An automatic medicine scraping machine

Abstract

The present invention discloses an automatic medicine scraping machine, comprising: an isolation room, on the side wall of which there is an explosion-proof window; on the inner and outer sides of the explosion-proof window, there are respectively a corresponding medicine scraping rack and a loading and unloading platform; a transfer trolley is slidably arranged between the medicine scraping rack and the loading and unloading platform; a rotating projectile is loaded on the transfer trolley; a scraper assembly is movably arranged on the medicine scraping rack; the scraper assembly extends into the open end of the projectile and is in planar contact with the medicine scraping layer to scrape off the excess medicine powder on the inner wall of the projectile. In the present invention, since the medicine scraping operation of the projectile has a certain degree of danger, the isolation room realizes the isolation of humans and machines, and the machine can operate automatically, thus protecting the safety of personnel during operation; the medicine scraping rack is built in the isolation room and will not cause interference to the outside during the whole medicine scraping operation process; the loading and unloading platform facilitates the personnel to perform the operation of loading and unloading the projectile outside the isolation room, and has strong applicability; the switching of the left and right trolleys improves the operation efficiency.

Description

Technical Field

[0001] The present invention relates to the field of shell processing industry, and particularly to an automatic medicine scraping machine. Background Technique

[0002] When filling ammunition into the shell body, a layer of residual powder usually adheres to the inner cavity opening. In order to recover these residual powders, it is usually necessary to scrape the powder from the shell body.

[0003] In the prior art, the residual powder is usually cleaned manually. Specifically, the shell body is placed on a fixture of the corresponding model. By manually holding a scraper and inserting the scraper into the shell body from the opening, and then scraping the residual powder on its inner wall. The inner wall of the shell body is painted. On the one hand, the paint layer is not allowed to be damaged during scraping. On the other hand, the coaxiality tolerance between the inner arc formed by the residual powder and the axis of the shell body shall not exceed 2 mm. Therefore, it is difficult to meet the accuracy requirements by manual scraping, and at the same time, it is easy to damage the paint surface of the inner wall of the shell body and fail to meet the relevant technical requirements. At the same time, the medicine scraping operation is quite dangerous and seriously threatens the physical health of the operators. Therefore, there is an urgent need for a fast, convenient, safe and highly efficient shell medicine scraping device. Summary of the Invention

[0004] An object of the present invention is to solve at least the above problems and / or defects and provide at least the advantages described later. To achieve these objects and other advantages according to the present invention, an automatic medicine scraping machine is provided, including:

[0005] An isolation room, the side wall of which is provided with an explosion-proof window; a medicine scraping rack and a loading and unloading platform corresponding to each other are respectively arranged on the inner and outer sides of the explosion-proof window; a transfer trolley is slidably arranged between the medicine scraping rack and the loading and unloading platform; a rotating shell body is loaded on the transfer trolley; a scraper assembly is movably arranged on the medicine scraping rack; the scraper assembly extends into the opening end of the shell body and is in plane contact with the scraping layer to scrape the excess powder on the inner wall of the shell body.

[0006] Wherein, preferably, the loading and unloading platform includes a bidirectional sliding table horizontally placed outside the explosion-proof window; the bidirectional sliding table includes a rectangular bracket; a transverse sliding frame is slidably arranged at the upper end of the rectangular bracket; a cylinder I is horizontally arranged at the lower end of the rectangular bracket; slide rails I are arranged at the front and rear sides of the upper end of the rectangular bracket; two pulley groups I matching with the two slide rails I are arranged at the front and rear sides of the lower end of the transverse sliding frame; a docking head I corresponding to the cylinder I is arranged at the left side of the lower end of the transverse sliding frame; by respectively embedding the two pulley groups I into the two slide rails I and connecting the output shaft of the cylinder I with the docking head I, a slidable connection is realized; two loading frames are arranged at intervals at the upper end of the transverse sliding frame; slide rails II are arranged at both sides of the upper ends of the two loading frames; a baffle is arranged between the two loading frames.

[0007] Preferably, there are two of the transfer trolleys; the transfer trolley includes an inclined bracket; pulley sets II are horizontally arranged on both sides of the inclined bracket; the two pulley sets II are respectively fitted on the slide rails II at both upper ends of the loading frame to form a slidable connection; two L-shaped bases are arranged at the upper and lower ends of the inclined bracket; bearing seats I are arranged on the two L-shaped bases; a three-jaw type limit seat is fixedly arranged in the inner ring of the bearing of the bearing seat I; two V-shaped chutes are arranged at the upper end of the inclined bracket; buckle rods are arranged outside the two V-shaped chutes; the upper end of the elastic body is embedded in the V-shaped chute and is limited by buckling with the buckle rod; the lower end of the elastic body is embedded in the three-jaw type limit seat to achieve limitation and at the same time achieve the ability of circumferential rotation; a transmission frame is further included; the transmission frame is fixedly arranged between the loading and unloading platform and the explosion-proof window; slide rails III matching the two pulley sets II are arranged on the left and right sides at the upper end of the transmission frame.

[0008] Preferably, a docking head II is arranged on the back of the inclined bracket of the transfer trolley; a cylinder II is horizontally arranged inside the isolation room; the output shaft of the cylinder II is connected with an electromagnetic fastener matching the docking head II; the output shaft of the cylinder II passes through the medicine scraping frame and the explosion-proof window in sequence and is clamped and separated from the docking head II through the electromagnetic fastener, so as to drive the transfer trolley to slide longitudinally and realize the moving function of sliding from the outside of the explosion-proof window into the inside; the medicine scraping frame includes a composite frame integrally welded by a square frame, a triangular frame and a base; the left end of the square frame is close to the inner side of the explosion-proof window and is correspondingly arranged opposite to the right end of the transmission frame; slide rails IV matching the docking of the slide rails III are arranged on both sides of the left end of the square frame; buffer seats are arranged on both sides of the right end of the square frame; the inclination angle of the triangular frame is correspondingly arranged with that of the inclined bracket.

[0009] Preferably, the medicine scraping frame includes a rotating assembly; the rotating assembly includes an upper fixing seat and a lower fixing seat arranged at the upper and lower ends of the triangular frame; four rotating shafts are rotatably arranged between the upper fixing seat and the lower fixing seat; a rotating motor is fixedly arranged at the rear end of the lower fixing seat; a transmission box is arranged in the lower fixing seat; the power input end of the transmission box is connected with the rotating motor; the power output ends of the transmission box are respectively connected to the lower ends of the four rotating shafts; the upper fixing seat is respectively provided with four bearing seats II corresponding to the four rotating shafts; the upper ends of the four rotating shafts are respectively fixedly arranged in the inner rings of the four bearing seats II to form a rotatable connection; a turntable for abutting against the side surface of the elastic body to drive it to rotate is arranged around the upper ends of the four rotating shafts; the four turntables are grouped in pairs and respectively abut against the side surfaces of the two elastic bodies correspondingly.

[0010] Among them, preferably, a pressing wheel assembly is provided in the middle of the medicine scraping rack; the pressing wheel assembly includes two T-shaped support frames fixedly arranged in the middle of the side of the triangular frame; the two T-shaped support frames are perpendicular to the hypotenuse of the triangular frame, and a cylinder III is arranged at the upper end; a support shaft is arranged at the end of the T-shaped support frame; a rotating frame is sleeved on the support shaft; a pressing wheel corresponding to the outer wall of the bullet body is arranged at the front end of the rotating frame; the middle of the rotating frame is sleeved on the support shaft through a sleeve to form a rotatable connection; the rear end of the rotating frame is connected to the output shaft of the cylinder III.

[0011] Among them, preferably, a motion assembly is provided at the upper end of the medicine scraping rack; the motion assembly includes an X-axis module that runs horizontally and obliquely; an X-axis motor is arranged on the X-axis module; the output shaft of the X-axis motor is butted with an X-axis slide plate; a Z-axis module that runs vertically is arranged on the X-axis slide plate; a Z-axis motor is arranged on the Z-axis module; an L-shaped pushing plate is arranged on the triangular frame; the upper end of the L-shaped pushing plate is butted with the output shaft of the Z-axis motor; a support plate I is fixedly arranged at the lower end of the L-shaped pushing plate; by the work of the Z-axis motor, the support plate I is pushed up and down, thereby realizing the Z-axis moving ability of the support plate I.

[0012] Among them, preferably, the scraping knife assembly includes: a support plate I fixedly arranged on the motion assembly; a base is rotatably arranged on the support plate I; a telescopic adjusting rod is hinged at the rear end of the base; a knife rod is fixedly arranged through the front end of the base; a scraping knife and a telescopic detection head corresponding to the medicine scraping layer at the open end of the bullet body are arranged side by side at the front end of the knife rod; a sensing assembly corresponding to the detection head is arranged at the rear end of the knife rod;

[0013] The specific rotatable configuration mode of the base is: a rotating shaft is fixedly arranged horizontally on the support plate; a rotating hole is arranged horizontally at the lower part of the front end of the base; bearings are fixedly arranged at both ends of the rotating hole; the rotating shaft is fixedly arranged in the inner rings of the two bearings, thereby forming a rotatable connection;

[0014] The specific telescopic and hinged configuration mode of the adjusting rod is: a hinge rod is arranged in the middle of the rear end of the base; a collar sleeved on the hinge rod is integrally arranged at the upper end of the adjusting rod; the lower end of the adjusting rod is connected to the output shaft of the cylinder I.

[0015] A through hole I is arranged longitudinally at the upper part of the front end of the base; a cross plate is vertically arranged at the front end of the support plate; a through hole II is arranged in the cross plate; the knife rod is fixedly arranged through the through hole I and then movably arranged through the through hole II after passing through; a fixing ring is arranged in the middle of the through hole II; the inner side of the fixing ring is fixedly connected to the outer wall of the knife rod; a flexible dust-proof ring for sealing is arranged between the outer side of the fixing ring and the inner wall of the through hole II;

[0016] The front and rear ends of the knife bar are respectively provided with a connected air outlet and air inlet;

[0017] The scraper is a long block structure and is detachably arranged at the front end of the blade rod; the front end of the blade rod is provided with a blade head embedded in the open end of the elastic body; the upper end of the blade head is provided with a protruding block; the protruding block is provided with a strip groove; the strip groove is provided with two fixing screw holes; the rear end of the scraper is provided with two docking screw holes matching the two fixing screw holes; two fixing bolts are respectively inserted into the two fixing screw holes and the docking screw holes to form a detachable connection. The scraper is tilted from back to front, and the upper part is cut in half along the diagonal line of the end face;

[0018] The telescopic configuration of the detection head is specifically as follows: a check rod is movably inserted into the inside of the tool rod; the check rod is connected to the detection head after passing through the tool head; a notch is provided at the front end of the tool head; the detection head is specifically a T-shaped push head; a spring is provided between the T-shaped push head and the end face of the notch to achieve elastic connection; a lap plate is provided at the upper end of the front end of the base; a support block is fixedly connected to the lower rear end of the lap plate; a cylinder II is fixedly inserted into the support block; a floating joint is connected to the output shaft of the cylinder II; the check rod passes through the rear end of the tool rod and is integrally fixedly connected to a traction block corresponding to the floating joint at the rear end;

[0019] The configuration of the sensor component is specifically as follows: the positioning rod is passed through the rear end of the knife rod and a sleeve is nested on the outside; a connecting block is fixedly connected to the outer wall of the sleeve; a baffle is fixed to the upper end of the connecting block; a portal frame is fixedly arranged below the rear end of the lap plate; a left optical fiber head and a right optical fiber head are respectively passed through and fixed at the left and right ends of the portal frame; the output ends of the left and right optical fiber heads are arranged facing each other in the center and separated by the telescopic path of the baffle.

[0020] Among them, preferably, a limited position powder suction component is fixedly provided at the lower end of the scraper frame; the limited position powder suction component includes: a fixed seat; the rear end of the fixed seat is connected to a cylinder IV; the front end of the fixed seat is fixedly connected to a bottom plate; the rear end of the bottom plate is provided with an annular groove; a corrugated pipe is fixedly provided between the transverse plate and the annular groove; a powder suction cylinder is provided at the front end of the bottom plate; an air inlet pipe is provided outside the powder suction cylinder; an air outlet pipe connected to the air inlet pipe is provided in the inner cavity of the powder suction cylinder; a powder discharge pipe connected to an external dust extraction device is provided at the lower part of the powder suction cylinder; a bearing seat is provided at the front end of the powder suction cylinder; a friction ring that docks the open end of the elastic body is fixedly provided on the inner ring of the bearing of the bearing seat. The front end of the knife rod passes through the transverse plate, penetrates into the inner cavity of the powder suction cylinder through the corrugated pipe, and then passes out from the outside of the friction ring.

[0021] Among them, preferably, it further includes a control component; the control component includes a central control PLC; an HMI touch screen is connected to the PLC; the rotary motor is connected to the PLC through a frequency converter; a plurality of the X-axis motors and Z-axis motors are connected to the PLC through servo drivers; Profinet bus communication is adopted between the PLC and each driver.

[0022] The present invention has at least the following beneficial effects:

[0023] Since the scraping operation of the projectile has a certain degree of danger, the isolation room realizes closed isolation operation, protecting the safety of personnel during operation; the opening and closing of the explosion-proof window is convenient. While facilitating the entry and exit of the transfer cart, it still ensures the airtightness of the isolation room, further improving the safety of the operation; the scraping rack is built into the isolation room and will not cause interference to the outside during the entire scraping operation process; the loading and unloading platform facilitates personnel to perform assembly operations on the projectile outside the isolation room, with strong applicability; due to the certain weight of the projectile, it is more stable and convenient to carry and transport the projectile through the sliding transfer cart, improving the operation efficiency. Other advantages, objectives and features of the present invention will be partially reflected by the following description and partially understood by those skilled in the art through the research and practice of the present invention. Description of the Drawings

[0024] Figure 1 It is the overall structure diagram of the present invention;

[0025] Figure 2 It is the structure diagram of the assembly rack of the present invention;

[0026] Figure 3 It is the structure diagram of the transfer cart of the present invention;

[0027] Figure 4 It is the structure diagram of the scraping rack of the present invention;

[0028] Figure 5 It is the structure diagram of the rotating component of the present invention;

[0029] Figure 6 It is the structure diagram of the pressing wheel component of the present invention;

[0030] Figure 7 It is the structure diagram of the moving component of the present invention;

[0031] Figure 8 It is the structure diagram of the scraping knife component of the present invention;

[0032] Figure 9 It is the cross-sectional view of the scraping layer at the open end of the projectile of the present invention;

[0033] Figure 10 It is the structure diagram after the disassembly of the support plate I of the present invention;

[0034] Figure 11 Structural diagram of the detection head and scraping knife at the front end of the tool shank of the present invention;

[0035] Figure 12 Front view structural diagram of the sensing component and stretching component at the rear end of the tool shank of the present invention;

[0036] Figure 13 Side view structural diagram of the sensing component at the rear end of the tool shank of the present invention;

[0037] Figure 14 Structural diagram of the limit powder suction component of the present invention;

[0038] Figure 15 PLC control flow chart of the present invention. Specific implementation manners

[0039] The following further elaborates on the present invention in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the text of the specification. It should be understood that terms such as "having", "comprising", and "including" used herein do not exclude the presence or addition of one or more other elements or their combinations. It should be noted that in the description of the present invention, the orientation or positional relationship indicated by the terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In the description of the present invention, unless otherwise clearly specified and defined, terms such as "installed", "provided with", "sheathed / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection, can be a mechanical connection, can be an electrical connection, can be directly connected, or can be indirectly connected through an intermediate medium, and can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, in the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. Figures 1-15 Shows the implementation forms of all embodiments of the present invention, including:

[0040] (Such as Figure 1 )

[0041] Isolation room, with explosion-proof windows 102 provided on its side walls; corresponding scraping racks 103 and loading and unloading platforms 104 are respectively provided on the inner and outer sides of the explosion-proof windows 102; a transfer trolley 105 is slidably arranged between the scraping rack 103 and the loading and unloading platform 104; a rotating projectile 9 is loaded on the transfer trolley 105; a scraping knife assembly is movably arranged on the scraping rack 103; the scraping knife assembly extends into the open end of the projectile 9 and is in planar contact with the scraping layer 91 to scrape off the excess powder on the inner wall of the projectile 9.

[0042] Working principle: When using the present invention, first, the projectile 9 to be scraped is installed on the transfer trolley 105. The transfer trolley 105 slides on the loading and unloading platform 104 until it reaches the position aligned with the explosion-proof window 102. At this time, the explosion-proof window 102 opens, and the transfer trolley 105 slides into the isolation room 1. After reaching the scraping rack 103, the explosion-proof window 102 closes, and the isolation room 1 is in a closed state. At this time, the corresponding scraping device inside the scraping rack 103 starts to perform the scraping operation on the projectile 9 on the transfer trolley 105. After the operation is completed, the explosion-proof window 102 opens again, and the transfer trolley 105 slides back to the loading and unloading platform 104 along the original path. Personnel remove the scraped projectile 9 and then reinstall the un-scraped projectile 9 onto the transfer trolley 105 to repeat the operation.

[0043] In this solution: Since the scraping operation of the projectile 9 is somewhat dangerous, the isolation room 1 realizes closed and isolated operation to protect the safety of personnel during the operation; the opening and closing of the explosion-proof window 102 are conveniently controlled. While facilitating the entry and exit of the transfer trolley 105, it still ensures the sealing performance of the isolation room 1, further improving the safety of the operation; the scraping rack 103 is built into the isolation room 1 and will not cause interference to the outside during the entire scraping operation process; the loading and unloading platform 104 facilitates personnel to perform assembly operations on the projectile outside the isolation room 1, with strong applicability; since the projectile 9 has a certain weight, it is more stable and convenient to load and transport the projectile through the sliding transfer trolley 105, improving the operation efficiency.

[0044] In the above technical solution: (such as Figure 2 )

[0045] The loading and unloading platform 104 includes a bidirectional sliding table 400 horizontally placed outside the explosion-proof window 102; the bidirectional sliding table 400 includes a rectangular bracket 410; a transverse sliding frame 420 is slidably arranged at the upper end of the rectangular bracket 410; a cylinder I 430 is horizontally arranged at the lower end of the rectangular bracket 410; slide rails I 440 are arranged at the front and rear sides of the upper end of the rectangular bracket 410; two pulley groups I 450 matching the two slide rails I 440 are arranged at the front and rear sides of the lower end of the transverse sliding frame 420; a docking head I 460 corresponding to the cylinder I 430 is arranged at the left side of the lower end of the transverse sliding frame 420; by respectively embedding the two pulley groups I 450 into the two slide rails I 440 and connecting the output shaft of the cylinder I 430 with the docking head I 460, a slidable connection is achieved; two loading frames 470 are arranged at intervals at the upper end of the transverse sliding frame 420; slide rails II 480 are arranged at both sides of the upper ends of the two loading frames 470; a baffle 490 is arranged between the two loading frames 470.

[0046] In this solution: the output end of the cylinder I 430 is horizontally connected to the docking head I 460, so as to realize the reciprocating horizontal movement of the entire transverse sliding frame 420; the two loading frames 470 can be used to load two transfer trolleys 105 for the transposition adjustment of different transfer trolleys 105. The slide rails II 480 serve as the "base" for the docking transfer trolley 105 to slide. The baffle 490 can abut and limit the rear end of the transfer trolley 105 to prevent it from slipping out of the loading frame 470 and affecting the operation; the bidirectional sliding table 400 can ensure that the two transfer trolleys 105 can perform free horizontal transposition, enabling the transfer trolley 105 that needs to be introduced into the isolation room 1 to dock with the explosion-proof window 102, while the other transfer trolley 105 can be laterally moved to the side of the bidirectional sliding table 400 for loading and unloading operations, performing "dual-station" linkage operations, thus significantly improving the function expansion and operation efficiency of the device. In the above technical solution: (such as Figure 3 )

[0047] The transfer trolley 105 has two; the transfer trolley 105 includes an inclined bracket 51; on both sides of the inclined bracket 51, pulley sets II 52 are horizontally arranged; the two pulley sets II 52 are respectively fitted on the slide rails II 480 on both sides of the upper end of the loading vehicle frame 470, so as to form a slidable connection; at the upper and lower ends of the inclined bracket 51, two L-shaped bases 53 are provided; on the two L-shaped bases 53, bearing seats I 54 are provided; in the inner ring of the bearing of the bearing seat I 54, a three-jaw type limit seat 55 is fixedly arranged; at the upper end of the inclined bracket 51, two V-shaped card slots 56 are provided; outside the two V-shaped card slots 56, a clamping rod 57 is provided; the upper end of the elastic body 9 is embedded in the V-shaped card slot 56, and is limited by using the clamping rod 57; the lower end of the elastic body 9 is embedded in the three-jaw type limit seat 55 to achieve limitation, and at the same time, the ability of circumferential rotation is achieved; it further includes a transmission frame 106; the transmission frame 106 is fixedly arranged between the loading and unloading platform 104 and the explosion-proof window 102; on the left and right sides of the upper end of the transmission frame 106, slide rails III matching with the two pulley sets II 52 are provided.

[0048] In this solution: The significance of configuring the transfer trolley 105 as two is that the two transfer trolleys 105 can cooperate with the two loading vehicle frames 470 for ammunition replacement operations, further improving the operation efficiency. At the same time, two elastic bodies 9 can be firmly and stably installed on the transfer trolley 105, and the scraping and transfer operations of the two elastic bodies 9 can be carried out simultaneously, with higher operation efficiency and more convenient loading, unloading and transfer; the inclined bracket 51 serves as the carrier for the inclined placement of the elastic body 9, ensuring a certain inclination angle, thereby improving the accuracy of docking between the rotating elastic body 9 and the subsequent scraper assembly; the bearing seat I 54 provides the rotation ability for the elastic body; the upper end of the elastic body 9 is limited by the clamping rod 57 to prevent the elastic body 9 from popping out during the rotation process, ensuring safety; the "three-jaw structure" of the three-jaw type limit seat 55 can further stably clamp and grasp the lower end of the elastic body 9, ensuring the stability of the elastic body 9 during the rotation process; finally, by configuring a transmission frame 106, through the sliding of the transverse moving carriage 420, after the slide rail II 480 is docked with the slide rail III, the transfer trolley 105 can achieve the transfer effect of sliding from the loading vehicle frame 470 to the transmission frame 106 through the sliding of the pulley set II 52. In the above technical solution: (such as Figures 4-5 )

[0049] A docking joint II 58 is arranged on the back of the inclined bracket 51 of the transfer trolley 105; a cylinder II 110 is arranged horizontally inside the isolation room 1; the output shaft of the cylinder II 110 is connected with an electromagnetic fastener matching the docking joint II 58; the output shaft of the cylinder II 110 successively passes through the scraper rack 103 and the explosion-proof window 102, and is connected and disengaged with the docking joint II 58 through the electromagnetic fastener, thereby driving the transfer trolley 105 to slide longitudinally, so as to slide from the outside of the explosion-proof window into the inside. Moving function; the scraper rack 103 includes a composite rack formed by welding a square frame 301 and a tripod 302 together with a base; the left end of the square frame 301 is close to the inner side of the explosion-proof window 102 and is arranged corresponding to the right end of the transmission rack 106; the left end of the square frame 301 is provided with slide rails IV 303 that are docked and matched with the slide rail III on both sides; the right end of the square frame 301 is provided with buffer seats 304 on both sides; the inclination angle of the tripod 302 is set corresponding to the inclined bracket 51.

[0050] In this scheme: the cylinder II 110 horizontally arranged in the isolation room 1 controls whether the electromagnetic fastener at the output end is energized to adsorb and detach the docking joint II 58; that is, when the transfer trolley needs to slide longitudinally between the "two-way slide 400→transmission rack 106→scraper rack 103", the electromagnetic fastener is made conductive to adsorb the docking joint II 58, and then the cylinder II 110 is used to drag it longitudinally; when the transfer trolley needs to slide horizontally on the two-way slide 400, the electromagnetic fastener is powered off, detached from the docking joint II 58, and the cylinder I 430 on the two-way slide 400 is used to drive the transfer trolley. The trolley 105 slides laterally; through such a movement process, the longitudinal dragging and lateral sliding of the transfer trolley 105 are guaranteed to be more stable; secondly, the composite frame formed by the square frame 301 and the tripod 302 as a whole has a more stable structure, which can avoid large shaking of the scraping frame 103 during the scraping process. The buffer seat 304 can play a certain buffering and protective role when the transfer trolley 105 is pulled back and leaned against the composite frame. At the same time, the tripod 302 can be constructed in conjunction with the overall inclination of the transfer trolley 105 to ensure the accuracy of the angle of the subsequent scraper assembly embedded in the projectile 9, thereby ensuring the operating effect.

[0051] In the above technical solution: (such as Figure 4 )

[0052] The medicine scraping rack 103 includes a rotating assembly 310; the rotating assembly 310 includes an upper fixed seat 311 and a lower fixed seat 312 arranged at the upper and lower ends of the triangular frame 302; four rotating shafts 313 are rotatably arranged between the upper fixed seat 311 and the lower fixed seat 312; a rotating motor 314 is fixedly arranged at the rear end of the lower fixed seat 312; a transmission box 315 is arranged in the lower fixed seat 312; the power input end of the transmission box 315 is connected to the rotating motor 314; the power output ends of the transmission box 315 are respectively connected to the lower ends of the four rotating shafts 313; the upper fixed seat 311 is respectively provided with four bearing seats II 316 corresponding to the four rotating shafts 313; the upper ends of the four rotating shafts 313 are respectively fixedly arranged in the inner rings of the four bearing seats II 316 to form a rotatable connection; a turntable 317 for abutting against the side surface of the elastic body 9 to drive its rotation is arranged around the upper ends of the four rotating shafts 313; the four turntables 317 are grouped in pairs of two and are respectively abutted against the side surfaces of the two elastic bodies 9 correspondingly.

[0053] In this solution: In the whole rotating assembly, the transmission box 315 cooperates with the rotating motor 314 to serve as the power torque end of the four rotating shafts 313, with stable structure, convenient control and easy installation; at the same time, four turntables 317 for driving the elastic body 9 to rotate are respectively installed on the four rotating shafts 313. Then, since two turntables 317 are attached to the lower end of one elastic body 9, it can better fit the arc surface of the elastic body, forming a "three-point" rotating transmission angle, which is more uniform and stable, further ensuring the stability of the rotation of the elastic body 6, so that the subsequent medicine scraping operation is more accurate and stable.

[0054] In the above technical solution: (such as Figure 6 )

[0055] A pressing wheel assembly is arranged in the middle of the medicine scraping rack 103; the pressing wheel assembly includes two T-shaped support frames 321 fixedly arranged in the middle of the side of the triangular frame 302; the two T-shaped support frames 321 are perpendicular to the hypotenuse of the triangular frame 302, and a cylinder III 322 is arranged at the upper end; a support shaft 323 is arranged at the end of the T-shaped support frame 321; a rotating frame 324 is sleeved on the support shaft 323; a pressing wheel 325 corresponding to the outer wall of the elastic body 9 is arranged at the front end of the rotating frame 324; the middle of the rotating frame 324 is sleeved on the support shaft 323 through a sleeve 326 to form a rotatable connection; the rear end of the rotating frame 324 is connected to the output shaft of the cylinder III 322.

[0056] In this solution: During the medicine scraping operation, the projectile 9 installed on the transfer trolley rotates continuously. After coming into contact with the scraper assembly on the medicine scraping table 3, it inevitably shakes up and down, thus affecting the accuracy of the operation position of the scraper assembly and the quality of the medicine scraping operation. Then, through the telescoping of the cylinder III 322, the rotating frame 324 is driven to rotate, so that the pressing wheel 325 can stably abut against and press on the side surface of the rotating projectile 9. At this time, the pressing wheel 325 plays a limiting role on the rotating projectile 9 and can also rotate together with the projectile 9. When the medicine scraping operation of the projectile 9 is completed, through the retraction of the cylinder III 322, the entire rotating frame 324 is retracted, so that the pressing wheel 325 is separated from the projectile, and then the projectile 9 can be transported.

[0057] In the above technical solution: (such as Figure 7 )

[0058] A motion assembly 330 is provided at the upper end of the medicine scraping frame 103; the motion assembly 330 includes an X-axis module 331 that runs horizontally and obliquely; an X-axis motor 332 is provided on the X-axis module 331; the output shaft of the X-axis motor 332 is docked with an X-axis slide plate 333; a Z-axis module 334 that runs vertically is provided on the X-axis slide plate 333; a Z-axis motor 335 is provided on the Z-axis module 334; an L-shaped pushing plate 336 is provided on the triangular frame 302; the upper end of the L-shaped pushing plate 336 is docked with the output shaft of the Z-axis motor 335; a support plate I 1 is fixedly provided at the lower end of the L-shaped pushing plate 336; the scraper assembly is on the support plate I 1; by the work of the Z-axis motor 332, the support plate I 1 is pushed up and down, thereby realizing the Z-axis movement ability of the support plate I 1.

[0059] In this solution: The motion assembly 330, as the core motion mechanism that drives the scraper assembly to displace, provides motion modules in two motion directions, which are,

[0060] (1) The X-axis module 331 with the "X-axis" direction of tilting upward and downward as the motion direction (the "tilting" angle in this direction matches the tilting angles of the tilting bracket 51 of the transfer trolley 105 and the triangular frame 302 of the composite frame. The purpose is to drive the scraper assembly to reach the medicine scraping layer 91 at the opening end of the projectile along this "tilting" angle for operation);

[0061] (2) The Z-axis module 334 with the "Z-axis" direction perpendicular to the motion direction of the X-axis module as the motion direction; (the purpose of doing this is that this motion direction can be used to lift and lower the operation end of the scraper assembly to cooperate with subsequent relevant sensing devices to detect the medicine scraping layer 91)

[0062] It can be seen that the moving component 330 provides the support plate I 1 with the ability to move along two stable axes. It is convenient to operate and can stably send the subsequent device into the open end of the projectile 9, and stably achieve the scraping operation.

[0063] In the above technical solution: (such as Figures 8-13 )

[0064] The scraping knife assembly includes: a support plate I 1 fixedly arranged on the moving component 330; a base 2 rotatably arranged on the support plate I 1; a telescopic adjusting rod 3 hinged to the rear end of the base 2; a knife rod 4 fixedly arranged through the front end of the base 2; a scraping knife 5 and a telescopic detection head 6 arranged side by side at the front end of the knife rod 4 and corresponding to the scraping layer 91 at the open end of the projectile 9; and a sensing component 7 arranged at the rear end of the knife rod 4 corresponding to the detection head 6.

[0065] In this solution:

[0066] (1) When starting the scraping operation, control the detection head 6 to axially extend, drive the entire support plate I 1 together with the rotatable base 2 to approach the projectile 9 rotating at high speed through the moving component, and slowly insert the front end of the knife rod 4 into the open end of the projectile 9. When the detection head 6 contacts the scraping layer 91, the sensing component 7 at the rear end of the detection head 6 receives the corresponding signal, and the background system records the position data, determining this position as the scraping position;

[0067] (The detection head 6 integrally installed at the front end of the knife rod 4 can cooperate with the movement of the knife rod 4 and enter the cavity at the open end of the projectile 9 together with the scraping knife 5. The abutment detection with the scraping layer 91 is more accurate and stable, ensuring that the operation position of the subsequent scraping knife 5 is more accurate and the scraping effect is guaranteed.)

[0068] (2) The detection head 6 axially retracts, and the entire support plate I 1 together with the rotatable base 2 is continuously driven to move through the external moving component, so that the scraping knife 5 on the knife rod 4 reaches the scraping position detected in the previous process (1); at this time, by controlling the scraping knife 5 to move radially upward, the powder accumulated on the inner wall of the scraping layer 91 at the open end of the projectile 9 will continuously contact the front end face of the scraping knife 5, and under high-speed rotation, the residual powder can be continuously peeled off and scraped out to achieve the scraping operation effect.

[0069] (The reason why the detection head 6 is configured to be telescopic is that it needs to extend when detecting the scraping layer 91, and can be retracted when the scraping knife 5 is performing the formal scraping operation, preventing interference and affecting the subsequent operation accuracy. It is convenient to control and has stable expansion and contraction.)

[0070] (3) The scraping blade 5 continuously moves upward in the radial direction until it reaches the inner wall of the open end of the projectile body 9, so as to uniformly scrape off all the residual powder. Then, the powder scraped away is collected by an external powder suction assembly, and the scraping operation of the entire projectile body 9 is completed.

[0071] (After scraping off the residual powder at the open end of the projectile body 9, the front end of the scraping blade 5 will abut against the inner wall of the open end of the projectile body 9, generating a certain frictional force. To prevent the increase of this frictional force from scratching the paint film on the inner wall of the open end of the projectile body 9, at this time, the adjusting rod hinged at the rear end of the base 2 can be adjusted up and down accordingly, so as to drive the entire tool bar 5 to "swing" up and down at a certain angle, so that the front end of the scraping blade 5 can be loosened and disengaged in time when it is about to abut against the inner wall, ensuring the safety of the equipment.)

[0072] The specific rotatable configuration mode of the base 2 is as follows: a rotating shaft 11 is horizontally and fixedly arranged on the support plate 1; a rotating hole 21 is horizontally arranged at the lower part of the front end of the base 2; bearings 211 are fixedly arranged at both ends of the rotating hole 21; the rotating shaft 11 is fixedly penetrated through the inner rings of the two bearings 211, thus forming a rotatable connection.

[0073] (The rotating hole 21 is sleeved on the rotating shaft 11 through two bearings 211, so that the base 2 has a more stable rotatable ability. This is to cooperate with the adjusting rod 3, because only by having a "fulcrum" (i.e., the rotating shaft 11 / rotating hole 21) on the support plate 1 for the base 2 to rotate can the overall base 2 be swung and adjusted by the subsequent telescopic movement of the adjusting rod 3, and this buffer telescopic adjustment function can be truly realized.)

[0074] The specific telescopic and hinged configuration mode of the adjusting rod is as follows: a hinge rod 30 is arranged in the middle of the rear end of the base 2; a collar 31 sleeved on the hinge rod 30 is integrally arranged at the upper end of the adjusting rod 3; the lower end of the adjusting rod 3 is connected to the output shaft of the cylinder I 32.

[0075] (By controlling the telescopic movement of the output shaft of the cylinder I 32, the purpose of pushing the adjusting rod is achieved, so that the collar forms a rotating hinge with the hinge rod. Then, taking the support plate as another rotating fulcrum, the up and down adjustment of the front end of the tool bar is realized, the adjustment purpose is achieved, and the controllability is strong and the operation is stable.)

[0076] A through hole I 22 is longitudinally arranged at the upper part of the front end of the base 2; a cross plate 13 is vertically arranged at the front end of the support plate 1; a through hole II 14 is arranged in the cross plate 13; the tool bar 4 is fixedly penetrated through the through hole I 22 and movably penetrated through the through hole II 14 after passing through; a fixing ring 15 is arranged in the middle of the through hole II 14; the inner side of the fixing ring 15 is fixedly connected to the outer wall of the tool bar 4; a flexible dust-proof ring 16 for sealing is arranged between the outer side of the fixing ring 15 and the inner wall of the through hole II;

[0077] (Through the through hole Ⅰ22 and the through hole Ⅱ14, the knife bar 4 is further fixed stably. The fixing ring 15 is easy to assemble and can be used with a flexible dustproof ring 16. It can prevent the powder from leaking out from the gap of the through hole Ⅱ14 during the scraping operation, and play a more stable sealing effect. At the same time, it can ensure that the middle part of the knife bar 4 can swing up and down in the through hole Ⅱ14 to ensure the adjustment effect.)

[0078] The front and rear ends of the knife rod 4 are respectively provided with a connected air outlet head 41 and an air inlet head 42.

[0079] (After the air inlet head 42 is connected to an external air source device, the air outlet head 41 is used to further blow air into the scraping operation area, and then the limited powder suction component 8 is used to blow air and suck powder at the same time, which further improves the powder blowing effect on the scraping operation area and achieves the air cooling effect on the scraper 5.)

[0080] The scraper 5 is a long block structure and is detachably arranged at the front end of the blade rod 4; the front end of the blade rod 4 is provided with a blade head 43 embedded in the open end of the elastic body 9; the upper end of the blade head 43 is provided with a protruding block 431; the protruding block 431 is provided with a strip groove 432; the strip groove 432 is provided with two fixing screw holes; the rear end of the scraper 5 is provided with two docking screw holes matching the two fixing screw holes; two fixing bolts 433 are respectively inserted into the two fixing screw holes and the docking screw holes to form a detachable connection. The scraper 5 is arranged tilted from back to front, and the upper part is cut in half along the diagonal line of the end face.

[0081] (The scraper 5 of this structure is more convenient to assemble. The design of tilting and cutting a part is to allow the working end (tip) of the scraper 5 to better contact the residual powder agglomeration of the scraping medicine layer 91, so that the scraping and peeling of the powder is more uniform.)

[0082] The telescopic configuration of the detection head 6 is specifically as follows: a positioning rod 44 is movably penetrated inside the tool rod 4; the positioning rod 44 is connected integrally with the detection head 6 after passing through the tool head 43; a notch 443 is provided at the front end of the tool head 43; the detection head 6 is specifically a T-shaped push head; a spring 61 is provided between the T-shaped push head and the end face of the notch 443, so as to realize an elastic connection; a lap plate 23 is provided at the upper end of the front end of the base 2; a support block 24 is fixedly connected at the lower rear end of the lap plate 23; a cylinder II 25 is penetrated and fixed on the support block 24; a floating joint 26 is connected to the output shaft of the cylinder II 25; the positioning rod 44 passes through the rear end of the tool rod 4, and the rear end is integrally fixedly connected with a traction block 27 corresponding to the floating joint 26.

[0083] (The output shaft of cylinder II 25 drives the floating joint 26 to dock with the traction block 27, so as to pull and control the entire position detection rod 44 to axially expand and contract. Since the larger end of the T-shaped push head will abut against the end face of the notch 443 after being compressed by the spring 61 and will not be completely pulled back, a limiting effect is formed, thus realizing the expansion and contraction effect of the detection head 6, with convenient control and stable expansion and contraction.)

[0084] The specific configuration of the sensing component 7 is as follows: After the position detection rod 44 passes through the rear end of the tool bar 4, a sleeve 71 is nested outside; A connecting block 72 is fixedly connected to the outer wall of the sleeve 71; A baffle 73 is fixed to the upper end of the connecting block 72; A gantry 74 is fixedly arranged below the rear end of the overlapping plate 23; The left optical fiber head 741 and the right optical fiber head 742 are respectively penetrated and fixed at the left and right ends of the gantry 74; The output ends of the left optical fiber head 721 and the right optical fiber head 742 are arranged facing each other in the middle and are separated by the expansion and contraction path of the baffle 73.

[0085] (By setting a notch 443, the T-shaped push head after installation can be kept corresponding to the side of the scraper 5, so as to ensure the accuracy of measuring the scraping position. A sleeve 71 is sleeved at the rear end of the position detection rod 44, so as to increase the friction force of the position detection rod 44 when retracting to drive the connecting block 72. When the position detection rod 44 retracts, it integrally drives the connecting block 72 and the baffle 73 to move towards the opposed light path between the left optical fiber head 741 and the right optical fiber head 742, and cuts off the opposed light path. Then the rear-end sensing system obtains a sensing signal through this cutting-off behavior, thereby recording the specific information of this position. This sensing method is convenient to configure, obtains stable signals, and ensures that the scraping position obtained by the subsequent operation of the scraper 5 is more accurate and reliable.) In the above technical solution: (such as Figure 14 )

[0086] A limiting powder suction component is fixedly arranged at the lower end of the medicine scraping frame 103; The limiting powder suction component includes: a fixed seat 81; A cylinder IV 82 is connected to the rear end of the fixed seat 81; A bottom plate 83 is fixedly connected to the front end of the fixed seat 81; An annular groove 84 is arranged at the rear end of the bottom plate 83; A corrugated pipe 85 is fixedly arranged between the cross plate 13 and the annular groove 84; A powder suction cylinder 86 is arranged at the front end of the bottom plate 83; An air inlet pipe 871 is arranged outside the powder suction cylinder 86; An air outlet pipe 872 communicated with the air inlet pipe 871 is arranged in the inner cavity of the powder suction cylinder 86; A powder discharge pipe 873 communicated with an external dust extraction device is connected to the lower part of the powder suction cylinder 86; A bearing seat 88 is arranged at the front end of the powder suction cylinder 86; A friction ring 89 for fixing the open end of the docking elastic body 9 is fixedly arranged on the inner ring of the bearing of the bearing seat 88. The front end of the tool bar 4 passes through the cross plate 13 and then penetrates into the inner cavity of the powder suction cylinder 86 through the corrugated pipe 85 and then passes out from the outside of the friction ring 89.

[0087] In this solution: (The cylinder Ⅳ 82 drives the fixed seat 81 to expand and contract, so that the friction ring 89 can be accurately docked to the starting end of the projectile 9, so as to achieve synchronous rotation. As the scraper 5 fits onto the scraping layer 91, a closed cavity is formed in the entire scraping operation space, which can effectively prevent the powder from overflowing and polluting the equipment and the operation environment. During the entire operation process, at the same time, the limit powder suction assembly 8 is cooperated, powder is sucked while scraping, which can effectively discharge the powder, clean the opening end of the projectile 9, and ensure the continuous and stable progress of the scraping operation of the projectile 9.)

[0088] In the above technical solution: (Such as Figure 15 )

[0089] It also includes a control component; the control component includes a central control PLC 801; an HMI touch screen 802 is connected to the PLC 801; the rotary motor 304 is connected to the PLC 801 through a frequency converter; multiple X-axis motors 332 and Z-axis motors 335 are connected to the PLC 801 through servo drivers; the PLC 801 communicates with each driver through a Profinet bus 803.)

[0090] In this solution: Through the central control PLC 801, when all servo motors (X-axis motors 332 and Z-axis motors 335) perform scraping trajectory control operations, they are equipped with absolute encoders, and the current position can be recorded each time after power failure, without the need to perform a home position operation each time, with higher positioning accuracy and saving working time; while the rotary motor 314 does not require positioning control, and all the other servo motors are driven by three-phase asynchronous motors and are speed-regulated with a frequency converter, and the speed can be set in the touch screen 802; the PLC 801 communicates with each driver through a Profinet bus 803, with stable and fast communication, and convenient wiring and maintenance.)

[0091] The equipment quantity and processing scale described here are used to simplify the description of the present invention. The application, modification and variation of the present invention are obvious to those skilled in the art. Although the embodiments of the present invention have been disclosed above, it is not limited to the applications listed in the specification and the embodiments. It can be fully applied to various fields suitable for the present invention. For those familiar with the field, additional modifications can be easily achieved. Therefore, without departing from the general concept defined by the claims and the equivalent scope, the present invention is not limited to specific details and the illustrations shown and described here.)

Claims

1. An automatic medicine scraping machine, characterized in that, Including: An isolation room with explosion-proof windows provided on its side walls; corresponding scraping racks and loading and unloading platforms are respectively provided on the inner and outer sides of the explosion-proof windows; a transfer trolley is slidably arranged between the scraping rack and the loading and unloading platform; a rotating projectile is loaded on the transfer trolley; a scraper assembly is movably arranged on the scraping rack; the scraper assembly extends into the open end of the projectile and is in planar contact with the scraping layer to scrape off the excess powder on the inner wall of the projectile. The loading and unloading platform includes a bidirectional slide horizontally placed outside the explosion-proof window, and there are two transfer trolleys; A motion assembly is provided at the upper end of the scraping rack; the motion assembly includes an X-axis module that runs horizontally and obliquely; an X-axis motor is provided on the X-axis module; the output shaft of the X-axis motor is butted against an X-axis slide plate; a vertically running Z-axis module is provided on the X-axis slide plate; a Z-axis motor is provided on the Z-axis module; the scraping rack includes a composite rack integrally welded by a square rack, a triangular rack and a base; an L-shaped anti-pushing plate is provided on the triangular rack; the upper end of the L-shaped anti-pushing plate is butted against the output shaft of the Z-axis motor; a support plate I is fixedly arranged at the lower end of the L-shaped anti-pushing plate; by the work of the Z-axis motor, the support plate I is pushed up and down, thereby realizing the Z-axis movement ability of the support plate I; The scraper assembly includes: a support plate I fixedly arranged on the motion assembly; a base is rotatably arranged on the support plate I; a telescopic adjusting rod is hinged at the rear end of the base; a knife rod is fixedly penetrated through the front end of the base; a scraper and a telescopic detection head corresponding to the scraping layer at the open end of the projectile are arranged side by side at the front end of the knife rod; a sensing assembly corresponding to the detection head is arranged at the rear end of the knife rod; The specific rotatable configuration of the base is: a rotating shaft is horizontally and fixedly arranged on the support plate I; a rotating hole is horizontally arranged at the lower part of the front end of the base; bearings are fixedly arranged at both ends of the rotating hole; the rotating shaft is fixedly penetrated through the inner rings of the two bearings to form a rotatable connection; The specific telescopic and hinged configuration of the adjusting rod is: a hinge rod is arranged in the middle of the rear end of the base; a collar sleeved on the hinge rod is integrally arranged at the upper end of the adjusting rod; the lower end of the adjusting rod is connected to the output shaft of a cylinder I; A through hole I is longitudinally arranged at the upper part of the front end of the base; a cross plate is vertically arranged at the front end of the support plate I; a through hole II is arranged in the cross plate; the knife rod is fixedly penetrated through the through hole I and then movably penetrated through the through hole II after passing through; a fixing ring is arranged in the middle of the through hole II; the inner side of the fixing ring is fixedly connected to the outer wall of the knife rod; a flexible dust-proof ring for sealing is arranged between the outer side of the fixing ring and the inner wall of the through hole II; An air outlet head and an air inlet head communicated with each other are respectively arranged at the front and rear ends of the knife rod; The scraper is a long block structure and is detachably arranged at the front end of the blade rod; the front end of the blade rod is provided with a blade head embedded in the open end of the elastic body; the upper end of the blade head is provided with a protruding block; the protruding block is provided with a strip groove; two fixing screw holes are provided in the strip groove; the rear end of the scraper is provided with two docking screw holes matching the two fixing screw holes; two fixing bolts are respectively passed through the two fixing screw holes and the docking screw holes to form a detachable connection; the scraper is tilted from back to front, and the upper part is cut halfway along the diagonal line of the end face; The telescopic configuration of the detection head is specifically as follows: a check rod is movably inserted into the inside of the tool rod; the check rod is connected to the detection head after passing through the tool head; a notch is provided at the front end of the tool head; the detection head is specifically a T-shaped push head; a spring is provided between the T-shaped push head and the end face of the notch to achieve elastic connection; a lap plate is provided at the upper end of the front end of the base; a support block is fixedly connected to the lower rear end of the lap plate; a cylinder II is fixedly inserted into the support block; a floating joint is connected to the output shaft of the cylinder II; the check rod passes through the rear end of the tool rod and is integrally fixedly connected to a traction block corresponding to the floating joint at the rear end; The configuration of the sensor component is specifically as follows: the positioning rod is passed through the rear end of the knife rod and a sleeve is nested on the outside; a connecting block is fixedly connected to the outer wall of the sleeve; a baffle is fixed to the upper end of the connecting block; a portal frame is fixedly arranged below the rear end of the lap plate; a left optical fiber head and a right optical fiber head are respectively passed through and fixed at the left and right ends of the portal frame; the output ends of the left and right optical fiber heads are arranged facing each other in the center and separated by the telescopic path of the baffle.

2. The automatic medicine scraping machine according to claim 1, wherein, The bidirectional slide comprises a rectangular bracket; a transverse slide is slidably provided on the upper end of the rectangular bracket; a cylinder I is laterally provided on the lower end of the rectangular bracket; slide rails I are provided on the front and rear sides of the upper end of the rectangular bracket; two pulley groups I matching the two slide rails I are provided on the front and rear sides of the lower end of the transverse slide; a docking joint I corresponding to the cylinder I is provided on the left side of the lower end of the transverse slide; the two pulley groups I are respectively embedded in the two slide rails I, and the output shaft of the cylinder I is connected to the docking joint I, thereby realizing a slidable connection; two loading frames are spaced apart on the upper end of the transverse slide; slide rails II are provided on both sides of the upper ends of the two loading frames; a baffle is provided between the two loading frames.

3. The automatic medicine scraping machine according to claim 2, characterized in that, The transfer trolley includes an inclined bracket; pulley sets II are horizontally arranged on both sides of the inclined bracket; the two pulley sets II are respectively fitted on the slide rails II at both upper ends of the loading frame to form a slidable connection; two L-shaped bases are arranged at the upper and lower ends of the inclined bracket; bearing seats I are arranged on the two L-shaped bases; a three-jaw type limit seat is fixedly arranged in the inner ring of the bearing of the bearing seat I; two V-shaped chutes are arranged at the upper end of the inclined bracket; buckle rods are arranged outside the two V-shaped chutes; the upper end of the elastic body is embedded in the V-shaped chute and is limited by buckling with the buckle rod; the lower end of the elastic body is embedded in the three-jaw type limit seat to achieve limitation and at the same time achieve the ability of circumferential rotation; it also includes a transmission frame; the transmission frame is fixedly arranged between the loading and unloading platform and the explosion-proof window; slide rails III matching the two pulley sets II are arranged on the left and right sides at the upper end of the transmission frame.

4. The automatic medicine scraping machine according to claim 3, characterized in that, A docking head II is arranged on the back of the inclined bracket of the transfer trolley; a cylinder II is horizontally arranged inside the isolation room; the output shaft of the cylinder II is connected with an electromagnetic fastener matching the docking head II; the output shaft of the cylinder II passes through the medicine scraping frame and the explosion-proof window in sequence and is clamped and disengaged with the docking head II through the electromagnetic fastener, so as to drive the transfer trolley to slide longitudinally and realize the moving function of sliding from the outside of the explosion-proof window into the inside; the left end of the square frame is close to the inner side of the explosion-proof window and is arranged corresponding to the right end of the transmission frame; slide rails IV matching the docking of the slide rails III are arranged on both sides at the left end of the square frame; buffer seats are arranged on both sides at the right end of the square frame; the inclination angle of the triangular frame is arranged corresponding to the inclined bracket.

5. The automatic medicine scraping machine according to claim 4, characterized in that, The medicine scraping frame includes a rotating assembly; the rotating assembly includes an upper fixing seat and a lower fixing seat arranged at the upper and lower ends of the triangular frame; four rotating shafts are rotatably arranged between the upper fixing seat and the lower fixing seat; a rotating motor is fixedly arranged at the rear end of the lower fixing seat; a transmission box is arranged in the lower fixing seat; the power input end of the transmission box is connected with the rotating motor; the power output ends of the transmission box are respectively connected to the lower ends of the four rotating shafts; the upper fixing seat is respectively provided with four bearing seats II corresponding to the four rotating shafts; the upper ends of the four rotating shafts are respectively fixedly arranged in the inner rings of the four bearing seats II to form a rotatable connection; a turntable for abutting against the side surface of the elastic body to drive its rotation is arranged around the upper ends of the four rotating shafts; the four turntables are in two groups and are respectively abutted against the side surfaces of the two elastic bodies correspondingly.

6. An automatic medicine scraping machine according to claim 1, characterized in that, A pressing wheel assembly is arranged in the middle of the medicine scraping frame; the pressing wheel assembly includes two T-shaped support frames fixedly arranged in the middle of the side of the triangular frame; the two T-shaped support frames are perpendicular to the hypotenuse of the triangular frame and a cylinder III is arranged at the upper end; a support shaft is arranged at the end of the T-shaped support frame; a rotating frame is sleeved on the support shaft; a pressing wheel corresponding to the outer wall of the elastic body is arranged at the front end of the rotating frame; the middle of the rotating frame is sleeved on the support shaft through a sleeve to form a rotatable connection; the rear end of the rotating frame is connected with the output shaft of the cylinder III.

7. An automatic medicine scraping machine as described in claim 1, characterized in that, A limiting powder suction assembly is fixedly arranged at the lower end of the medicine scraping rack; the limiting powder suction assembly includes: a fixed seat; a cylinder IV is connected to the rear end of the fixed seat; a bottom plate is fixedly connected to the front end of the fixed seat; an annular groove is arranged at the rear end of the bottom plate; a corrugated pipe is fixedly arranged between the cross plate and the annular groove; a powder suction cylinder is arranged at the front end of the bottom plate; an air inlet pipe is arranged outside the powder suction cylinder; an air outlet pipe communicated with the air inlet pipe is arranged in the inner cavity of the powder suction cylinder; a powder discharge pipe communicated with an external dust extraction device is connected to the lower part of the powder suction cylinder; a bearing seat is arranged at the front end of the powder suction cylinder; a friction ring for docking the open end of the elastic body is fixedly arranged on the inner ring of the bearing of the bearing seat; the front end of the cutter bar passes through the cross plate, then passes through the corrugated pipe and penetrates into the inner cavity of the powder suction cylinder, and then passes out from the outside of the friction ring.

8. The automatic medicine scraping machine according to claim 5, wherein It further includes a control assembly; the control assembly includes a central control PLC; an HMI touch screen is connected to the PLC; the rotary motor is connected to the PLC through a frequency converter; a plurality of the X-axis motors and Z-axis motors are connected to the PLC through servo drivers; Profinet bus communication is adopted between the PLC and each driver.

Images