前进方向呈10-40°的倾角。4. The automatic packaging system for industrial explosives integrating vacuum wrapping and box packing according to claim 3, wherein the mounting frame comprises a reference plate and an adjustment plate respectively distributed on both sides of the finishing roller, and the One end of the brush roller is hinged with the reference plate, and the other end of the brush roller is rotatably connected with the output shaft of the drive motor, the drive motor is installed in the adjustment slot of the adjustment plate, and the drive motor is in the adjustment slot. The position can be adjusted horizontally so that the brush roller is inclined at an angle of 10-40° to the advancing direction of the medicine roll. 5.根据权利要求1所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述集料组件包括收料仓，所述收料仓开有若干抓槽，所述收料仓下端设置有用于对药卷进行称重的第二称重块，所述收料仓两端开口，且开口处设置有用于对药卷规整的第二推杆。5. The automatic packaging system for industrial explosives that integrates vacuum wrapping and boxing according to claim 1, wherein the collecting assembly comprises a receiving bin, and the receiving bin is provided with a number of grab grooves, The lower end of the receiving bin is provided with a second weighing block for weighing the medicine roll, both ends of the receiving bin are open, and the opening is provided with a second push rod for aligning the medicine roll. 6.根据权利要求1所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述集料组件还包括中转仓，所述中转仓位于二次整理组件和收料仓之间，所述中转仓靠近所述收料仓一侧滑动设置有垂直分布的挡板，通过控制挡板向脱离中转仓的方向位移以实现中转仓中的药卷进入收料仓。6. The automatic packaging system for industrial explosives that integrates vacuum wrapping and boxing according to claim 1, wherein the aggregate assembly further comprises a transfer bin, and the transfer bin is located in the secondary finishing assembly and the collecting bin. Between the bins, the transfer bin is slidably provided with vertically distributed baffles on one side close to the receiving bin. 7.根据权利要求1所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述机械手包括控制主体，所述控制主体一端下方固定设置有驱动气缸，所述驱动气缸的输出端设置有夹爪固定架，所述夹爪固定架下端设置有两夹料夹爪，两所述夹料夹爪一端均通过旋转轴与所述夹爪固定架转动连接，所述夹料夹爪另一端可绕旋转轴转动以使两所述夹料夹爪打开或闭合，所述驱动气缸输出端还连接有连杆，所述连杆一端与所述驱动气缸输出端铰接，所述连杆另一端与所述夹料夹爪内壁铰接，通过驱动气缸输出端的位移实现夹料夹爪绕旋转轴转动以使两所述夹料夹爪打开或闭合。7. The industrial explosive automatic packaging system integrating vacuum wrapping and box packing according to claim 1, wherein the manipulator comprises a control body, and a driving cylinder is fixedly arranged under one end of the control body, and the The output end of the driving cylinder is provided with a clamping jaw fixing frame, and the lower end of the clamping jaw fixing frame is provided with two clamping jaws, and one end of the two clamping jaws is rotatably connected with the clamping jaw fixing frame through a rotating shaft, so The other end of the clamping jaw can be rotated around the rotating shaft to open or close the two clamping jaws, the output end of the driving cylinder is also connected with a connecting rod, and one end of the connecting rod is hinged with the output end of the driving cylinder The other end of the connecting rod is hinged with the inner wall of the clamping jaws, and the clamping jaws are rotated around the rotating shaft by driving the displacement of the output end of the cylinder to open or close the clamping jaws. 8.根据权利要求1所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述封箱组件包括依次设置的用于对装有药卷的纸箱进行称重的第一称重块、用于封口的自动封箱模块、用于捆扎的第一捆扎机和第二捆扎机，所述第一捆扎机和第二捆扎机之间还设置有用于调节纸箱方向的换向滚轮，所述第一称重块的两侧设置有第一推杆和不合格品输送带，所述第一推杆和不合格品输送带分别分布在纸箱前进方向的两侧，以通过第一推杆将重量不合格的纸箱推至不合格品输送带。8 . The automatic packaging system for industrial explosives integrating vacuum wrapping and box packing according to claim 1 , wherein the box sealing assembly comprises sequentially arranged cartons for weighing the cartons containing the drug rolls. 9 . The first weighing block, the automatic box sealing module for sealing, the first strapping machine and the second strapping machine for strapping are also provided between the first strapping machine and the second strapping machine for adjusting the direction of the carton The reversing roller, the two sides of the first weighing block are provided with a first push rod and a conveyor belt for unqualified products, and the first push rod and the conveyor belt for unqualified products are respectively distributed on both sides of the carton forward direction, To push the unqualified cartons to the unqualified product conveyor belt through the first push rod. 9.根据权利要求1所述的集真空裹包、箱装为一体的工业炸药自动包装系统，其特征在于，所述中包装箱组件包括工作台，所述工作台下端设置有用于输送纸箱的装箱输送带，所述工作台中部开有与所述装箱输送带相配的落料口，所述工作台上端设置有与所述落料口相配的第一推料板和第二推料板，所述第一推料板和第二推料板的外侧分别设置有第四推杆和第五推杆，所述工作台上还设置有与所述第一推料板相配的中包裹包输送带，所述工作台上的真空包装药卷经中包裹包输送带输送至第一推料板，依次经第一推料板和第二推料板的作用后从落料口进入装箱输送带上的纸箱内。9. The automatic packaging system for industrial explosives integrating vacuum wrapping and boxing according to claim 1, wherein the middle packaging box assembly comprises a workbench, and the lower end of the workbench is provided with a carton for conveying cartons. Packing conveyor belt, the middle of the worktable is provided with a blanking port matched with the packing conveyor belt, and the upper end of the worktable is provided with a first pusher plate and a second pusher matched with the blanking port A fourth push rod and a fifth push rod are respectively provided on the outer sides of the first and second pusher plates, and a middle package matched with the first pusher plate is also arranged on the worktable. The bag conveyor belt, the vacuum packaging medicine roll on the worktable is transported to the first pusher plate through the middle wrapping bag conveyor belt, and then enters the device from the blanking port through the action of the first pusher plate and the second pusher plate in turn. Inside the carton on the box conveyor. 10.如权利要求1-9任一项所述的集真空裹包、箱装为一体的工业炸药自动包装系统的包装方法，其特征在于，方法步骤如下：10. the packaging method of the industrial explosive automatic packaging system integrating vacuum wrapping and boxing as described in any one of claims 1-9, it is characterized in that, method steps are as follows: S1：进料输送带将杂乱的药卷输送至分料输送带，分料输送带将药卷整理为横向进入一次整理组件，一次整理组件散落的药卷经回料输送带输送至分料输送带；S1: The feeding conveyor belt transports the messy medicine rolls to the distributing conveyor belt, and the distributing conveyor belt sorts the medicine rolls into the primary sorting assembly horizontally, and the scattered medicine rolls from the primary sorting assembly are transported to the distributing conveyor through the return conveyor belt bring; S2：通过一次整理组件对药卷进行初步整形以使药卷的轴向中心对齐，并输送至二次整理组件，二次整理组件散落的药卷经回料输送带输送至分料输送带；S2: Preliminarily reshape the medicine roll through the primary finishing component to align the axial center of the medicine roll, and transport it to the secondary finishing component. The scattered medicine rolls from the secondary finishing component are transported to the distributing conveyor belt through the return conveyor belt; S3：二次整理组件对初步整形的药卷进行二次整形以提高药卷的计数精度，然后通过光电传感器控制每次进入集料组件的药卷的数量，集料组件检测到药卷重量不符合规定时，通过机械手将集料组件内的药卷抓取并放置在回料输送带上，经回料输送带输送至分料输送带；S3: The secondary finishing component reshapes the initially shaped pill rolls to improve the counting accuracy of the pill rolls, and then controls the number of pill rolls entering the aggregate assembly each time through the photoelectric sensor. The aggregate component detects that the weight of the pill rolls is not correct. When the regulations are met, the medicine rolls in the aggregate assembly are grabbed by the manipulator and placed on the return conveyor belt, and then transported to the distribution conveyor belt through the return conveyor belt; S4：当需要对药卷直接装箱处理时，执行S5，当需要对药卷进行真空包装后再进行装箱时，执行S6；S4: when it is necessary to directly pack the medicine roll into a box, execute S5, and when the medicine roll needs to be vacuum-packed and then packed into a box, execute S6; S5：通过机械手将收料仓内的规定量的药卷放入一侧输送带上的纸箱内，并通过输送带将完成药卷装箱的纸箱输送至封箱组件；S5: Put the prescribed amount of medicine rolls in the receiving bin into the carton on one side of the conveyor belt through the manipulator, and transport the carton after packing the medicine rolls to the sealing assembly through the conveyor belt; S6：通过机械手将收料仓内的规定量的药卷放入中包裹包机的进料端，实现药卷的真空包装，并将真空包装后的药卷通过中包裹包输送带输送至第一推料板，依次经第一推料板和第二推料板的作用后从落料口进入装箱输送带上的纸箱内，再通过中包裹包输送带将完成药卷装箱的纸箱输送至封箱组件；S6: Put the prescribed amount of medicine rolls in the receiving bin into the feeding end of the middle-package packaging machine through the manipulator to realize the vacuum packaging of the medicine rolls, and transport the vacuum-packed medicine rolls through the middle-package package conveyor belt to the first The pusher plate, through the action of the first pusher plate and the second pusher plate in turn, enters the carton on the packing conveyor belt from the blanking port, and then completes the carton transportation of the medicine roll packing through the middle package conveyor belt. to the sealing component; S7：封箱组件将S5或S6中输送的纸箱经第一称重块进行重量校准，将合格的纸箱经自动封箱模块、第一捆扎机、换向滚轮和第二捆扎机处理后实现封箱，不合格的纸箱经第一推杆推送至不合格品输送带。S7: The carton sealing component calibrates the weight of the carton conveyed in S5 or S6 by the first weighing block, and seals the qualified carton after being processed by the automatic carton sealing module, the first strapping machine, the reversing roller and the second strapping machine. The unqualified cartons are pushed to the unqualified product conveyor belt through the first push rod.
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CN116788605A (en) * 2023-08-09 2023-09-22 昆山佰奥智能装备股份有限公司 Automatic bagging device for F0 area
CN119858705A (en) * 2025-03-24 2025-04-22 盘化(济南)化工有限公司 Industrial explosive compound packaging method

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CN116788605A (en) * 2023-08-09 2023-09-22 昆山佰奥智能装备股份有限公司 Automatic bagging device for F0 area
CN119858705A (en) * 2025-03-24 2025-04-22 盘化(济南)化工有限公司 Industrial explosive compound packaging method

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