An automatic packaging line for special robots for emulsion explosives

Abstract

The present invention provides a special robot automatic packaging line for emulsion explosives, belonging to the technical field of emulsion explosive production and preparation. It solves the problems of poor standardization and automation degree in the existing emulsion explosive packaging process. This automatic packaging line includes a vertical feeding device, an intelligent assembly device, and a discharging and packaging device. The intelligent assembly device has a batching station and a discharging station. The vertical feeding device is used to vertically and intermittently feed explosive material tubes from top to bottom into the batching station of the intelligent assembly device. When the number of explosive material tubes collected at the batching station of the intelligent assembly device is sufficient to form a bundle, the station is switched to the discharging station, and the discharging and packaging device unloads the explosive material tubes at the discharging station and performs bundling. Compared with the prior art, this automatic packaging line can coherently complete the functions of batching and bundling packaging at a vertical angle, with high automation degree and good packaging effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of the production and preparation of emulsion explosives, and relates to a special robot automatic packaging line for emulsion explosives. Background Art

[0002] Emulsion explosive is a water-in-oil type emulsion explosive formed by uniformly dispersing micro-droplets of an oxidizer salt aqueous solution in an oil-phase continuous medium containing porous substances such as dispersed air bubbles or hollow glass microspheres with the aid of an emulsifier. It is a new type of industrial explosive developed in the 1970s. Emulsion explosives have many advantages such as high density, high detonation velocity, high brisance, good water resistance, small critical diameter, and good initiation sensitivity. Therefore, they are widely used in various civil blasting operations, and their superiority is more prominent in blasting occasions with water and humidity.

[0003] During the preparation process of emulsion explosives, unitized processing is first carried out to make tubular explosive charge tubes, and then multiple explosive charge tubes are stacked evenly and bundled together for packaging to form an explosive package. Finally, packaging and transportation are carried out in units of explosive packages.

[0004] At present, the packaging and bundling mechanical equipment for explosive charge tubes on the market all utilize the horizontal principle. During the batching process, the horizontally placed explosive charge tubes are transported to the bundling station, and then multiple explosive charge tubes fall from above to the batching station. After stacking to a sufficient number, bundling work is carried out. Because there is a great randomness in the horizontal falling of explosive charge tubes from above, it is very easy to produce uneven phenomena such as stacking direction, angle, and position. Then, auxiliary equipment for positioning the explosive charge tubes needs to be added, and the efficiency is not good.

[0005] In this regard, the inventor believes that changing the batching process of explosive charge tubes to a vertical type, that is, the explosive charge tubes are vertically dropped from top to bottom into the batching station, and then packaged after dropping a sufficient number, can reduce the randomness of the batching process and achieve a better batching effect.

[0006] In the case where vertical feeding is required, the feeding device, the transposition device, and the bundling device need to be independently designed. Summary of the Invention

[0007] The purpose of the present invention is to propose a special robot automatic packaging line for emulsion explosives in view of the problems of poor standardization and automation degree in the existing emulsion explosive packaging process.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] A special robot automatic packaging line for emulsion explosive, characterized in that: it includes a vertical feeding device, an intelligent assembly device and a discharging and packaging device. The intelligent assembly device has a batching station and a discharging station. The vertical feeding device is used to vertically and intermittently feed explosive material pipes from top to bottom into the batching station of the intelligent assembly device. When the number of explosive material pipes collected at the batching station of the intelligent assembly device is sufficient to form a bundle, the station is switched to the discharging station, and the discharging and packaging device unloads the explosive material pipes at the discharging station and bundles them.

[0010] In the above-mentioned special robot automatic packaging line for emulsion explosive, the vertical feeding device includes two groups of vertical frame bodies and a horizontal frame body erected on the two groups of vertical frame bodies. A feeding box is fixedly arranged below the horizontal frame body. The inside of the feeding box is hollow and a feeding cylinder is arranged at the bottom thereof. The bottom of the feeding cylinder is conical and is provided with a feeding port. An inlet port extending into the hollow of the feeding box is arranged on one side of the horizontal frame body. The inlet port and the hollow of the feeding box form a feeding channel. A feeding conveying component is arranged in the feeding channel. The feeding conveying component includes a plurality of feeding wheels rotatably arranged on the horizontal frame body and the feeding box and located in the feeding channel, a feeding driving element fixedly arranged on the horizontal frame body and used for driving the feeding wheels to rotate, and a feeding conveyor belt tightly sleeved on the feeding wheels. The height positions of the plurality of feeding wheels gradually decrease, so that the explosive material pipes on the feeding conveyor belt are gradually inclined and conveyed forward.

[0011] In the above-mentioned automatic packaging line for emulsified explosive special robots, the discharging and packaging device includes a discharging box with a cavity inside, and a material taking module, a bundling module, a pushing module, and a detection module arranged inside the discharging box; the material taking module includes a material taking cylinder fixedly arranged on the discharging box, a material taking platform fixedly arranged at the output end of the material taking cylinder through a reversing member, a main shaft driving element fixedly arranged above the material taking platform, and a material taking disc fixedly arranged at the upper end of the vertical output shaft of the main shaft driving element. A material taking opening is provided above the discharging box, and the material taking opening is located below the discharging station of the intelligent assembly device. The material taking disc can move vertically directly below the material taking opening under the action of the material taking cylinder. When the material taking disc moves to a specific intermediate position, it is the bundling station, and when the material taking disc moves to a specific bottom position, it is the pushing station; the bundling module includes a bundling box and a positioning ring fixedly arranged on the discharging box. The positioning ring is directly below the material taking opening. The bundling box is provided with a manipulator, a telescopic driving element for driving the telescopic movement of the manipulator, and a storage cylinder for storing the tape coil. The end of the manipulator is provided with a mechanical claw, and there is a torsion spring between the mechanical claw and the manipulator. The tape coil stored in the storage cylinder is pulled out to the position of the mechanical claw, and after the manipulator extends, the mechanical claw can be attached to the explosive material pipe located at the bundling station; the pushing module includes a pushing cylinder fixedly arranged on the discharging box and a pushing block fixedly arranged on the transverse piston rod of the pushing cylinder. An outlet is provided on the side of the bundling box, and a hanging plate is freely hung at the outlet. The pushing block can push the explosive material pipe that has completed the bundling operation at the pushing station to the outside of the discharging box at the outlet; the detection module includes a visual sensor arranged upward for detecting whether there is raw material at the discharging station of the intelligent assembly device, a signal receiver for receiving the detection signal of the visual sensor, and a signal controller for analyzing the signal source of the signal receiver and sending instructions. The signal controller is electrically connected to the material taking cylinder, the main shaft driving element, the telescopic driving element, and the pushing cylinder and can send instructions to make them complete coherent collaborative operations.

[0012] In the above-mentioned automatic packaging line for emulsified explosive special robots, the intelligent assembly device includes a support body, a power driving element, a chassis, and a limit seat fixedly arranged relative to the support body; a blanking opening is provided on the chassis, and a batching disc is rotatably attached above the chassis. Installation openings are provided on the batching disc, and a batching cylinder is rotatably arranged in the installation openings. The batching cylinder is provided with batching openings penetrating up and down. The batching disc can rotate to a position where the batching opening and the blanking opening are vertically aligned; the output end of the power driving element drives the batching disc to rotate relative to the chassis through an intermittent driving assembly, and this intermittent driving assembly can enable the batching disc to perform operations of one rotation, one stop, two rotations, and two stops in sequence during one operation cycle. During the first stop operation, the batching cylinder is in the batching station, and during the second stop operation, the batching cylinder is in the discharging station where the batching opening and the blanking opening are vertically aligned; the limit seat is provided with a centrifugal driving assembly for driving the rotation of the batching cylinder, and this centrifugal driving assembly only drives the rotation of the batching cylinder when the batching disc is in the first stop operation.

[0013] In the above-mentioned robot automatic packaging line for emulsion explosives, the interval drive component includes a driving wheel fixedly arranged at the output end of the power driving element and a driving shaft rotatably arranged on the bracket body, and a driving gear and a driving disk are staggered and fixed on the driving shaft. The outer ring of the driving disk is tightly fitted with the outer ring of the ingredient disk to transmit power by friction. The outer ring of the driving wheel and the outer teeth of the driving gear are in contact with each other. The outer ring of the driving wheel is provided with a first row of teeth and a second row of teeth. A first gap and a second gap are formed between the first row of teeth and the second row of teeth. When the first row of teeth, the first gap, the second row of teeth, and the second gap are matched with the driving gear in sequence, the ingredient disk performs one rotation, one stop, two rotations, and two stops in sequence.

[0014] In the above-mentioned robot automatic packaging line for emulsion explosives, the centrifugal drive assembly includes a centrifugal wheel fixedly mounted on the batching barrel, an input wheel arranged on a limit seat, and a centrifugal drive element for driving the input wheel to rotate. When the batching disc is in a stagnant environment, the centrifugal wheel is pressed against the input wheel and power is transmitted through friction.

[0015] In the above-mentioned robot automatic packaging line for emulsion explosives, the limit seat is provided with a slide groove in the direction of the rotating central axis of the ingredient disk, a sliding body is slidably provided in the slide groove, a slide seat is fixedly provided above the slide body, an input wheel and a centrifugal drive element are arranged on the slide seat, a guide block is fixedly provided laterally below the slide body, a guide body is fixedly provided at the end of the guide block, a circle of guide grooves is provided on the ingredient disk, the guide grooves are formed by the end-to-end connection of an annular groove and an arc-shaped groove, the plane shape of the annular groove presents a circular ring and is truncated with a notch, and the plane shape of the arc-shaped groove presents a symmetrical quadratic function shape, The guide groove is at the truncation notch of the annular groove, and the guide body is in the guide groove. When the guide body is in the annular groove, the slide is at the position farthest from the ingredient disk and the ingredient disk performs one rotation, two rotations or two stagnation operations at this position. When the guide body is in the arc groove, as the ingredient disk rotates, the slide can be guided by the arc groove in the direction close to or away from the ingredient disk. When the guide body moves to the inner end of the arc groove, the slide is at the position closest to the ingredient disk and the ingredient disk just enters a stagnation operation at this position, so that the input wheel and the centrifugal wheel are squeezed and pressed against each other.

[0016] In the above-mentioned automatic packaging line for emulsion explosives dedicated robots, insulators are fixedly arranged on both sides of the limit seat. Conductive rods are vertically fixedly arranged on both insulators. The bottom of the conductive rod is provided with a bent end. Soft wires are connected to the tops of both conductive rods. The soft wires are connected to the motor and battery circuits inside the centrifugal drive element. An insulating block is fixedly arranged on the sliding body. A through rod is horizontally arranged on the insulating block. When the guiding body moves to the innermost end of the arc-shaped groove, the through rod touches and docks with the bent ends on both sides to complete the circuit of the line where the motor and battery are located, thereby enabling the centrifugal drive element to operate.

[0017] In the above-mentioned automatic packaging line for emulsion explosives dedicated robots, the feeding drive element is also located in the line where the motor and battery are located.

[0018] In the above-mentioned automatic packaging line for emulsion explosives dedicated robots, a compensation groove parallel to the sliding groove is further opened on the sliding seat. A compensation seat is slidably arranged in the compensation groove. The centrifugal drive element is fixedly arranged on the compensation seat. The input wheel is rotatably arranged on the compensation seat. An elastic member is further arranged between the compensation seat and the sliding seat. The elastic member provides pressure to make the process of docking the input wheel and the centrifugal wheel closer.

[0019] Compared with the prior art, this automatic packaging line for emulsion explosives dedicated robots can coherently complete the functions of batching and bundling packaging at a vertical angle, with a high degree of automation and good packaging effect. Brief Description of the Drawings

[0020] Figure 1 is the overall structural schematic diagram of this automatic packaging line;

[0021] Figure 2 is the structural schematic diagram of the feeding and conveying assembly;

[0022] Figure 3 is the upper perspective structural schematic diagram of the intelligent assembly device with the support body hidden and the batching tray at the starting endpoint of a single rotation operation;

[0023] Figure 4 is the lower perspective structural schematic diagram of the intelligent assembly device with the support body hidden and the batching tray at the starting endpoint of a single rotation operation;

[0024] Figure 5 is the upper perspective structural schematic diagram of the intelligent assembly device with the support body hidden and the batching tray during a single rotation operation;

[0025] Figure 6 is the lower perspective structural schematic diagram of the intelligent assembly device with the support body hidden and the batching tray during a single rotation operation;

[0026] Figure 7It is a top - view structural schematic diagram during the process when the intelligent assembly device hides the support body and the batching tray is in the first stagnant operation;

[0027] Figure 8 It is a bottom - view structural schematic diagram during the process when the intelligent assembly device hides the support body and the batching tray is in the first stagnant operation;

[0028] Figure 9 It is a top - view structural schematic diagram during the process when the intelligent assembly device hides the support body and the batching tray is in the second rotation operation;

[0029] Figure 10 It is a bottom - view structural schematic diagram during the process when the intelligent assembly device hides the support body and the batching tray is in the second rotation operation;

[0030] Figure 11 It is a top - view structural schematic diagram during the process when the intelligent assembly device hides the support body and the batching tray is in the second stagnant operation;

[0031] Figure 12 It is a bottom - view structural schematic diagram during the process when the intelligent assembly device hides the support body and the batching tray is in the second stagnant operation;

[0032] Figure 13 It is a bottom - view structural schematic diagram when the intelligent assembly device hides the support body and the chassis;

[0033] Figure 14 It is a structural schematic diagram of the limit seat and the centrifugal drive assembly;

[0034] Figure 15 It is a structural schematic diagram when the bent ends of the path rod and the conductive rod in the centrifugal drive assembly are in a staggered state;

[0035] Figure 16 It is a structural schematic diagram when the bent ends of the path rod and the conductive rod in the centrifugal drive assembly are in a butted state;

[0036] Figure 17 It is a structural schematic diagram of the unloading and packaging device after hiding part of the unloading box;

[0037] In the figure, 1 is a power driving element; 2 is a chassis; 3 is a limit seat; 4 is a blanking port; 5 is a batching tray; 6 is a batching cylinder; 7 is a batching port; 8 is a driving wheel; 9 is a driving shaft; 10 is a driving gear; 11 is a driving disc; 12 is a first row of teeth; 13 is a first vacancy; 14 is a second row of teeth; 15 is a second vacancy; 16 is a centrifugal wheel; 17 is an input wheel; 18 is a centrifugal driving element; 19 is a sliding groove; 20 is a sliding body; 21 is a sliding seat; 22 is a guiding block; 23 is a guiding body; 24 is a guiding groove; 25 is an annular groove; 26 is an arc-shaped groove; 27 is a clamping piece; 28 is a compensation groove; 29 is a compensation seat; 30 is an elastic member; 31 is an insulator; 32 is a conductive rod; 33 is a bent end; 34 is a flexible wire; 35 is an insulating block; 36 is a path rod; 37 is a support body; 38 is a vertical support body; 39 is a horizontal support body; 40 is a feeding box; 41 is a feeding cylinder; 42 is a feeding port; 43 is a feeding wheel; 44 is a feeding conveyor belt; 45 is a material taking cylinder; 46 is a material taking platform; 47 is a main shaft driving element; 48 is a material taking disc; 49 is a material taking port; 50 is a bundling box; 51 is a positioning ring; 52 is a manipulator; 53 is a mechanical claw; 54 is a pushing cylinder; 55 is a pushing block; 56 is a hanging plate. Detailed implementation manners

[0038] The following are specific embodiments of the present invention and in combination with the accompanying drawings, the technical solutions of the present invention are further described, but the present invention is not limited to these embodiments.

[0039] As Figure 1 shown, the automatic packaging line for special robots for emulsion explosives includes a vertical feeding device, an intelligent assembly device, and a discharging and packaging device. The intelligent assembly device has a batching station and a discharging station. The vertical feeding device is used to vertically and at intervals feed explosive material pipes from top to bottom into the batching station of the intelligent assembly device. When the number of explosive material pipes collected at the batching station of the intelligent assembly device is sufficient to form a bundle, the station is switched to the discharging station, and the discharging and packaging device unloads the explosive material pipes at the discharging station and performs bundling.

[0040] The above is the overall concept of the designer. First, the materials are vertically sent to the batching station, then after reaching the quantity of a bundle, they are shifted to the discharging station, and then this bundle of materials is taken out and bundled.

[0041] At first, the designer also tried to set the feeding station and the discharging station at the same position. After one-time feeding was completed, the materials would be directly bundled and discharged at the same station. However, it was later found that this design had great defects. Firstly, due to the limited space layout, it was difficult to place the components of the equipment. Secondly, the efficiency of the whole process would also be reduced. Because if the three main operations of feeding, bundling, and discharging were carried out at the same station, their working processes could not be overlapped repeatedly. For example, during the discharging process, the whole equipment could only wait for the discharging operation to be carried out, and the next group of raw materials could only be in the waiting stage. The processes could not be superimposed and synchronized. However, if the feeding station and the discharging station were separated independently, not only would the installation space for each component no longer be limited, but also during the process of the previous group of materials being unloaded from the discharging station and entering the bundling process, at the same time, the next group of materials could immediately start the feeding operation in advance from the feeding station. Then, after the feeding was completed, it could be moved to the discharging station. That is to say, after separating the feeding station and the discharging station, while the previous group of materials was being bundled, the next group of materials could complete the feeding preparation in advance. The processes of feeding, bundling, and discharging could overlap in time to reduce the process time and improve the processing efficiency.

[0042] As Figure 1 As shown in the figure, the vertical feeding device includes two groups of vertical frame bodies 38 and a horizontal frame body 39 erected on the two groups of vertical frame bodies 38. A feeding box 40 is fixedly arranged below the horizontal frame body 39. The inside of the feeding box 40 is hollow and a feeding cylinder 41 is arranged at the bottom thereof. The bottom of the feeding cylinder 41 is conical and is provided with a feeding port. An inlet 42 extending into the hollow inside of the feeding box 40 is opened on one side of the horizontal frame body 39. The inlet 42 and the hollow inside of the feeding box 40 form a feeding channel, and a feeding conveying assembly is arranged in the feeding channel.

[0043] As Figure 2 As shown in the figure, the feeding conveying assembly includes a plurality of feeding wheels 43 rotatably arranged on the horizontal frame body 39 and the feeding box 40 and located in the feeding channel, a feeding driving element fixedly arranged on the horizontal frame body 39 and used for driving the feeding wheels 43 to rotate, and a feeding conveyor belt 44 tightly sleeved on the feeding wheels 43. The height positions of the plurality of feeding wheels 43 gradually decrease, so that the explosive material pipes on the feeding conveyor belt 44 are gradually inclined and conveyed forward.

[0044] The feeding process is to place the vertically placed explosive material pipes on the conveyor belt, and they will automatically be inclined and conveyed forward until they fall out from the feeding port into the intelligent assembly device below.

[0045] As Figure 17 As shown in the figure, the discharging and packaging device includes a discharging box with a cavity inside and a material taking module, a bundling module, a material pushing module, and a detection module arranged in the discharging box.

[0046] The material taking module includes a material taking cylinder 45 fixedly arranged on the discharging box, a material taking platform 46 fixedly arranged at the output end of the material taking cylinder 45 through a reversing member, a main shaft driving element 47 fixedly arranged above the material taking platform 46, and a material taking disc 48 fixedly arranged at the upper end of the vertical output shaft of the main shaft driving element 47. A material taking opening 49 is formed above the discharging box, and the material taking opening 49 is located below the discharging station of the intelligent assembly device. The material taking disc 48 can move vertically directly below the material taking opening 49 under the action of the material taking cylinder 45. When the material taking disc 48 moves to a specific middle position, it is the bundling station, and when the material taking disc 48 moves to a specific bottom position, it is the material pushing station.

[0047] The bundling module includes a bundling box 50 and a positioning ring 51 fixedly arranged on the discharging box. The positioning ring 51 is directly below the material taking opening 49. The bundling box 50 is provided with a manipulator 52, a telescopic driving element for driving the telescopic movement of the manipulator 52, and a storage cylinder for storing the tape coil. A mechanical claw 53 is arranged at the end of the manipulator 52, and there is a torsion spring between the mechanical claw 53 and the manipulator 52. The tape coil stored in the storage cylinder is pulled out to the position of the mechanical claw 53, and after the manipulator 52 extends, the mechanical claw 53 can be made to abut against the explosive material pipe located at the bundling station.

[0048] The material pushing module includes a material pushing cylinder 54 fixedly arranged on the discharging box and a material pushing block 55 fixedly arranged on the transverse piston rod of the material pushing cylinder 54. An outlet is formed on the side of the bundling box 50, and a hanging plate 56 is freely hung at the outlet. The material pushing block 55 can push the explosive material pipe that has completed the bundling operation at the material pushing station towards the outlet and out of the discharging box to the outside.

[0049] The detection module includes a vision sensor arranged upwards and used to detect whether there is raw material at the discharging station of the intelligent assembly device, a signal receiver for receiving the detection signal of the vision sensor, and a signal controller for analyzing the signal source of the signal receiver and issuing instructions. The signal controller is electrically connected to the material taking cylinder 45, the main shaft driving element 47, the telescopic driving element, and the material pushing cylinder 54 and can send instructions to make them complete coherent collaborative operations.

[0050] When the intelligent assembly device finishes the batching of a bundle of explosive material pipes, the explosive material pipes will fall out from the discharging station of the intelligent assembly device. At this time, the material taking tray 48 should move to the uppermost position close to the material taking port 49 in advance, and then the explosive material pipes fall onto the material taking tray 48. Then, after the detection module detects that there is material above, it performs a cycle of scheduling work on the material taking module, bundling module, and pushing module: First, the material taking tray 48 descends to the bundling station. Under the action of the positioning ring 51, the scattered explosive material pipes will not fall to the surrounding. Then, the manipulator 52 extends, and the mechanical claw 53 adheres to the outer explosive material pipe under the action of the torsion spring. Then, the main shaft drive element 47 starts to make the material taking tray 48 rotate with the explosive material pipes. Then, the tape adhered to the explosive material pipes by the mechanical claw 53 will be gradually pulled out and wound around this bundle of explosive material pipes. The tape also needs to be pre-cut in advance, that is, the tape roll on the storage cylinder is cut at regular intervals. In this way, each time enough length of the tape is pre-cut, it can just complete the function of winding a bundle of explosive material pipes. After the bundling operation is completed, the material taking tray 48 descends to the pushing station. Since the explosive material pipes have been bundled, their center of gravity is very stable and they will not fall even without the surrounding restraint of the positioning ring 51. Then, the bundle of explosive material pipes that has completed the bundling operation at the pushing station is pushed out from the discharging port through the pushing block 55.

[0051] If the vertical feeding device drops the explosive material pipes vertically from a specific position, the intelligent assembly device needs to have a misalignment adjustment function so that the explosive material pipes dropped from the vertical feeding device are in a staggered and yielding state relative to the explosive material pipes that have fallen into the batching station (if not staggered, the bottom of the continuously falling explosive material pipes may fall on the top of the lower explosive material pipes, and then the upper explosive material pipes will fall, resulting in a material blockage phenomenon). Then, in order to achieve this function, the common method is that the feeding port can be switched in position or the batching station can be changed in position. However, whether it is to achieve the function of changing the position of the feeding port or the function of changing the position of the batching station, it will make the entire intelligent assembly device very complicated and at least require numerical control capabilities in two directions (mainly the X-axis direction and the Y-axis direction).

[0052] But in fact, the operational principle actions of this equipment are relatively independent and simple. The designer believes that there is no need to increase the introduction cost to use a numerical control module to achieve these functions. Therefore, the designer has carried out independent development and design on the intelligent assembly device, enabling it to achieve the functions while greatly reducing the manufacturing cost.

[0053] At the same time, in order to facilitate the implementer to understand the technical principle of the intelligent assembly device, before elaborating on the device, the operable states of the components of the device are uniformly classified first. The reference object for the motion state is the fixed bracket body 37. Then:

[0054] The components fixed relative to the support body 37 include: the power driving element 1, the chassis 2, and the limit seat 3;

[0055] The components capable of rotational movement relative to the support body 37 include: the batching tray 5, the driving wheel 8, and the drive shaft 9 (the driving gear 10, the driving disc 11);

[0056] The components capable of sliding movement relative to the support body 37 include: the sliding body 20 (the sliding seat 21, the guiding block 22, the guiding body 23).

[0057] In addition, the specific structures of the power driving element 1 and the centrifugal driving element 18 in the intelligent assembly device are not given. In fact, they only need to be responsible for outputting rotational power, and generally, a common motor plus a speed reducer and a speed-changing gear can be used to form them. Since the technology is too conventional, it will not be described in detail in this article.

[0058] As Figures 3 - 12 shown, the intelligent assembly machine device includes a support body 37 and a power driving element 1, a chassis 2, and a limit seat 3 fixedly arranged relative to the support body 37.

[0059] As Figures 3 - 13 shown, a material discharge port 4 is formed on the chassis 2. A batching tray 5 is rotatably attached above the chassis 2. An installation port is formed on the batching tray 5. A batching cylinder 6 is rotatably arranged in the installation port. A batching port 7 is formed through the batching cylinder 6 vertically. The batching tray 5 can rotate to a position where the batching port 7 and the material discharge port 4 are vertically aligned. The output end of the power driving element 1 drives the batching tray 5 to rotate relative to the chassis 2 through an intermittent driving assembly. The intermittent driving assembly can enable the batching tray 5 to perform operations of one rotation, one stop, two rotations, and two stops in sequence during one operating cycle. During the first stop operation, the batching cylinder 6 is in the batching station. During the second stop operation, the batching cylinder 6 is in the discharging station where the batching port 7 and the material discharge port 4 are vertically aligned. A centrifugal driving assembly for driving the batching cylinder 6 to rotate is arranged on the limit seat 3. The centrifugal driving assembly only drives the batching cylinder 6 to rotate when the batching tray 5 is in the first stop operation.

[0060] As can be understood from the above description, the principle of the intelligent assembly machine device is to use the automatic rotation of the batching tray 5 to switch workstations for batching. During this process, the power driving element 1 operates continuously. Through the action mechanism of the intermittent driving assembly: ① First, the batching tray 5 rotates once, rotating the batching tray 5 by a certain angle to move the batching cylinder 6 to the batching station. ② Then, the batching tray 5 pauses once. During this period of pause, the vertical feeding device above the batching cylinder 6 will vertically insert the explosive material pipe downward from the center into the batching port 7 of the batching cylinder 6. At the same time, the centrifugal driving assembly will rotate the batching cylinder 6 during this process, throwing the explosive material pipe that has fallen into the batching port 7 towards the circumference. Due to the rotational speed, the explosive material pipe will not fall due to its own gravity. After the explosive material pipe is thrown away, it will make way in time and will not affect the next explosive material pipe being inserted from above. In addition, because the batching tray 5 and the chassis 2 are in close contact with each other, unless the batching port 7 is aligned with the feeding port 4 vertically, the bottom of the explosive material pipe will be supported by the chassis 2. When the feeding operation is completed, ③ the batching tray 5 will enter the second rotation, rotating the batching tray 5 by a certain angle again. The sum of the first rotation and the second rotation is 360°, which is one cycle. After that, the batching cylinder 6 is moved to the discharging station. ④ The batching tray 5 enters the second pause. At this time, the batching port 7 is aligned with the feeding port 4 vertically, and the explosive material pipe originally in the batching cylinder 6 can be discharged from the feeding port 4. The existence of the second pause time is to ensure that there is sufficient time for the discharging and packaging device to unload the explosive material pipe and then bundle it. Thus, one cycle of work is completed, and then the bundle of explosive material pipes coming out of the batching tray 5 can be packed.

[0061] The above is the preliminary design principle of the intelligent assembly machine device. Then, in order to achieve the above functions, each component needs to be designed:

[0062] The intermittent driving assembly includes a driving wheel 8 fixedly arranged at the output end of the power driving element 1 and a driving shaft 9 rotatably arranged on the support body 37. The driving shaft 9 is fixedly provided with a driving gear 10 and a driving disc 11 at intervals. The outer circle of the driving disc 11 is in close contact with the outer circle of the batching tray 5 to transmit power by friction. The outer circle of the driving wheel 8 is in contact with the external teeth of the driving gear 10. The outer circle of the driving wheel 8 is provided with a first row of teeth 12 and a second row of teeth 14. A first gap 13 and a second gap 15 are formed between the first row of teeth 12 and the second row of teeth 14. When the first row of teeth 12, the first gap 13, the second row of teeth 14, and the second gap 15 are sequentially matched with the driving gear 10, the batching tray 5 sequentially performs the operations of one rotation, one pause, second rotation, and second pause.

[0063] In order to enable the dosing tray 5 to complete one rotation, one pause, two rotations, and two pauses in sequence within one operating cycle, this design adopts an alternative design different from ordinary gears. As can be seen from the figure, during the process of the driving wheel 8 rotating one full circle: ① First, the first row of teeth 12 of the driving wheel 8 will engage with the driving gear 10, and then the driving disk 11, which is on the same driving shaft 9 as the driving gear 10, will drive the dosing tray 5 to rotate, corresponding to the process of the first rotation. ② Then, when the first row of teeth 12 of the driving wheel 8 disengages from the driving gear 10, the first vacancy 13 engages with the driving gear 10. However, at this time, the driving gear 10 will rotate idly, corresponding to the process of the first pause. ③ Then, when the second row of teeth 14 of the driving wheel 8 engages with the driving gear 10, the dosing tray 5 rotates again, corresponding to the process of the second rotation. ④ Finally, the second vacancy 15 of the driving wheel 8 engages with the driving gear 10, and the driving gear 10 rotates idly again, corresponding to the second pause. This achieves the intended purpose of this design.

[0064] For the convenience of production and debugging, the best form of the first row of teeth 12 and the second row of teeth 14 is designed to have the same number of teeth, so that the rotation angles of the dosing tray 5 during the first rotation and the second rotation are both 180°, and then the dosing station and the discharging station are exactly centrosymmetric.

[0065] The centrifugal drive assembly includes a centrifugal wheel 16 fixedly sleeved on the dosing cylinder 6, an input wheel 17 arranged on the limit seat 3, and a centrifugal drive element 18 for driving the input wheel 17 to rotate. When the dosing tray 5 is in the environment of the first pause, the centrifugal wheel 16 is pressed against and abuts against the input wheel 17, and power is transmitted through friction.

[0066] Figure 5 and Figure 6 This reflects that the dosing tray 5 rotates to the position of the first pause operation. At this time, the centrifugal wheel 16 is in contact with the input wheel 17, and the input wheel 17 can transmit power to the centrifugal wheel 16, enabling the dosing cylinder 6 to rotate.

[0067] This design is because the dosing cylinder 6 only needs to rotate at the dosing station, so there is no need to directly set the centrifugal drive element 18 on the dosing tray 5 to continuously drive the dosing cylinder 6. Moreover, when the dosing cylinder 6 is at the discharging station, it must stop rotating, otherwise it will be difficult for the explosive material pipe to fall out under the continuous high-speed swinging effect.

[0068] In addition, to achieve a tight fit when the centrifugal wheel 16 contacts the input wheel 17, that is, the two are squeezed and abutted when in contact. If the position of the input wheel 17 is fixed, there will be problems: if the position of the input wheel 17 is too far from the batching station, it will be difficult for the two to fit tightly when the centrifugal wheel 16 passes by; if the position of the input wheel 17 is too close to the batching station, it is easy to cause the centrifugal wheel 16 to be blocked by the input wheel 17 when passing by, resulting in an obstructive effect on the rotation of the batching tray 5. Then, after analysis by the designer, it is found that if the position of the input wheel 17 is set to be changeable, when the centrifugal wheel 16 does not pass through the batching station, the input wheel 17 is adjusted to a position relatively far from the batching station, and when the centrifugal wheel 16 passes through the batching station and the batching tray 5 is in a state of primary stagnation, the input wheel 17 just automatically moves to a position where it closely abuts against the centrifugal wheel 16. Such a design can perfectly solve this problem. For this, the designer proposes the following technical means:

[0069] A chute 19 is provided in the direction of the rotation axis of the batching tray 5 on the limiting seat 3. A sliding body 20 is slidably provided in the chute 19. A sliding seat 21 is fixedly provided above the sliding body 20. The input wheel 17 and the centrifugal driving element 18 are arranged on the sliding seat 21. A guiding block 22 is fixedly provided horizontally below the sliding body 20. A guiding body 23 is fixedly provided at the end of the guiding block 22. A guiding groove 24 is provided on the batching tray 5. The guiding groove 24 is formed by end-to-end butt joint of an annular groove 25 and an arc-shaped groove 26. The planar shape of the annular groove 25 is a circle with a truncated notch. The planar shape of the arc-shaped groove 26 is a symmetric quadratic function shape. The guiding groove 24 is at the truncated notch of the annular groove 25. The guiding body 23 is in the guiding groove 24. When the guiding body 23 is in the annular groove 25, the sliding body 20 is at the position farthest from the batching tray 5, and in this position, the batching tray 5 performs an operation of primary rotation or secondary rotation or secondary stagnation. When the guiding body 23 is in the arc-shaped groove 26, as the batching tray 5 rotates, the sliding body 20 can be moved in the direction of approaching or departing from the batching tray 5 under the guiding action in the arc-shaped groove 26. When the guiding body 23 moves to the innermost end of the arc-shaped groove 26, the sliding body 20 is at the position closest to the batching tray 5, and in this position, the batching tray 5 just enters the primary stagnation operation so that the input wheel 17 abuts against the centrifugal wheel 16 by extrusion.

[0070] Observe Figures 3 - 12 , it can be known that: Figure 7 and Figure 8 In the case of, the guiding body 23 is at the innermost end of the arc-shaped groove 26. At this time, the batching cylinder 6 is at the batching station. Only in this state can the centrifugal wheel 16 and the input wheel 17 be tightly fitted, and the input wheel 17 can transmit power to the centrifugal wheel 16 to make it rotate; except for Figure 7 and Figure 8Under the action of other diagrams other than this, the guide body 23 is always located within the annular groove 25, so the input wheel 17 is always at a position farthest from the batching station.

[0071] As Figure 14 shown, two sets of clamping pieces 27 are also fixedly provided on the sliding body 20, and the upper and lower end faces of the limit seat 3 are attached to the two sets of clamping pieces 27 so that the sliding body 20 will not break away from the limit seat 3.

[0072] A compensation groove 28 parallel to the sliding groove 19 is also formed on the sliding seat 21. A compensation seat 29 is slidably arranged within the compensation groove 28. The centrifugal driving element 18 is fixedly arranged on the compensation seat 29, and the input wheel 17 is rotatably arranged on the compensation seat 29. An elastic member 30 is further provided between the compensation seat 29 and the sliding seat 21, and the elastic member 30 provides pressure to make the docking process between the input wheel 17 and the centrifugal wheel 16 closer.

[0073] Since the input wheel 17 and the centrifugal wheel 16 need to be closely attached, it is also very appropriate to design an elastic member 30 on the input wheel 17 that can generate an elastic force on it.

[0074] Figures 3 - 12 From the rotation of the batching disk 5 for one full circle to sequentially reflect the working process of one cycle of this device, after elaborating on the technical structures and design principles of each component, it is also possible to Figures 3 - 12 to sequentially understand the working process, where Figure 3 and Figure 4 are the initial states of the batching disk 5. The driving wheel 8 rotates clockwise to output power, and then the specific operation is carried out, entering the Figure 5 and Figure 6 states:

[0075] ① As Figure 5 and Figure 6 shown, in this state, the first row of teeth 12 of the driving wheel 8 meshes with the driving gear 10. The driving wheel 8 will transmit power to the driving gear 10 to drive the rotation of the batching disk 5 until the first row of teeth 12 disengages from the driving gear 10, and then it will enter the Figure 7 and Figure 8 states;

[0076] ② As Figure 7 and Figure 8As shown, in this state, the first vacancy 13 of the driving wheel 8 does not drive the rotation of the batching tray 5. Therefore, the batching tray 5 is in a state of first stagnant operation. The batching cylinder 6 is at the batching station waiting to receive the explosive material pipe. At the same time, under the action of the guiding groove 24, the guiding body 23 slides to the innermost end of the arc-shaped groove 26, and the sliding body 20 moves to the position closest to the batching station. The input wheel 17 and the centrifugal wheel 16 are closely attached again. The guiding body 23 will drive the centrifugal wheel 16 to rotate, causing the batching cylinder 6 to generate a rotational centrifugal effect. When the first vacancy 13 has completely passed the driving gear 10, the batching cylinder 6 has also completed the batching operation and then enters into Figure 9 and Figure 10 the state shown;

[0077] ③ As shown in Figure 9 and Figure 10 before entering this state, during a short process when the second row of teeth 14 of the driving wheel 8 just meshes with the driving gear 10, the existence of the arc-shaped groove 26 causes the guiding body 23 to shift, and then the entire sliding body 20 drives the input wheel 17 to immediately make way, effectively avoiding the limiting phenomenon that the input wheel 17 gets stuck with the centrifugal wheel 16. Then it continues to drive the rotation of the batching tray 5 until the second row of teeth 14 disengages from the driving gear 10 and enters into Figure 11 and Figure 12 the state;

[0078] ④ As shown in Figure 11 and Figure 12 in this state, the second vacancy 15 of the driving wheel 8 also does not drive the rotation of the batching tray 5. Therefore, the batching tray 5 is in a state of second stagnant operation. The batching cylinder 6 is at the discharging station waiting to unload the explosive material pipe in the batching cylinder 6. When the second vacancy 15 has completely passed the driving gear 10, the batching cylinder 6 has also completed the discharging operation. Then the batching tray 5 will return to Figure 3 and Figure 4 the initial state shown;

[0079] The above is the batching work situation of one cycle of the operation of the batching tray 5.

[0080] In addition, it can be seen from the figure that the first vacancy 13 is larger than the second vacancy 15 in terms of width. This is also the case in actual applications. The time of the first stagnation of the batching cylinder 6 at the batching station must be longer than the time of the second stagnation at the discharging station. Because at the batching station, it is necessary to feed materials one by one step by step from above, while the discharging process can be basically completed at one time. Therefore, the time required for the first stagnation will be longer than that of the second stagnation.

[0081] In addition, the centrifugal drive element 18 does not necessarily need to be started all the time and only needs to operate when the input wheel 17 and the centrifugal wheel 16 are in contact. Therefore, the designer also made the following design for the automatic start-stop function of the centrifugal drive element 18:

[0082] As Figure 15 and Figure 16 shown, insulators 31 are fixedly arranged on both sides of the limit seat 3. Conductive rods 32 are vertically fixedly arranged on both insulators 31. The bottom of the conductive rod 32 is provided with a bent end 33. Soft wires 34 are connected to the tops of both conductive rods 32. The soft wires 34 are connected to the motor and battery circuits inside the centrifugal drive element 18. An insulating block 35 is fixedly arranged on the slider 20. A path rod 36 is horizontally arranged on the insulating block 35. When the guide body 23 moves to the inner end of the arc-shaped groove 26, the path rod 36 touches and docks with the bent ends 33 on both sides, so that the circuits where the motor and the battery are located are completed, and then the centrifugal drive element 18 operates.

[0083] Here, the designer also adopted a clever sticking point principle. Because when the batching tray 5 is in a state of primary stagnation, the position of the slider 20 is unique and fixed. When the batching tray 5 is in other states except for the primary stagnation, the slider 20 will leave its previous position. Then, considering the slider 20, a path rod 36 is designed. When the slider 20 moves to the innermost end, the entire kinetic energy circuit can be made conductive through the docking of the path rod 36 and the conductive rod 32, and the centrifugal drive element 18 can operate.

[0084] Of course, this is also inseparable from the clever design of the arc-shaped groove 26. As Figure 13 shown, before the batching cylinder 6 is about to enter the batching station, the guide body 23 has entered the arc-shaped groove 26 from the annular groove 25. At this time, the slider has already started to move in the chute 19, but the bent end 33 of the conductive rod 32 has not yet docked with the path rod 36. As the guide groove 24 rotates, the guide body 23 will be pulled to the position at the innermost end of the arc-shaped groove 26, that is, it becomes Figure 14 the position shown in the figure. At this position, the batching cylinder 6 has reached the batching station. Cleverly, at this moment, the bent end 33 of the conductive rod 32 just docks with the path rod 36. Then, the circuit where the centrifugal drive element 18 is located is completed and it will operate, and the input wheel 17 will be started in due time to drive the centrifugal wheel 16 to rotate.

[0085] The feeding drive element is also located in the circuits where the motor and the battery are located. In this way, when the centrifugal wheel rotates, the vertical feeding device will also start working synchronously, so that the explosive material pipe in the vertical feeding device is put into the batching port 7.

[0086] It should be understood that in the claims and the specification of the present invention, all "comprising..." should be understood in an open sense, that is, it is equivalent in meaning to "at least containing...", and should not be understood in a closed sense, that is, it should not be understood as meaning "only containing...".

[0087] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar ways of substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. An automatic packaging line for a special robot for emulsion explosives, characterized in that: it includes a vertical feeding device, an intelligent assembly device and a discharging and packaging device. The intelligent assembly device has a batching station and a discharging station. The vertical feeding device is used to vertically and intermittently feed explosive material tubes from top to bottom into the batching station of the intelligent assembly device. When the number of explosive material tubes collected at the batching station of the intelligent assembly device is sufficient to form a bundle, the station is switched to the discharging station, and the discharging and packaging device unloads the explosive material tubes at the discharging station and bundles them; the intelligent assembly device includes a support body, a power driving element, a chassis and a limit seat fixedly arranged relative to the support body; a blanking port is formed in the chassis, a batching disc is rotatably attached above the chassis, an installation port is formed in the batching disc, a batching cylinder is rotatably arranged in the installation port, a batching port is vertically penetrated through the batching cylinder, and the batching disc can rotate to a position where the batching port is vertically aligned with the blanking port; the output end of the power driving element drives the batching disc to rotate relative to the chassis through an intermittent driving assembly, and the intermittent driving assembly can realize the operations of the batching disc rotating once, stagnating once, rotating twice and stagnating twice in one operating cycle. During the first stagnation operation, the batching cylinder is at the batching station, and during the second stagnation operation, the batching cylinder is at the discharging station where the batching port is vertically aligned with the blanking port; a centrifugal driving assembly for driving the batching cylinder to rotate is arranged on the limit seat, and the centrifugal driving assembly only drives the batching cylinder to rotate when the batching disc is in the first stagnation operation.

2. The automatic packaging line for a special robot for emulsion explosives according to claim 1, characterized in that: the vertical feeding device includes two groups of vertical frame bodies and a horizontal frame body erected on the two groups of vertical frame bodies. A feeding box is fixedly arranged below the horizontal frame body. The inside of the feeding box is hollow, and a feeding cylinder is arranged at the bottom thereof. The bottom of the feeding cylinder is conical and is provided with a feeding port. An inlet port extending into the hollow of the feeding box is formed on one side of the horizontal frame body. The inlet port and the hollow of the feeding box form a feeding channel. A feeding conveying assembly is arranged in the feeding channel. The feeding conveying assembly includes a plurality of feeding wheels rotatably arranged on the horizontal frame body and the feeding box and located in the feeding channel, a feeding driving element fixedly arranged on the horizontal frame body and used for driving the feeding wheels to rotate, and a feeding conveyor belt tightly sleeved on the feeding wheels. The height positions of the plurality of feeding wheels gradually decrease, so that the explosive material tubes on the feeding conveyor belt are gradually inclined and conveyed forward.

3. The automatic packaging line for a special robot for emulsion explosives according to claim 1, characterized in that: The described discharging and packaging device includes a discharging box with a cavity inside, and a material taking module, a bundling module, a pushing module, and a detection module arranged in the discharging box; the material taking module includes a material taking cylinder fixedly arranged on the discharging box, a material taking platform fixedly arranged at the output end of the material taking cylinder through a reversing member, a main shaft driving element fixedly arranged above the material taking platform, and a material taking disc fixedly arranged at the upper end of the vertical output shaft of the main shaft driving element. A material taking opening is provided above the discharging box, and the material taking opening is located below the discharging station of the intelligent assembly device. The material taking disc can move vertically under the action of the material taking cylinder directly below the material taking opening. When the material taking disc moves to a specific intermediate position, it is the bundling station, and when the material taking disc moves to a specific bottom position, it is the pushing station; the bundling module includes a bundling box and a positioning ring fixedly arranged on the discharging box. The positioning ring is directly below the material taking opening. The bundling box is provided with a manipulator, a telescopic driving element for driving the telescopic movement of the manipulator, and a storage cylinder for storing the tape coil. The end of the manipulator is provided with a mechanical claw, and there is a torsion spring between the mechanical claw and the manipulator. The tape coil in the storage cylinder is pulled out to the position of the mechanical claw, and after the manipulator extends, the mechanical claw can be attached to the explosive material pipe located at the bundling station; the pushing module includes a pushing cylinder fixedly arranged on the discharging box and a pushing block fixedly arranged on the transverse piston rod of the pushing cylinder. An outlet is provided on the side of the bundling box, and a hanging plate is freely hung at the outlet. The pushing block can push the explosive material pipe that has completed the bundling operation at the pushing station towards the outlet and out of the discharging box to the outside; the detection module includes a visual sensor arranged upwards and used to detect whether there is raw material at the discharging station of the intelligent assembly device, a signal receiver for receiving the detection signal of the visual sensor, and a signal controller for analyzing the signal source of the signal receiver and sending instructions. The signal controller is electrically connected to the material taking cylinder, the main shaft driving element, the telescopic driving element, and the pushing cylinder and can send instructions to make them complete coherent and collaborative operations.

4. The automatic packaging line for special robots for emulsion explosives according to claim 1, characterized in that: The described interval driving assembly includes a driving wheel fixedly arranged at the output end of the power driving element and a driving shaft rotatably arranged on the support body. A driving gear and a driving disc are fixedly arranged on the driving shaft at intervals. The outer ring of the driving disc is closely attached to the outer ring of the batching disc to transmit power through friction. The outer ring of the driving wheel is in contact with the outer teeth of the driving gear. The outer ring of the driving wheel is provided with a first row of teeth and a second row of teeth. A first gap and a second gap are formed between the first row of teeth and the second row of teeth. When the first row of teeth, the first gap, the second row of teeth, and the second gap are sequentially matched with the driving gear, the batching disc sequentially performs operations of one rotation, one stagnation, two rotations, and two stagnations.

5. The automatic packaging line for special robots for emulsion explosives according to claim 1, characterized in that: The described centrifugal driving assembly includes a centrifugal wheel fixedly sleeved on the batching cylinder, an input wheel arranged on the limit seat, and a centrifugal driving element for driving the input wheel to rotate. When the batching disc is in an environment of one stagnation, the centrifugal wheel is in extrusion contact with the input wheel and transmits power through friction.

6. An automatic packaging line for a special robot for emulsion explosives according to claim 5, characterized in that: a chute is provided in the direction of the limiting seat facing the rotation central axis of the batching tray, a sliding body is slidably provided in the chute, a sliding seat is fixedly provided above the sliding body, an input wheel and a centrifugal driving element are arranged on the sliding seat, a guiding block is fixedly provided horizontally below the sliding body, a guiding body is fixedly provided at the end of the guiding block, a guiding groove is provided on the batching tray, the guiding groove is formed by butt-joint of an annular groove and an arc-shaped groove at the head and tail, the planar shape of the annular groove is presented as a circle and truncated with a notch, the planar shape of the arc-shaped groove is presented as a symmetric quadratic function shape, the guiding groove is at the truncated notch of the annular groove, the guiding body is in the guiding groove, when the guiding body is in the annular groove, the sliding body is at the position farthest from the batching tray and the batching tray performs an operation of rotating once or rotating twice or stagnating twice at this position, when the guiding body is in the arc-shaped groove, the sliding body can move in the direction of approaching or departing from the batching tray under the guiding action in the arc-shaped groove as the batching tray rotates, when the guiding body moves to the inner end of the arc-shaped groove, the sliding body is at the position closest to the batching tray and the batching tray just enters a stagnating operation at this position so that the input wheel is pressed against the centrifugal wheel.

7. An automatic packaging line for a special robot for emulsion explosives according to claim 6, characterized in that: insulators are fixedly provided on both sides of the limiting seat, conductive rods are vertically fixedly provided on both insulators, a bent end is provided at the bottom of the conductive rod, flexible wires are connected to the tops of both conductive rods, and the flexible wires are connected to the motor and the battery circuit in the centrifugal driving element. An insulating block is fixedly provided on the sliding body, and a path rod is horizontally arranged on the insulating block. When the guiding body moves to the innermost end of the arc-shaped groove, the path rod touches and docks with the bent ends on both sides to complete the path of the circuit where the motor and the battery are located, thereby enabling the centrifugal driving element to operate.

8. An automatic packaging line for a special robot for emulsion explosives according to claim 7, characterized in that: the vertical feeding device is also located in the circuit where the motor and the battery are located.

9. An automatic packaging line for a special robot for emulsion explosives according to claim 6, characterized in that: a compensation groove parallel to the chute is further provided on the sliding seat, a compensation seat is slidably provided in the compensation groove, the centrifugal driving element is fixedly arranged on the compensation seat, the input wheel is rotatably arranged on the compensation seat, and an elastic member is further provided between the compensation seat and the sliding seat, and the elastic member provides pressure to make the process of docking the input wheel and the centrifugal wheel closer.

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