High-precision automatic medicine weighing machine

Abstract

The application is a high-precision medicine automatic weighing machine, which is characterized in that: it comprises a general frame, a coarse feeding mechanism, a fine feeding mechanism, a reject mechanism and a discharging mechanism are arranged in a ring shape on the platform of the general frame, a weighing module is arranged below the fine feeding mechanism, a medicine disc assembly is arranged below the discharging mechanism, a rotating mechanism is arranged among the coarse feeding mechanism, the fine feeding mechanism, the reject mechanism and the discharging mechanism, and four operation ends of the rotating mechanism are respectively corresponding to the coarse feeding mechanism, the fine feeding mechanism, the reject mechanism and the discharging mechanism; a control system is arranged below the platform in the general frame and is fixedly connected, and the control system is electrically connected with the coarse feeding mechanism, the fine feeding mechanism, the weighing module, the reject mechanism, the discharging mechanism, the medicine disc assembly and the rotating mechanism.

Description

Technical Field

[0001] This invention relates to the field of explosives technology, and in particular to an automatic weighing machine for explosives, which is a high-precision automatic weighing machine for pharmaceuticals. Background Technology

[0002] Weighing chemicals has always been a major production process in the pyrotechnics industry. Traditionally, this is done manually, but it has the following problems and drawbacks:

[0003] 1. Traditional manual weighing requires a lot of manpower and time, and the balance takes a long time to stabilize during the weighing process, resulting in low weighing efficiency.

[0004] 2. Traditional manual weighing methods rely solely on manual weighing of medicines. Due to the low degree of control that humans have over the amount of medicine added, it is impossible to accurately control the amount of medicine added, resulting in low weighing accuracy. Furthermore, the speed of manual judgment of whether the weighed medicine is qualified is slow, which further leads to low weighing efficiency.

[0005] 3. Traditional manual weighing methods require operators to be in direct contact with the medicine for a long time. Due to the high flammability, explosiveness and toxicity of the medicine, extreme caution is required during manual operation. Furthermore, the low degree of control over the dosage of medicine during manual operation and the difficulty in controlling the speed of pouring or replenishing medicine can easily generate electric sparks, making manual weighing a risky process and posing a significant threat to personnel safety.

[0006] The above problems necessitate the provision of an automatic pharmaceutical weighing machine that uses a control system to automatically weigh pyrotechnic agents, thereby solving the problems of low production efficiency and low weighing accuracy in traditional methods, reducing the labor intensity of workers, achieving human-machine isolation during the weighing process, and improving the safety and reliability of automatic weighing of pyrotechnic agents. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a high-precision automatic pharmaceutical weighing machine, which completes the weighing of pyrotechnic agents by coordinating the control of various functional mechanisms through the control system, thereby realizing the automation of pyrotechnic agent weighing.

[0008] The solution to the technical problem of this invention is: a high-precision automatic pharmaceutical weighing machine, characterized in that: it includes a main frame, a coarse feeding mechanism, a fine feeding mechanism, a weighing module, a waste rejection mechanism, a dispensing mechanism, a medicine tray assembly, a rotating mechanism, and a control system. The coarse feeding mechanism, the fine feeding mechanism, the waste rejection mechanism, and the dispensing mechanism are arranged in a ring on the platform of the main frame. The weighing module is arranged on the platform of the main frame below the fine feeding mechanism. The medicine tray assembly is arranged on the platform of the main frame below the dispensing mechanism. The rotating mechanism is positioned between the ring-arranged coarse feeding mechanism, the fine feeding mechanism, the waste rejection mechanism, and the weighing module. In the middle of the feeding mechanism, the four operating ends of the rotating mechanism correspond to the coarse feeding mechanism, the fine feeding mechanism, the waste rejection mechanism, and the feeding mechanism, respectively. Thus, through rotation, the pyrotechnic agent is transferred sequentially from the coarse feeding mechanism to the fine feeding mechanism, the waste rejection mechanism, and the feeding mechanism. The feeding mechanism pours the weighed and qualified pyrotechnic agent into the finished product container of the powder tray assembly to complete the weighing of the pyrotechnic agent. The control system is located inside the main frame, below the platform, and fixedly connected. The control system is electrically connected to the coarse feeding mechanism, the fine feeding mechanism, the weighing module, the waste rejection mechanism, the feeding mechanism, the powder tray assembly, and the rotating mechanism, respectively.

[0009] Furthermore, an explosion-proof cover is installed on the platform of the high-precision automatic drug weighing machine. The explosion-proof cover encloses the circularly arranged coarse feeding mechanism, fine feeding mechanism, weighing module, waste rejection mechanism, unloading mechanism, drug tray assembly, and rotating mechanism.

[0010] The explosion-proof cover includes an explosion-proof cover, an explosion-proof sliding window, and an explosion-proof push rod. The explosion-proof sliding window is provided on the side wall of the explosion-proof cover. At least one explosion-proof push rod has its cylinder body on top and its piston rod on the bottom, positioned next to the explosion-proof sliding window on the side wall of the explosion-proof cover. The cylinder body of the explosion-proof push rod is fixedly connected to the side wall of the explosion-proof cover, and the piston rod is fixedly connected to the explosion-proof sliding window, so that the explosion-proof sliding window can move downward to open.

[0011] A guide component is installed between the explosion-proof cover and the explosion-proof sliding window. Its structure includes a guide rail, an upper guide sleeve, and a lower guide sleeve. The two guide rails are respectively placed on both sides of the explosion-proof sliding window and between the explosion-proof push rod and the explosion-proof sliding window. The guide rails are fixedly connected to the explosion-proof cover. The upper guide sleeve is sleeved on the guide rail. The first end of the upper guide sleeve is fixedly connected to the explosion-proof sliding window. The lower guide sleeve is sleeved on the guide rail. The first end of the lower guide sleeve is fixedly connected to the explosion-proof sliding window, and the second end is fixedly connected to the piston cylinder of the explosion-proof push rod.

[0012] The explosion-proof push rod is a pneumatic push rod.

[0013] Furthermore, the main frame includes a frame body, wheels, a platform, an explosion-proof electrical cabinet, and an explosion-proof gas holder. The bottom surface of the frame body is equipped with wheels. The platform is placed in the middle of the frame body and fixedly connected. The explosion-proof electrical cabinet and the explosion-proof gas holder are both placed inside the frame body, below the platform, and fixedly connected. The control system is located in the explosion-proof electrical cabinet and the explosion-proof gas holder according to electric control and pneumatic control, respectively. The top of the rotating mechanism is fixedly connected to the frame body. The explosion-proof cover is placed on the platform, covered outside the frame body, and fixedly connected.

[0014] Furthermore, the coarse feeding mechanism includes a fixed plate, a connecting vertical plate, a medicine pulling machine, and a funnel. The connecting vertical plate is provided at one end of the fixed plate and is fixedly connected to the rotating mechanism. The medicine pulling machine is placed on the fixed plate and fixedly connected. The funnel is inserted into the fixed plate and fixedly connected. The material receiving port of the funnel faces the feeding port and the discharge port of the medicine pulling machine and contacts the mouth of the fixed medicine container.

[0015] Anti-wear components are installed inside the base of the medicine dispensing machine and at the metering plate. The structure is as follows: a lower anti-wear pad is installed between the bottom of the metering plate and the base of the medicine dispensing machine, and an upper anti-wear pad is installed between the top of the metering plate and the base of the medicine dispensing machine.

[0016] The lower anti-wear pad includes a rubber pad and a polytetrafluoroethylene (PTFE) pad. The rubber pad is placed inside the base of the drug delivery machine, below the metering plate, and is fixedly connected. The PTFE pad is placed between the rubber pad and the bottom of the metering plate and is fixedly connected to prevent wear on the lower surface of the metering plate.

[0017] The upper anti-wear pad is a polytetrafluoroethylene (PTFE) pad, which is placed on top of the metering plate and fixed between it and the base of the drug delivery machine to prevent wear on the upper surface of the metering plate.

[0018] Furthermore, the precision feeding mechanism includes a precision feeding frame, a vibrator, a material cup, and a hopper. The upper end of the precision feeding frame is fixedly connected to the top of the main frame, and the lower end is fixedly connected to the platform of the main frame. The vibrator is placed above or below the precision feeding frame and fixedly connected. The hopper is placed next to the vibrator. The weighing module is placed on the side of the precision feeding frame and below the hopper. The material cup is placed on top of the weighing module, and the bottom surface of the material cup contacts the weighing module for weighing. The mouth of the material cup is opposite to the feeding channel outlet of the hopper and is used to receive pyrotechnic agents.

[0019] A vibrating plate is provided between the fine feeding machine frame and the vibrator. The vibrating plate is placed on or below the fine feeding machine frame and fixedly connected. The hopper is placed next to the vibrator, inserted into the vibrating plate and fixedly connected.

[0020] Shock-absorbing pads are installed between the vibrating plate and the fine feeding frame.

[0021] The vibrator is a pneumatic vibrator.

[0022] The hopper includes a porous inner hopper, an outer hopper, and a locking screw. The bottom of the porous inner hopper has several material passage holes along its circumferential surface. The bottom of the outer hopper has a discharge port. The porous inner hopper is installed inside the outer hopper. At least one material passage hole of the porous inner hopper communicates with the discharge port of the outer hopper to form a feeding channel. The size of the feeding channel depends on the relative position between the material passage hole of the porous inner hopper and the discharge port of the outer hopper. The locking screw is threaded to the outer hopper and its end contacts the porous inner hopper, used to limit the relative position between the material passage hole of the porous inner hopper and the discharge port of the outer hopper.

[0023] Furthermore, the waste rejection mechanism includes a waste rejection suspension frame, a translation component, a code disk gripper component, a lifting component, a support, a waste collection component, and a sensor. The top of the waste rejection suspension frame is fixedly connected to the top of the main frame. The translation component is placed below and fixedly connected to the bottom of the waste rejection suspension frame. The code disk gripper component is placed below and fixedly connected to the translation component. A lifting component is provided between the translation component and the code disk gripper component. The upper end of the lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the code disk gripper component. The support is located below and fixedly connected to the code disk gripper component. The waste collection component is placed below the code disk gripper component and above the support, and is fixedly connected to it to receive the waste dumped by the code disk gripper component. A sensor is provided below the waste collection component to observe the position of the waste collection component. The sensor is fixedly connected to the support via a bracket.

[0024] The waste removal suspension frame includes a top plate, a connecting column, and a reinforcing plate. The top plate is fixedly connected to the top of the main frame, the connecting column is placed below the top plate and fixedly connected, and the reinforcing plate is placed on the side of the connecting column and fixedly connected.

[0025] The translation assembly includes a transition plate, side uprights, and a translation cylinder. The transition plate is placed below and fixedly connected to the connecting column and reinforcing plate of the waste removal suspension frame. The two side uprights are respectively placed at both ends of the transition plate and fixedly connected. The translation cylinder is placed between the two side uprights. The guide rail of the translation cylinder is fixedly connected to the two side uprights respectively. The slide of the translation cylinder is sleeved on the guide rail and slidably connected.

[0026] The encoder gripper assembly includes a mounting plate and a swing gripper. The mounting plate is placed on the bottom surface of the slide of the translation assembly and its top end is fixedly connected to the slide. The swing gripper is placed at the bottom end of the mounting plate and fixedly connected. The gripper's claws are used to grip the fixed medicine container and pour out the medicine in the fixed medicine container.

[0027] The lifting assembly includes a lifting cylinder, which is located on the side of the encoder gripper assembly. The cylinder body of the lifting cylinder is fixedly connected to the mounting plate of the encoder gripper assembly, and the push rod of the lifting cylinder is fixedly connected to the swing gripper of the encoder gripper assembly to adjust the height position of the encoder gripper assembly.

[0028] The waste collection assembly includes a rejection box, a rejection collection box, and a waste funnel. The rejection box is barrel-shaped and has a waste channel inside. The rejection box is placed on a support and fixedly connected. The rejection collection box has a drawer structure and is inserted into the bottom of the rejection box to collect waste. The opening of the rejection collection box faces upward and communicates with the waste channel of the rejection box. The waste funnel is placed on top of the rejection box. The inlet of the waste funnel faces the hand gripping assembly of the stacker, and the outlet of the waste funnel is located inside the rejection box and communicates with the waste channel of the rejection box.

[0029] Furthermore, the feeding mechanism includes a feeding suspension frame, a translation component, a encoder hand gripping component, a first lifting component, a funnel frame, a second lifting component, and a feeding funnel. The top of the feeding suspension frame is fixedly connected to the top of the main frame. The translation component is placed below and fixedly connected to the bottom of the feeding suspension frame. The encoder hand gripping component is placed below and fixedly connected to the translation component. The upper end of the first lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the encoder hand gripping component. The funnel frame is placed on the side of the feeding suspension frame and below the translation component. A second lifting component is arranged between the translation component and the funnel frame. The upper end of the second lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the upper end of the funnel frame. The lower end of the funnel frame is located above the finished medicine container. The feeding funnel is placed inside the funnel frame, and its outlet is aligned with the finished medicine container.

[0030] The material unloading suspension frame includes a top plate, a bottom plate, and a connecting column. The top plate is fixedly connected to the top of the main frame, the bottom plate is placed below the top plate, and the connecting column is placed between the top plate and the bottom plate and fixedly connected.

[0031] The translation assembly includes a transition plate, side uprights, and a translation cylinder. The transition plate is placed below and fixed to the bottom plate of the unloading suspension frame. The two side uprights are placed at both ends of the transition plate and fixed to each other. The translation cylinder is placed between the two side uprights. The guide rails of the translation cylinder are fixed to the two side uprights respectively. The slide of the translation cylinder is sleeved on the guide rails and slidably connected.

[0032] The encoder gripper assembly includes a mounting plate and a swing gripper. The mounting plate is placed on the bottom surface of the slide of the translation assembly and its top end is fixedly connected to the slide. The swing gripper is placed at the bottom end of the mounting plate and fixedly connected. The gripper's claws are used to grip the fixed medicine container and pour out the medicine in the fixed medicine container.

[0033] The first lifting assembly includes a first cylinder, which is located on the side of the encoder gripper assembly. The cylinder body of the first cylinder is fixedly connected to the mounting plate of the encoder gripper assembly, and the push rod of the first cylinder is fixedly connected to the swing gripper of the encoder gripper assembly to adjust the height position of the encoder gripper assembly.

[0034] The funnel frame includes a tray and optical shafts. The tray is provided with a receiving hole for accommodating the feeding funnel. The tray is located below the swinging pneumatic gripper of the encoder hand gripper assembly and at the first end of the translation assembly. The two optical shafts are respectively placed at both ends of the tray and on both sides of the first end of the translation assembly. The upper end of the optical shaft is fixedly connected to the lifting plate of the second lifting assembly, and the lower end is fixedly connected to the tray. The middle of the optical shaft passes through the transition plate of the translation assembly and is fixedly connected to the transition plate through a linear bearing. The feeding funnel is placed in the receiving hole of the tray.

[0035] The second lifting assembly includes a lifting plate, a second cylinder, and a linear bearing. The lifting plate is positioned above the transition plate of the translation assembly. The upper ends of the two optical axes of the funnel frame are respectively fixedly connected to the lifting plate. The second cylinder is positioned between the transition plate and the lifting plate of the translation assembly. The cylinder body of the second cylinder is fixedly connected to the transition plate of the translation assembly, and the push rod is fixedly connected to the lifting plate. It is used to adjust the height position of the funnel frame. The linear bearing is positioned between the transition plate of the translation assembly and the optical axis of the funnel frame. The linear bearing is fixedly connected to the transition plate of the translation assembly and slidably connected to the optical axis of the funnel frame.

[0036] A leak-proof cover is installed at the discharge port of the feeding funnel. A material passage hole is provided in the middle of the leak-proof cover. The upper end of the leak-proof cover is sealed to the discharge port of the feeding funnel, and the lower end is sealed to the mouth of the finished medicine container.

[0037] Furthermore, the medicine tray assembly includes a module mounting plate, a cross module, a base plate, a tray, and medicine bowls. The module mounting plate is placed on the platform of the main frame, below the unloading mechanism, and is fixedly connected. The cross module is mounted on the module mounting plate, the base plate is placed on the cross module, the tray is placed on the base plate and is fixedly connected, and several medicine bowls are placed inside the tray. A conductive rubber pad is provided between the base plate and the tray.

[0038] Furthermore, the rotating mechanism includes a rotating suspension frame, a rotating assembly, and a supporting assembly. The rotating suspension frame is positioned in the middle of the coarse feeding mechanism, the fine feeding mechanism, the waste removal mechanism, and the unloading mechanism arranged in a ring around the automatic drug weighing machine. The top end of the rotating suspension frame is fixedly connected to the top end of the main frame. The rotating assembly has four suspension arms around its circumference, each corresponding to one of the coarse feeding mechanism, the fine feeding mechanism, the waste removal mechanism, and the unloading mechanism. A fixed medicine container is provided at the end of each suspension arm for holding flammable materials. The rotating assembly is placed below and fixed to the rotating suspension frame. By rotating, the rotating assembly transfers the fixed medicine container at the end of the suspension arm from the coarse feeding mechanism to the fine feeding mechanism, the waste removal mechanism, and the unloading mechanism to complete the weighing of the pyrotechnic agent. The supporting assembly is placed on the table of the main frame, in the middle of the four circularly arranged processes, and below the rotating assembly. The supporting assembly has three supporting arms around its circumference, which correspond to the coarse feeding mechanism, the waste removal mechanism, and the unloading mechanism, respectively. The lower end of the supporting assembly is fixed to the table of the main frame.

[0039] The rotating mechanism is equipped with an identification component, the structure of which is as follows: a unique identification mark is set on each suspension arm of the rotating component, and a sensor for reading is set on at least one support arm of the support component to identify different positions of the rotating component.

[0040] The rotating mechanism is equipped with a lifting component, the structure of which is as follows: the lifting component is placed between the rotating suspension frame and the rotating component, the top end of the lifting component is fixedly connected to the bottom end of the rotating suspension frame, and the bottom end of the lifting component is fixedly connected to the rotating component.

[0041] The lifting assembly includes an upper connecting plate, a lower connecting plate, and a lifting cylinder. The upper connecting plate is placed at the bottom end of the rotating suspension frame and fixedly connected. The lower fixed plate is placed at the bottom end of the rotating assembly and fixedly connected. The lifting cylinder is placed between the upper connecting plate and the lower connecting plate. The cylinder body of the lifting cylinder is fixedly connected to the upper connecting plate, and the push rod is fixedly connected to the lower connecting plate.

[0042] The rotating assembly includes a hoisting frame, a turntable, a rotating platform, a suspension arm, and a gripping component. The hoisting frame is placed on the bottom surface of the lifting assembly and fixedly connected. Four suspension arms are arranged around the turntable, which is located below the hoisting frame. The rotating platform is located between the hoisting frame and the turntable, with its upper end fixedly connected to the hoisting frame and its lower end fixedly connected to the turntable. The gripping component is a fixed medicine container, which is inserted into the end of the suspension arm and slidably engaged.

[0043] The supporting assembly includes a support base, a tray, supporting arms, and a support column. The support base is placed on the table surface of the main frame, in the middle of the four processes arranged in a ring, and below the rotating assembly. The tray is placed on top of the support base and fixedly connected. Three supporting arms are arranged around the circumference of the tray, and the three supporting arms correspond to the coarse feeding mechanism, the waste removal mechanism, and the unloading mechanism, respectively. The support column is arranged at the end of the supporting arm, corresponding to the fixed medicine container that is inserted into the suspension arm, for pushing the fixed medicine container out of the suspension arm for operation.

[0044] Furthermore, the control system includes a controller, a sensor, a cylinder solenoid valve, a vibrator solenoid valve, a proportional valve, a tri-color indicator light, a servo driver, a weighing scale, and a control panel. The control system is electrically connected to the sensor, the cylinder solenoid valve, the vibrator solenoid valve, the proportional valve, the tri-color indicator light, the servo driver, the weighing scale, and the control panel, respectively.

[0045] The controller is used to control the automatic weighing machine for pharmaceuticals, enabling the coordinated operation of various functional mechanisms to complete the weighing of pyrotechnic agents;

[0046] The sensors are used to transmit the collected signals to the controller and are electrically connected to the controller. They include a through-beam sensor, a waste collection sensor, a first position sensor, and a second position sensor, wherein:

[0047] The through-beam sensors are placed on both sides of the hopper of the coarse feeding mechanism to monitor the material status inside the hopper;

[0048] The waste collection sensor is placed on the support of the waste rejection mechanism to observe the position of the waste collection component and the status of the rejection collection box;

[0049] The first position sensor and the second position sensor are simultaneously placed on the support assembly of the rotating mechanism to determine the current position of the lifting assembly and determine the original position during initialization.

[0050] The cylinder solenoid valves are used to control the actions of each cylinder and are electrically connected to the controller. They include an explosion-proof push rod solenoid valve, a drug-pulling cylinder solenoid valve, a pneumatic pressure regulating valve, a waste-removing translation cylinder solenoid valve, a waste-removing lifting cylinder solenoid valve, a waste-removing swing gripper solenoid valve, a material-discharging translation cylinder solenoid valve, a material-discharging swing gripper solenoid valve, a first material-discharging lifting cylinder solenoid valve, a second material-discharging lifting cylinder solenoid valve, and a rotary lifting cylinder solenoid valve, wherein:

[0051] The explosion-proof push rod solenoid valve is placed in the explosion-proof push rod gas line of the explosion-proof cover and is used to open and close the explosion-proof sliding window;

[0052] The solenoid valve of the pneumatic cylinder for plucking is placed in the air circuit of the plucking machine of the coarse feeding mechanism and is used for coarse feeding;

[0053] The pneumatic pressure regulating valve is placed in the air circuit of the feeder of the coarse feeding mechanism and is used to regulate the air pressure of the feeder.

[0054] The solenoid valve of the waste removal translation cylinder is placed in the air circuit of the translation cylinder of the waste removal mechanism and is used to control the horizontal position of the waste removal code disk hand gripper assembly.

[0055] The solenoid valve of the waste removal lifting cylinder is placed in the air circuit of the lifting cylinder of the waste removal mechanism and is used to control the height position of the waste removal code disk hand gripper assembly.

[0056] The solenoid valve of the waste removal swing gripper is placed in the air circuit of the swing gripper of the waste removal mechanism and is used to control the opening, closing and flipping of the waste removal swing gripper.

[0057] The solenoid valve of the feeding translation cylinder is placed in the air circuit of the translation cylinder of the feeding mechanism and is used to control the horizontal position of the encoder hand gripper assembly.

[0058] The solenoid valve of the unloading swing gripper is placed in the air circuit of the swing gripper of the unloading mechanism and is used to control the opening, closing and flipping of the unloading swing gripper.

[0059] The first feeding lifting cylinder solenoid valve is placed in the air circuit of the first cylinder of the feeding mechanism to control the height position of the feeding encoder hand gripping assembly;

[0060] The second feeding lifting cylinder solenoid valve is located in the air circuit of the second cylinder of the feeding mechanism and is used to control the height position of the funnel frame.

[0061] The solenoid valve of the rotary lifting cylinder is placed in the air circuit of the lifting cylinder of the rotary mechanism and is used to control the height position of the rotary component.

[0062] The vibrator solenoid valve is used to control the vibration of each vibrator and is electrically connected to the controller. It includes a first vibrator solenoid valve and a second vibrator solenoid valve, wherein:

[0063] The first vibrator solenoid valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the start and stop of the first vibrator;

[0064] The second vibrator solenoid valve is located in the air circuit of the second vibrator of the fine feeding mechanism and is used to control the start and stop of the second vibrator;

[0065] The proportional valve is used to control the air pressure to change the vibration force and vibration frequency of the vibrator, and is electrically connected to the controller. It includes a first proportional valve and a second proportional valve, wherein:

[0066] The first proportional valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the first vibrator;

[0067] The second proportional valve is placed in the air circuit of the second vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the second vibrator;

[0068] The three-color light is used to indicate the status of the automatic medicine weighing machine and is electrically connected to the controller. The three-color light is placed inside the protective cover to indicate the status of the automatic medicine weighing machine. Red indicates emergency stop, yellow indicates pause, and green indicates work completed.

[0069] The servo driver is used to receive signals from each servo motor and control the movement of each servo motor, and is electrically connected to the controller. It includes an X-direction drive motor, a Y-direction drive motor, and a rotary drive motor, wherein:

[0070] The X-direction drive motor is placed on the X-direction module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the X-direction drive motor to move.

[0071] The Y-direction drive motor is located on the Y-direction module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the Y-direction drive motor to move.

[0072] The rotary drive motor is mounted on the rotary assembly of the rotary mechanism and is used to receive and transmit control signals from the rotary platform to control the movement of the rotary platform.

[0073] The weighing scale is used to transmit weighing signals to the controller and receive instructions from the controller, and is electrically connected to the controller. It includes a first weighing scale and a second weighing scale, wherein:

[0074] The first weighing scale is placed on the weighing module and is used to weigh the first fixed medicine container and the pyrotechnic agents inside it.

[0075] The second weighing scale is placed on the weighing module and is used to weigh the second fixed medicine container and the pyrotechnic agents inside it;

[0076] The control panel is used to enable human-machine interaction and is electrically connected to the controller.

[0077] The control structure between the mechanisms of each process and between the mechanisms of each process and the rotating mechanism is as follows:

[0078] In the coarse feeding process, the pyrotechnic agent is loaded into the fixed charging container. Then, the coarse feeding mechanism transfers it to the fine feeding process via a rotating mechanism to weigh it. The fine feeding mechanism replenishes the weight of the pyrotechnic agent to meet the standard requirements. Then, the fine feeding mechanism transfers it to the rejection process via a rotating mechanism. The rejection mechanism removes the unqualified pyrotechnic agent. Finally, the rejection mechanism transfers it to the unloading process via a rotating mechanism. The unloading mechanism loads the qualified pyrotechnic agent into the finished charging container, completing the weighing of the pyrotechnic agent.

[0079] The beneficial effects of this invention are: it combines several processes such as coarse feeding, fine feeding, waste removal and unloading, and through the coordinated control of the control system, it completes the weighing of pyrotechnic agents, realizes the complete automation of pyrotechnic agent weighing, and achieves the beneficial effects of weighing at least 7 charges per minute with an accuracy within ±3mg and a waste removal rate of about 2%, thereby improving production efficiency, reducing safety hazards, and saving labor costs. It abandons the conventional design approach of placing various mechanisms on the equipment platform, and innovatively places the fine feeding mechanism, waste removal mechanism, feeding mechanism, and rotating mechanism on the top surface of the main frame of the automatic drug weighing machine. This reduces the potential accumulation of floating drugs in dead corners on the platform, facilitates the collection and cleaning of drug powder, and reduces the size of the fixed structure of the automatic drug weighing machine. Its combined coarse and fine feeding structure for weighing pyrotechnic agents reduces the weighing time and improves the accuracy of pyrotechnic agent weighing. It is equipped with an explosion-proof cover and uses a bottom-opening explosion-proof sliding window, which not only avoids the problem of the explosion-proof sliding window falling down and seriously threatening the safety of operators, but also solves the problem of side-opening explosion-proof sliding windows occupying space and increasing the equipment's footprint when pulled to the left or right during operation, thus achieving the goal of small footprint and safe operation.

[0080] It has the advantages of novel structure, convenient operation, accurate weighing, high pass rate, good safety, high quality and high efficiency. Attached Figure Description

[0081] Figure 1 This is a three-dimensional structural diagram of the high-precision automatic pharmaceutical weighing machine of the present invention.

[0082] Figure 2 This is a three-dimensional structural diagram of the high-precision automatic pharmaceutical weighing machine of the present invention in state two.

[0083] Figure 3 This is a three-dimensional structural diagram of the high-precision automatic pharmaceutical weighing machine of the present invention with the explosion-proof cover removed.

[0084] Figure 4 This is a three-dimensional structural diagram of the high-precision automatic pharmaceutical weighing machine of the present invention with the explosion-proof cover removed, in state two.

[0085] Figure 5 This is a three-dimensional structural diagram illustrating the positional relationships of the various mechanisms in the high-precision automatic pharmaceutical weighing machine of the present invention.

[0086] Figure 6 This is a three-dimensional structural diagram showing the positional relationship of each mechanism in the high-precision automatic pharmaceutical weighing machine of the present invention, in state two.

[0087] Figure 7This is a three-dimensional structural diagram showing the positional relationships of the various mechanisms in the high-precision automatic pharmaceutical weighing machine of the present invention.

[0088] Figure 8 This is a three-dimensional structural diagram of the positional relationship of each mechanism in the high-precision automatic pharmaceutical weighing machine of the present invention.

[0089] Figure 9 This is a three-dimensional structural diagram of the explosion-proof protective cover for the high-precision automatic pharmaceutical weighing machine of the present invention.

[0090] Figure 10 This is a three-dimensional structural diagram of the explosion-proof protective cover of the high-precision automatic pharmaceutical weighing machine of the present invention, in state two.

[0091] Figure 11 This is a two-dimensional cross-sectional schematic diagram of the coarse feeding mechanism of the high-precision automatic pharmaceutical weighing machine of the present invention;

[0092] Figure 12 This is a three-dimensional structural diagram of the coarse feeding mechanism of the high-precision automatic pharmaceutical weighing machine of the present invention;

[0093] Figure 13 This is a three-dimensional structural diagram of the precision feeding mechanism of the high-precision automatic pharmaceutical weighing machine of the present invention;

[0094] Figure 14 This is a schematic diagram of the porous inner chamber structure of the precision feeding mechanism of the high-precision automatic pharmaceutical weighing machine of the present invention;

[0095] Figure 15 for Figure 14 AA sectional view;

[0096] Figure 16 This is a three-dimensional structural diagram of the waste rejection mechanism of the high-precision automatic drug weighing machine of the present invention;

[0097] Figure 17 This is a three-dimensional structural diagram of the feeding mechanism of the high-precision automatic pharmaceutical weighing machine of the present invention;

[0098] Figure 18 This is a three-dimensional structural diagram of the rotating mechanism of the high-precision automatic pharmaceutical weighing machine of the present invention;

[0099] Figure 19 This is a three-dimensional structural diagram of the medicine tray assembly of the high-precision automatic medicine weighing machine of the present invention;

[0100] Figure 20 This is a schematic diagram of the high-precision automatic pharmaceutical weighing machine control system of the present invention;

[0101] Figure 21 This is a schematic diagram showing the relationship between the various processes of the high-precision automatic pharmaceutical weighing machine of the present invention.

[0102] In the diagram: 1 Local button, 2 Explosion-proof cover, 2-1 Explosion-proof cover, 2-2 Explosion-proof push rod, 2-3 Upper guide sleeve, 2-4 Guide rail, 2-5 Explosion-proof sliding window, 2-6 Lower guide sleeve, 2-7 Explosion-proof glass, 2-8 Explosion-proof window, 3 Frame, 4 Explosion-proof electrical cabinet door, 5 Explosion-proof gas cabinet door, 6 Traveling wheels, 7 Weighing module, 8 Coarse feeding mechanism, 8-1 Through-beam sensor, 8-2 Fixing plate, 8-3 Hopper, 8-4 Funnel, 8-5 Base, 8-6 Drug-pulling cylinder, 8-7 Connecting upright plate, 8-8 Rubber pad, 8-9 PTFE pad, 8-10 Metering plate, 8-11 PTFE pad, 8-12 Support, 9 Rotating mechanism, 9-1 Top plate, 9 -2 Connecting column, 9-3 Base plate, 9-4 Upper connecting plate, 9-5 Sensor, 9-7 Suspension arm, 9-8 Identification mark, 9-9 Rotating platform, 9-10 Lifting frame, 9-11 Lower connecting plate, 9-12 Lifting cylinder; 9-14 Column, 9-15 Support base, 9-16 Support arm, 10 Fine feeding mechanism, 10-1 Second vibrator, 10-2 Second hopper, 10-3 Connecting angle, 10-4 Second vibrating plate, 10-5 Conductive damping pad, 10-6 Top plate, 10-7 Connecting column, 10-8 Base plate, 10-9 Damping pad, 10-10 First hopper, 10-11 First vibrating plate, 10-12 First vibrating... 10-13 Mounting plate, 10-14 Conductive shock-absorbing pad, 10-15 Base plate, 10-16 Connecting column, 10-17 Top plate, 11 Scrap removal mechanism, 11-1 Top plate, 11-2 Reinforcing rib, 11-3 Connecting column, 11-4 Reinforcing plate, 11-5 Transition plate, 11-6 Side plate, 11-7 Slide table, 11-8 Guide rail, 11-9 Mounting plate, 11-10 Lifting cylinder, 11-12 Swinging gripper, 11-13 Scrap hopper, 11-14 Removal box, 11-15 Removal collection box, 11-16 Support, 11-17 Connecting plate, 12 Unloading mechanism, 12-1 Top plate, 12-2 Connecting column 12-3 Base plate, 12-4 Transition plate, 12-5 Slide table, 12-6 Mounting plate, 12-7 First cylinder, 12-8 Connecting plate, 12-10 Swinging gripper, 12-11 Discharge hopper, 12-12 Pallet, 12-13 Optical axis, 12-14 Side upright plate, 12-15 Linear bearing, 12-16 Second cylinder, 12-17 Lifting plate, 13 Medicine tray assembly, 13-2 Side guard, 13-3 Dust cover, 13-4 Mounting plate, 13-5 X-direction module, 13-6 Y-direction module, 13-7 Pallet, 13-8 Cross partition, 13-9 Base plate, 14 Platform, 15 Fixed medicine container, 16 Finished medicine container. Detailed Implementation

[0103] The present invention will be further described below with reference to the embodiments and accompanying drawings.

[0104] See Figures 1-21Example 1: This embodiment describes a high-precision automatic pharmaceutical weighing machine, comprising a main frame, a coarse feeding mechanism 8, a fine feeding mechanism 10, a weighing module 7, a waste rejection mechanism 11, a feeding mechanism 12, a medicine tray assembly 13, a rotating mechanism 9, and a control system. The coarse feeding mechanism 8, the fine feeding mechanism 10, the waste rejection mechanism 11, and the feeding mechanism 12 are arranged in a ring on the platform 14 of the main frame. The weighing module 7 is located on the platform 14 of the main frame, below the fine feeding mechanism 10. The medicine tray assembly 13 is located on the platform 14 of the main frame, below the feeding mechanism 12. The rotating mechanism 9 is positioned within the ring-shaped arrangement of the coarse feeding mechanism 8, the fine feeding mechanism 10, the waste rejection mechanism 11, and the feeding mechanism. In the middle of 12, the four operating ends of the rotating mechanism 9 are respectively corresponding to the coarse feeding mechanism 8, the fine feeding mechanism 10, the waste rejection mechanism 11, and the unloading mechanism 12. Thus, through rotation, the pyrotechnic agent is transferred from the coarse feeding mechanism 8 to the fine feeding mechanism 10, the waste rejection mechanism 11, and the unloading mechanism 12 in sequence. The unloading mechanism 12 pours the weighed and qualified pyrotechnic agent into the finished product container 16 of the powder tray assembly 13 to complete the weighing of the pyrotechnic agent. The control system is located inside the main frame, below the platform 14, and is fixedly connected. The control system is electrically connected to the coarse feeding mechanism 8, the fine feeding mechanism 10, the weighing module 7, the waste rejection mechanism 11, the unloading mechanism 12, the powder tray assembly 13, and the rotating mechanism 9.

[0105] Furthermore, an explosion-proof cover 2 is provided on the platform 14 of the high-precision automatic drug weighing machine. The explosion-proof cover 2 encloses the circularly arranged coarse feeding mechanism 8, fine feeding mechanism 10, weighing module 7, waste rejection mechanism 11, unloading mechanism 12, medicine tray assembly 13, and rotating mechanism 9.

[0106] The explosion-proof cover 2 includes an explosion-proof cover 2-1, an explosion-proof sliding window 2-5, an explosion-proof push rod 2-2, an explosion-proof window 2-8, and a venting plate. The explosion-proof sliding window 2-5 is provided on the front side wall of the explosion-proof cover 2-1. The two explosion-proof push rods 2-2 are positioned with their cylinders on top and their piston rods downwards, next to the side wall of the explosion-proof cover 2-1 and the explosion-proof sliding window 2-5. The cylinders of the explosion-proof push rods 2-2 are fixedly connected to the side wall of the explosion-proof cover 2-1, and the piston rods are fixedly connected to the explosion-proof sliding window 2-5, so that the explosion-proof sliding window 2-5 can move downwards to open. Two hinged explosion-proof windows 2-8 are provided on the side walls on both sides of the explosion-proof cover 2-1 for easy maintenance. The venting plate is provided on the rear side of the explosion-proof cover 2-1.

[0107] A guide component is provided between the explosion-proof cover 2-1 and the explosion-proof sliding window 2-5. Its structure includes a guide rail 2-4, an upper guide sleeve 2-3, and a lower guide sleeve 2-6. The two guide rails 2-4 are respectively placed on both sides of the explosion-proof sliding window 2-5 and between the explosion-proof push rod 2-2 and the explosion-proof sliding window 2-5. The guide rails 2-4 are fixedly connected to the explosion-proof cover 2-1. The upper guide sleeve 2-3 is sleeved on the guide rail 2-4. The first end of the upper guide sleeve 2-3 is fixedly connected to the explosion-proof sliding window 2-5. The lower guide sleeve 2-6 is sleeved on the guide rail 2-4. The first end of the lower guide sleeve 2-6 is fixedly connected to the explosion-proof sliding window 2-5, and the second end is fixedly connected to the piston cylinder of the explosion-proof push rod 2-2.

[0108] The explosion-proof push rod 2-2 is a pneumatic push rod.

[0109] Both the explosion-proof sliding window 2-5 and the explosion-proof window 2-8 are made of explosion-proof glass 2-7.

[0110] Gaskets for sealing are provided between the explosion-proof sliding window 2-5 and the explosion-proof cover 2-1, and between the explosion-proof window 2-8 and the explosion-proof cover 2-1.

[0111] Furthermore, the main frame includes a frame body 3, wheels 6, a platform 14, an explosion-proof electrical cabinet door 4, and an explosion-proof gas cabinet door 5. The wheels 6 are installed on the bottom surface of the frame body 3. The platform 14 is placed in the middle of the frame body 3 and fixedly connected. The explosion-proof electrical cabinet door 4 and the explosion-proof gas cabinet door 5 are both placed inside the frame body 3, below the platform 14, and hinged together, thereby enclosing the explosion-proof electrical cabinet and the explosion-proof gas cabinet inside the frame body. The control system is placed inside the explosion-proof electrical cabinet and the explosion-proof gas cabinet according to electric control and pneumatic control respectively. The top of the rotating mechanism 9 is fixedly connected to the frame body 3. The explosion-proof cover 2 is placed on the platform 14, covered outside the frame body 3, and fixedly connected.

[0112] Furthermore, the coarse feeding mechanism 8 includes a fixed plate 8-2, a connecting vertical plate 8-7, a medicine pulling machine, and a funnel 8-4. The connecting vertical plate 8-7 is provided at one end of the fixed plate 8-2. The connecting vertical plate 8-7 is fixedly connected to the rotating mechanism 9. The medicine pulling machine is placed on the fixed plate 8-2 and fixedly connected. The funnel 8-4 is inserted into the fixed plate 8-2 and fixedly connected. The receiving port of the funnel 8-4 faces the feeding port and the discharge port of the medicine pulling machine and contacts the mouth of the fixed medicine container 15.

[0113] Anti-wear components are installed inside the base 8-5 of the medicine dispensing machine and at the metering plate 8-10. The structure is as follows: a lower anti-wear pad is installed between the bottom of the metering plate 8-10 and the base 8-5 of the medicine dispensing machine, and an upper anti-wear pad is installed between the top of the metering plate 8-10 and the base 8-5 of the medicine dispensing machine.

[0114] The lower anti-wear pad includes a rubber pad 8-8 and a polytetrafluoroethylene pad 8-9. The rubber pad 8-8 is placed inside the base 8-5 of the drug-pulling machine, below the metering plate 8-10 and fixedly connected. The polytetrafluoroethylene pad 8-9 is placed between the rubber pad 8-8 and the bottom of the metering plate 8-10 and fixedly connected to prevent wear on the lower surface of the metering plate 8-10.

[0115] The upper anti-wear pad is a polytetrafluoroethylene pad 8-11. The polytetrafluoroethylene pad 8-11 is placed on top of the metering plate 8-10 and fixed between it and the base 8-5 of the drug delivery machine, and is used to prevent wear on the upper surface of the metering plate 8-10.

[0116] The drug-pulling machine includes a base 8-5, a hopper 8-3, a metering plate 8-10, a drug-pulling cylinder 8-6, and a through-beam sensor 8-1. The base 8-5 is placed on and fixed to the fixing plate 8-2. The two hoppers 8-3 are placed on and fixed to the base 8-5. The discharge port of the hopper 8-3 is located on the bottom surface. The two metering plates 8-10 are respectively placed below the discharge ports of the two hoppers 8-3, inserted into the base 8-5, and slidably connected. The two drug-pulling cylinders 8-6 are respectively placed on the side of the base 8-5 and on the fixing plate 8-2. The drug-pulling cylinder 8-6 is fixed to the fixing plate 8-2 through a support 8-12. The piston rod of the drug-pulling cylinder 8-6 is fixed to the end of the metering plate 8-10. The through-beam sensor 8-1 is respectively placed at both ends of the two hoppers 8-3 for monitoring the material status in the hoppers 8-3.

[0117] Furthermore, the precision feeding mechanism 10 includes a precision feeding frame, a first vibrating plate 10-11, a first vibrator 10-12, a first hopper 10-10, a first funnel, a second vibrating plate 10-4, a second vibrator 10-1, a second hopper 10-2, and a second funnel. The precision feeding frame includes a precision feeding suspension frame, a support base, a mounting plate 10-13, a support plate, and a connecting angle 10-3. The precision feeding suspension frame and the support base have the same structure, both including a top plate, a bottom plate, and a connecting column. The top plate 10-17 of the precision feeding suspension frame is fixedly connected to the top of the frame 3 of the main frame, and the mounting plate 10-13 is fixedly connected to the bottom of the bottom plate 10-15. The column 10-16 is placed between and fixedly connected to the top plate 10-17 and the bottom plate 10-15. A conductive shock-absorbing pad 10-14 is provided between the mounting plate 10-13 and the bottom plate 10-8 of the fine feeding suspension frame. The bottom plate 10-8 of the support base is fixedly connected to the platform 14 of the main frame. The top plate 10-6 is fixedly connected to the bottom plate 10-8 through the connecting column 10-7. The support plate is fixedly connected to the connecting angle 10-3 and to the rotating mechanism 9 through the connecting angle 10-3. Shock-absorbing pads 10-9 are provided between the top plate 10-17 of the fine feeding suspension frame and the top of the frame 3 of the main frame, and between the bottom plate 10-8 of the support base and the platform 14 of the main frame.

[0118] The first vibrating plate 10-11 is Z-shaped. The Z-shaped first vibrating plate 10-11 is placed on the mounting plate 10-13 of the fine feeding machine frame and fixedly connected. The first vibrator 10-12 is placed on the first vibrating plate 10-11 and fixedly connected. The first hopper 10-10 is placed next to the first vibrator 10-12, inserted into the first vibrating plate 10-11 and fixedly connected. The first funnel is inserted into the support plate of the fine feeding machine frame. The inlet of the first funnel faces the feeding channel outlet of the first hopper 10-10 and the outlet faces the first fixed medicine container 15. The second vibrating plate 10-4 is Z-shaped. The Z-shaped second vibrating plate 10-4 is placed on the top plate 10-6 of the support seat of the fine feeding machine frame and fixedly connected. A conductive damping pad 10-5 is provided between the second vibrating plate 10-4 and the top plate 10-6 of the support seat of the fine feeding machine frame. The second vibrator 10-1 is placed on the second vibrating plate 10-4 and fixedly connected. The second hopper 10-2 is placed next to the second vibrator 10-1, inserted into the second vibrating plate 10-4 and fixedly connected. The second funnel is inserted into the support plate of the fine feeding machine frame. The inlet of the second funnel faces the feed channel outlet of the second hopper 10-2 and the outlet faces the second fixed medicine container 15. The weighing module 7 is placed under the tray of the fine feeding machine frame, between the fine feeding suspension frame and the support base. The first fixed medicine bowl 15 and the second fixed medicine bowl 15 are placed on the weighing module 7. The bottom surfaces of the first fixed medicine bowl 15 and the second fixed medicine bowl 15 are in contact with the weighing module 7 for weighing. The opening of the first fixed medicine bowl 15 is opposite to the discharge port of the first funnel, and the opening of the second fixed medicine bowl 15 is opposite to the discharge port of the second funnel, respectively, for receiving pyrotechnic agents.

[0119] Both the first vibrator 10-12 and the second vibrator 10-1 are pneumatic vibrators.

[0120] The first hopper 10-10 and the second hopper 10-2 have the same structure, both including a porous inner hopper, an outer hopper, and a locking screw. The bottom of the porous inner hopper is provided with several material passage holes along its circumferential surface, and the bottom of the outer hopper is provided with a discharge port. The porous inner hopper is installed inside the outer hopper. At least one material passage hole of the porous inner hopper communicates with the discharge port of the outer hopper to form a feeding channel. The size of the feeding channel depends on the relative position between the material passage hole of the porous inner hopper and the discharge port of the outer hopper. The locking screw is threaded to the outer hopper and its end contacts the porous inner hopper, used to limit the relative position between the material passage hole of the porous inner hopper and the discharge port of the outer hopper.

[0121] Furthermore, the waste rejection mechanism 11 includes a waste rejection suspension frame, a translation component, a code disk gripper component, a lifting component, a support, a waste collection component, and a sensor. The top of the waste rejection suspension frame is fixedly connected to the top of the frame 3 of the main frame. The translation component is placed below the bottom of the waste rejection suspension frame and fixedly connected. The code disk gripper component is placed below the translation component and fixedly connected. A lifting component is provided between the translation component and the code disk gripper component. The upper end of the lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the code disk gripper component. The support is located below the code disk gripper component and fixedly connected. The waste collection component is placed below the code disk gripper component and above the support and fixedly connected, and is used to receive the waste dumped by the code disk gripper component. A sensor is provided below the waste collection component to observe the position of the waste collection component. The sensor is fixedly connected to the support through a bracket.

[0122] The waste removal suspension frame includes a top plate 11-1, a connecting column 11-3, and a reinforcing plate 11-4. The top plate 11-1 is fixedly connected to the top of the frame 3 of the main frame. The connecting column 11-3 is located below the top plate 11-1 and fixedly connected. The reinforcing plate 11-4 is located on the side of the connecting column 11-3 and fixedly connected. Two reinforcing ribs 11-2 are provided between the top plate 11-1 and the top of the frame 3 of the main frame.

[0123] The translation assembly includes a transition plate 11-5, side upright plates 11-6, and a translation cylinder. The transition plate 11-5 is placed below and fixedly connected to the connecting column 11-3 and reinforcing plate 11-4 of the waste removal suspension frame. The two side upright plates 11-6 are respectively placed at both ends of the transition plate 11-5 and fixedly connected. The translation cylinder is placed between the two side upright plates 11-6. The guide rail 11-8 of the translation cylinder is fixedly connected to the two side upright plates 11-6 respectively. The slide 11-7 of the translation cylinder is sleeved on the guide rail 11-8 and slidably connected.

[0124] The encoder gripper assembly includes a mounting plate 11-9 and a swing gripper 11-12. The mounting plate 11-9 is placed on the bottom surface of the slide 11-7 of the translation assembly and its top end is fixedly connected to the slide 11-7. The swing gripper 11-12 is placed on the bottom end of the mounting plate 11-9 and fixedly connected. The grippers of the swing gripper 11-12 are used to grip the fixed medicine container 15 and pour out the medicine in the fixed medicine container 15.

[0125] The lifting assembly includes a lifting cylinder 11-10, which is located on the side of the encoder gripper assembly. The cylinder body of the lifting cylinder 11-10 is fixedly connected to the mounting plate 11-9 of the encoder gripper assembly. The push rod of the lifting cylinder 11-10 is fixedly connected to the swing gripper 11-12 of the encoder gripper assembly through a connecting plate 11-17 to adjust the height position of the encoder gripper assembly.

[0126] The waste collection assembly includes a rejection box 11-14, a rejection collection box 11-15, and a waste funnel 11-13. The rejection box 11-14 is barrel-shaped and has a waste channel inside. The rejection box 11-14 is placed on and fixed to a support 11-16. The rejection collection box 11-15 has a drawer structure and is inserted into the bottom of the rejection box 11-14 to collect waste. The opening of the rejection collection box 11-15 faces upward and communicates with the waste channel of the rejection box 11-14. The waste funnel 11-13 is placed on top of the rejection box 11-14. The inlet of the waste funnel 11-13 faces the hand gripping assembly of the encoder, and the outlet of the waste funnel 11-13 is located inside the rejection box 11-14 and communicates with the waste channel of the rejection box 11-14.

[0127] Furthermore, the feeding mechanism 12 includes a feeding suspension frame, a translation component, a encoder hand gripping component, a first lifting component, a funnel frame, a second lifting component, and a feeding funnel 12-11. The top of the feeding suspension frame is fixedly connected to the top of the frame 3 of the main frame. The translation component is placed below the bottom of the feeding suspension frame and fixedly connected. The encoder hand gripping component is placed below the translation component and fixedly connected. The upper end of the first lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the encoder hand gripping component. The funnel frame is placed on the side of the feeding suspension frame and below the translation component. A second lifting component is arranged between the translation component and the funnel frame. The upper end of the second lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the upper end of the funnel frame. The lower end of the funnel frame is located above the finished medicine container 16. The feeding funnel 12-11 is placed inside the funnel frame, and its outlet is aligned with the finished medicine container 16.

[0128] The material unloading suspension frame includes a top plate 12-1, a bottom plate 12-3, and a connecting column 12-2. The top plate 12-1 is fixedly connected to the top of the frame 3 of the main frame. The bottom plate 12-3 is placed below the top plate 12-1. The connecting column 12-2 is placed between the top plate 12-1 and the bottom plate 12-3 and fixedly connected. Reinforcing ribs are respectively provided between the top plate 12-1 and the connecting column 12-2, and between the bottom plate 12-3 and the connecting column 12-2.

[0129] The translation assembly includes a transition plate 12-4, side upright plates 12-14, and a translation cylinder. The transition plate 12-4 is placed below and fixedly connected to the bottom plate 12-3 of the unloading suspension frame. The two side upright plates 12-14 are respectively placed at both ends of the transition plate 12-4 and fixedly connected. The translation cylinder is placed between the two side upright plates 12-14. The guide rails of the translation cylinder are fixedly connected to the two side upright plates 12-14 respectively. The slide table 12-5 of the translation cylinder is sleeved on the guide rail and slidably connected.

[0130] The encoder gripper assembly includes a mounting plate 12-6 and a swing gripper 12-10. The mounting plate 12-6 is placed on the bottom surface of the slide 12-5 of the translation assembly and its top end is fixedly connected to the slide 12-5. The swing gripper 12-10 is placed on the bottom end of the mounting plate 12-6 and fixedly connected. The grippers of the swing gripper 12-10 are used to grip the fixed medicine container 15 and pour out the medicine in the fixed medicine container 15.

[0131] The first lifting assembly includes a first cylinder 12-7, which is located on the side of the encoder gripper assembly. The cylinder body of the first cylinder 12-7 is fixedly connected to the mounting plate 12-6 of the encoder gripper assembly. The push rod of the first cylinder 12-7 is fixedly connected to the swing gripper 12-10 of the encoder gripper assembly through a connecting plate 12-8 to adjust the height position of the encoder gripper assembly.

[0132] The funnel frame includes a tray 12-12 and optical shafts 12-13. The tray 12-12 is provided with a receiving hole for accommodating the feeding funnel 12-11. The tray 12-12 is located below the swinging pneumatic gripper 12-10 of the encoder hand gripper assembly and at the first end of the translation assembly. The two optical shafts 12-13 are respectively placed at both ends of the tray 12-12 and on both sides of the first end of the translation assembly. The upper end of the optical shaft 12-13 is fixedly connected to the lifting plate 12-17 of the second lifting assembly, and the lower end is fixedly connected to the tray 12-12. The middle of the optical shaft 12-13 passes through the transition plate 12-4 of the translation assembly and is fixedly connected to the transition plate 12-4 through a linear bearing 12-15. The feeding funnel 12-11 is placed in the receiving hole of the tray 12-12.

[0133] The second lifting assembly includes a lifting plate 12-17, a second cylinder 12-16, and a linear bearing 12-15. The lifting plate 12-17 is positioned above the transition plate 12-4 of the translation assembly. The upper ends of the two optical axes 12-13 of the funnel frame are respectively fixedly connected to the lifting plate 12-17. The second cylinder 12-16 is positioned between the transition plate 12-4 and the lifting plate 12-17 of the translation assembly. The cylinder body of the second cylinder 12-16 is fixedly connected to the transition plate 12-4 of the translation assembly, and the push rod is fixedly connected to the lifting plate 12-17. It is used to adjust the height position of the funnel frame. The linear bearing 12-15 is positioned between the transition plate 12-4 of the translation assembly and the optical axis 12-13 of the funnel frame. The linear bearing 12-15 is fixedly connected to the transition plate 12-4 of the translation assembly and slidably connected to the optical axis 12-13 of the funnel frame.

[0134] A leak-proof cover is installed at the discharge port of the feeding funnel 12-11. A material passage hole is provided in the middle of the leak-proof cover. The upper end of the leak-proof cover is sealed to the discharge port of the feeding funnel 12-11, and the lower end is sealed at the mouth of the finished medicine container 16.

[0135] Furthermore, the medicine tray assembly 13 includes a module mounting plate 13-4, a cross module, a base plate 13-9, a tray 13-7, and finished medicine bowls 16. The module mounting plate 13-4 is placed on the platform 14 of the main frame and below the unloading mechanism 12 and is fixedly connected. The cross module is mounted on the module mounting plate 13-4. The base plate 13-9 is placed on the cross module. Four trays 13-7 are placed on the base plate 13-9 and are fixedly connected. Each tray 13-7 is provided with sixty-four finished medicine bowls 16 placed inside the tray 13-7. A conductive rubber pad is provided between the base plate 13-9 and the tray 13-7. A cross partition 13-8 is provided on the base plate 13-9. A retaining edge 13-2 is provided at the corner of the base plate 13-9.

[0136] The cross module includes an X-direction module 13-5, a Y-direction module 13-6, and a dust cover 13-3. The X-direction module 13-5 and the Y-direction module 13-6 are arranged in a cross shape, and a dust cover 13-3 is provided on both the X-direction module 13-5 and the Y-direction module 13-6.

[0137] Furthermore, the rotating mechanism 9 includes a rotating suspension frame, a rotating assembly, and a supporting assembly. The rotating suspension frame is positioned in the middle of the coarse feeding mechanism 8, the fine feeding mechanism 10, the waste removal mechanism 11, and the unloading mechanism 12 arranged in a ring around the automatic drug weighing machine. The top end of the rotating suspension frame is fixedly connected to the top end of the frame 3 of the main machine. The rotating assembly has four suspension arms 9-7 around its circumference, which correspond to the coarse feeding mechanism 8, the fine feeding mechanism 10, the waste removal mechanism 11, and the unloading mechanism 12, respectively. The end of each suspension arm 9-7 is provided with a fixed medicine container 15 for holding flammable materials. The rotating assembly is placed below and fixed to the rotating suspension frame. By rotating, the rotating assembly transfers the fixed medicine container 15 at the end of the suspension arm 9-7 from the coarse feeding mechanism 8 to the fine feeding mechanism 10, the waste removal mechanism 11, and the unloading mechanism 12 in sequence to complete the weighing of the pyrotechnic agent. The supporting assembly is placed on the platform of the main frame, in the middle of the four processes arranged in a ring, below the rotating assembly. The supporting assembly has three supporting arms 9-16 around its circumference, which correspond to the coarse feeding mechanism 8, the waste removal mechanism 11, and the unloading mechanism 12, respectively. The lower end of the supporting assembly is fixed to the platform 14 of the main frame.

[0138] The rotating mechanism 9 is equipped with an identification component, the structure of which is as follows: a unique identification mark 9-8 is set on each suspension arm 9-7 of the rotating component, and a sensor 9-5 for reading is set on at least one support arm 9-16 of the support component to identify different positions of the rotating component.

[0139] The rotating mechanism 9 is equipped with a lifting component, the structure of which is as follows: the lifting component is placed between the rotating suspension frame and the rotating component, the top end of the lifting component is fixedly connected to the bottom end of the rotating suspension frame, and the bottom end of the lifting component is fixedly connected to the rotating component.

[0140] The lifting assembly includes an upper connecting plate 9-4, a lower connecting plate 9-11, and a lifting cylinder 9-12. The upper connecting plate 9-4 is placed at the bottom end of the rotating suspension frame and fixedly connected. The lower connecting plate 9-11 is placed at the bottom end of the rotating assembly and fixedly connected. The lifting cylinder 9-12 is placed between the upper connecting plate 9-4 and the lower connecting plate 9-11. The cylinder body of the lifting cylinder 9-12 is fixedly connected to the upper connecting plate 9-4, and the push rod is fixedly connected to the lower connecting plate 9-11.

[0141] The rotating assembly includes a hoisting frame 9-10, a turntable, a rotating platform 9-9, a suspension arm 9-7, and a gripping component. The hoisting frame 9-10 is placed on the bottom surface of the lifting assembly and fixedly connected. Four suspension arms 9-7 are arranged around the turntable, which is located below the hoisting frame 9-10. The rotating platform 9-9 is placed between the hoisting frame 9-10 and the turntable. The upper end of the rotating platform 9-9 is fixedly connected to the hoisting frame 9-10, and the lower end is fixedly connected to the turntable. The gripping component is a fixed medicine container 15, which is inserted into the end of the suspension arm 9-7 and slidably engaged.

[0142] The supporting assembly includes a support base 9-15, a tray, supporting arms 9-16, and a support column 9-14. The support base 9-15 is placed on the platform 14 of the main frame, in the middle of the four processes arranged in a ring, and below the rotating assembly. The tray is placed on top of the support base 9-15 and fixedly connected. Three supporting arms 9-16 are arranged around the circumference of the tray. The three supporting arms 9-16 correspond to the coarse feeding mechanism 8, the waste removal mechanism 11, and the unloading mechanism 12, respectively. The support column 9-14 is arranged at the end of the supporting arm 9-16, corresponding to the fixed medicine container 15 that is inserted into the suspension arm 9-7, for pushing the fixed medicine container 15 out of the suspension arm 9-7 for operation.

[0143] Furthermore, the control system includes a controller, sensors, cylinder solenoid valves, vibrator solenoid valves, proportional valves, tri-color lights, a servo driver, a weighing scale, and a control panel, wherein:

[0144] The controller is used to control the automatic weighing machine for pharmaceuticals, enabling the coordinated operation of various functional mechanisms to complete the weighing of pyrotechnic agents;

[0145] The sensors are used to transmit the collected signals to the controller and are electrically connected to the controller. They include a through-beam sensor 8-1, a waste collection sensor, a first position sensor 9-5, and a second position sensor 9-5, wherein:

[0146] The through-beam sensor 8-1 is placed on both sides of the hopper of the coarse feeding mechanism 8 to monitor the material status in the hopper;

[0147] The waste collection sensor is placed on the support of the waste rejection mechanism 11 and is used to observe the position of the waste collection component and the status of the rejection collection boxes 11-15.

[0148] The first position sensor 9-5 and the second position sensor 9-5 are simultaneously placed on the support assembly of the rotating mechanism 9 to determine the current position of the lifting assembly and determine the original position during initialization.

[0149] The cylinder solenoid valves are used to control the actions of each cylinder and are electrically connected to the controller. They include an explosion-proof push rod solenoid valve, a drug-pulling cylinder solenoid valve, a pneumatic pressure regulating valve, a waste removal translation cylinder solenoid valve, a waste removal lifting cylinder solenoid valve, a waste removal swing gripper solenoid valve, a material feeding translation cylinder solenoid valve, a material feeding swing gripper 1 solenoid valve, a first material feeding lifting cylinder solenoid valve, a second material feeding lifting cylinder solenoid valve, and a rotary lifting cylinder solenoid valve, wherein:

[0150] The explosion-proof push rod solenoid valve is placed in the explosion-proof push rod gas line of the explosion-proof cover 2 and is used to open and close the explosion-proof sliding window;

[0151] The solenoid valve of the drug-pulling cylinder is placed in the air circuit of the drug-pulling machine of the coarse feeding mechanism 8 and is used for coarse feeding;

[0152] The pneumatic pressure regulating valve is placed in the air circuit of the feeder of the coarse feeding mechanism 8 and is used to regulate the air pressure of the feeder.

[0153] The solenoid valve of the waste removal translation cylinder is placed in the air circuit of the translation cylinder of the waste removal mechanism 11 and is used to control the horizontal position of the waste removal code disk hand gripper assembly.

[0154] The solenoid valve of the waste removal lifting cylinder is placed in the air circuit of the lifting cylinder 11-10 of the waste removal mechanism 11 and is used to control the height position of the waste removal code disk hand gripping assembly.

[0155] The solenoid valve of the waste removal swing gripper is placed in the air circuit of the swing gripper 11-12 of the waste removal mechanism 11, and is used to control the opening, closing and flipping of the waste removal swing gripper 11-12.

[0156] The solenoid valve of the feeding translation cylinder is placed in the air circuit of the translation cylinder of the feeding mechanism 12 and is used to control the horizontal position of the encoder hand gripper assembly.

[0157] The solenoid valve of the unloading swing gripper is placed in the air circuit of the swing gripper 12-10 of the unloading mechanism 12, and is used to control the opening, closing and flipping of the unloading swing gripper 12-10.

[0158] The first feeding lifting cylinder solenoid valve is placed in the air circuit of the first cylinder 12-7 of the feeding mechanism 12, and is used to control the height position of the feeding encoder hand gripping assembly.

[0159] The second feeding lifting cylinder solenoid valve is placed in the air circuit of the second cylinder 12-16 of the feeding mechanism 12, and is used to control the height position of the funnel frame;

[0160] The solenoid valve of the rotary lifting cylinder is placed in the air circuit of the lifting cylinder 9-12 of the rotary mechanism 9 and is used to control the height position of the rotary assembly.

[0161] The vibrator solenoid valve is used to control the vibration of each vibrator and is electrically connected to the controller. It includes a first vibrator solenoid valve and a second vibrator solenoid valve, wherein:

[0162] The first vibrator solenoid valve is placed in the air circuit of the first vibrator 10-12 of the fine feeding mechanism 10, and is used to control the start and stop of the first vibrator 10-12;

[0163] The second vibrator solenoid valve is placed in the air circuit of the second vibrator 10-1 of the fine feeding mechanism 10, and is used to control the start and stop of the second vibrator 10-1;

[0164] The proportional valve is used to control the air pressure to change the vibration force and vibration frequency of the vibrator, and is electrically connected to the controller. It includes a first proportional valve and a second proportional valve, wherein:

[0165] The first proportional valve is placed in the air circuit of the first vibrator 10-12 of the fine feeding mechanism 10 to control the air pressure, so as to change the vibration force and vibration frequency of the first vibrator 10-12.

[0166] The second proportional valve is placed in the air circuit of the second vibrator 10-1 of the fine feeding mechanism 10 to control the air pressure, so as to change the vibration force and vibration frequency of the second vibrator 10-1.

[0167] The three-color light is used to indicate the status of the automatic medicine weighing machine and is electrically connected to the controller. The three-color light is placed inside the protective cover to indicate the status of the automatic medicine weighing machine. Red indicates emergency stop, yellow indicates pause, and green indicates work completed.

[0168] The servo driver is used to receive signals from each servo motor and control the movement of each servo motor, and is electrically connected to the controller. It includes an X-direction drive motor, a Y-direction drive motor, and a rotary drive motor, wherein:

[0169] The X-direction drive motor is placed on the X-direction module of the cross module of the medicine tray assembly 13, and is used to receive and transmit motor control signals to control the X-direction drive motor to move.

[0170] The Y-direction drive motor is placed on the Y-direction module of the cross module of the medicine tray assembly 13, and is used to receive and transmit motor control signals to control the Y-direction drive motor to move.

[0171] The rotary drive motor is mounted on the rotary assembly of the rotary mechanism 9 and is used to receive and transmit control signals from the rotary platform 9-9 to control the movement of the rotary platform 9-9.

[0172] The weighing scale is used to transmit weighing signals to the controller and receive instructions from the controller, and is electrically connected to the controller. It includes a first weighing scale and a second weighing scale, wherein:

[0173] The first weighing scale is placed on the weighing module 7 and is used to weigh the first fixed medicine container 15 and the pyrotechnic agents inside it;

[0174] The second weighing scale is placed on the weighing module 7 and is used to weigh the second fixed medicine container 15 and the pyrotechnic agents inside it;

[0175] The control panel is used to enable human-machine interaction and is electrically connected to the controller.

[0176] The control structure between the mechanisms of each process and between the mechanisms of each process and the rotating mechanism 9 is as follows:

[0177] In the coarse feeding process, the fixed pyrotechnic agent is loaded into the pyrotechnic container 15. Then, it is transferred by the coarse feeding mechanism 8 to the fine feeding process via the rotating mechanism 9 for weighing. The fine feeding mechanism 10 replenishes the weight of the pyrotechnic agent to meet the standard requirements. Then, it is transferred by the fine feeding mechanism 10 to the waste rejection process via the rotating mechanism 9. The waste rejection mechanism 11 removes the unqualified pyrotechnic agent. Finally, it is transferred by the waste rejection mechanism 11 to the unloading process via the rotating mechanism 9. The unloading mechanism 12 loads the qualified pyrotechnic agent into the finished pyrotechnic container 16, completing the weighing of the pyrotechnic agent.

[0178] The electric and pneumatic control methods in this embodiment are existing technologies, and those skilled in the art can implement them using existing technologies.

[0179] The control program in this embodiment is existing technology, and those skilled in the art can develop and complete the control program for this embodiment using existing technology.

[0180] This embodiment is manufactured using existing technology. The electronic components, various cylinders, swing grippers, vibrators, explosion-proof push rods for drug pulling machines, modules, and linear bearings 12-15 are all commercially available products based on existing technology.

[0181] The working process of this embodiment is as follows: This embodiment realizes the automatic weighing of pyrotechnic agents through the control system, which is divided into two parts: manual control and automatic control.

[0182] Part 1: Manual Control: Manual control is triggered in the manual mode of the automatic weighing machine for pharmaceuticals. Using the local button 1, the cylinders, vibrators, and servo drives of the coarse feeding process, fine feeding process, waste removal process, and unloading process can be manually operated through the manual control program, and the results are displayed on the control panel.

[0183] Part Two: Automatic Control: Automatic control is triggered in the automatic mode of the automatic weighing machine for pharmaceuticals.

[0184] 1 Rotary control

[0185] The Siemens 1200 series PLC controls a Siemens TP700 smart panel and two Medler Toledo WMF weighing modules via Profinet communication. Four stations work simultaneously. After all four stations have finished, the PLC controller uses a pulse + direction method to drive the rotary drive motor to rotate the central rotary mechanism 9, transferring the pyrotechnic agent from the previous station to the next station. The encoder of the rotary drive motor is absolute, and the real-time position is read via MODBUS communication.

[0186] The PLC controller controls the height position of the rotating component through the solenoid valves of the rotary lifting cylinder 9-12.

[0187] The rotating mechanism 9 is equipped with two sensors 9-5, which have the following two functions:

[0188] 1) Determine the current location

[0189] Each suspension arm 9-7 of the rotating assembly of the rotating mechanism 9 is equipped with a unique identification mark 9-8. A first position sensor 9-5 and a second position sensor 9-5 are simultaneously installed on the supporting assembly of the rotating mechanism 9. The suspension arms 9-7 are equipped with metal detection plates as unique identification marks 9-8 in the manner of (0,0)(0,1)(1,0)(1,1). The current workstation can be determined by the signal status of the first position sensor 9-5 and the second position sensor 9-5.

[0190] 2) Determine the original position during initialization.

[0191] The first position sensor 9-5 or the second position sensor 9-5 can be used as the home position switch for the rotary mechanism 9 servo. During initialization, it can find the home position, and during automatic operation, it can also search for zero every revolution to prevent the servo from accumulating errors.

[0192] 3) Initialize the weighing and fix the tare weight of the medicine container.

[0193] During initialization, the rotating mechanism drives the empty fixed medicine bowls of each process to pass through the weighing module in sequence to measure the tare weight. The signal feedback formed between the sensor 9-5 and the metal detection piece that serves as the identification mark 9-8 corresponds to and records the tare weight of each fixed medicine bowl.

[0194] 2. Coarse Feeding Control

[0195] The PLC controller controls the propellant feeding machine to perform coarse feeding through the solenoid valve of the propellant feeding cylinder, and adjusts the air pressure of the propellant feeding machine through the pneumatic pressure regulating valve to complete the initial addition of pyrotechnic agents.

[0196] The PLC controller monitors the material status in the silo using the through-beam sensor 8-1.

[0197] 3. Feeding control

[0198] The PLC controller controls the start and stop of the first vibrator 10-12 and the second vibrator 10-1 through the first vibrator solenoid valve and the second vibrator solenoid valve, and controls the first proportional valve and the second proportional valve through analog output to control the air pressure, thereby changing the vibration force and vibration frequency of the first vibrator 10-12 and the second vibrator 10-1, achieving the purpose of vibrator frequency conversion and realizing precise feeding.

[0199] 4. Rejection Control

[0200] The PLC controller controls the waste removal mechanism 11 to remove out-of-tolerance pyrotechnic agents through the waste removal translation cylinder solenoid valve, the waste removal lifting cylinder solenoid valve, and the waste removal swing gripper solenoid valve, ensuring the accuracy of pyrotechnic agent weighing.

[0201] The PLC controller observes the location of the waste collection assembly and the status of the rejection collection boxes 11-15 through the rejection sensor.

[0202] 5. Material feeding control

[0203] The PLC controller controls the feeding mechanism 12 to pour the weighed pyrotechnic agent into the finished medicine container 16 of the medicine tray assembly 13 through the feeding translation cylinder solenoid valve, the feeding swing gripper solenoid valve, the first feeding lifting cylinder solenoid valve, and the second feeding lifting cylinder solenoid valve.

[0204] The medicine tray assembly 13 below the feeding mechanism 12 has an X-direction drive motor and a Y-direction drive motor. Four 8*8 trays 13-7 can be placed on the base plate 13-9 of the medicine tray assembly 13, with a total of 256 finished medicine containers 16 on each tray 13-7. The PLC controller controls the X-direction drive motor and the Y-direction drive motor via pulse + direction to automatically move the trays 13-7 to their positions. The trays are automatically arranged according to signals transmitted within the system to ensure that all 256 finished medicine containers 16 are full. The encoders of both the X-direction drive motor and the Y-direction drive motor are absolute type, and their real-time positions are read via MODBUS communication.

[0205] 6 Other

[0206] 1) The explosion-proof window 2 in front of the automatic weighing machine is set with a downward opening type. After the work is completed, it will automatically open. After the new tray 13-7 is replaced for the next work, click the automatic run button, the downward opening explosion-proof window will automatically close and then the work will start again.

[0207] 2) The explosion-proof three-color indicator light on the outside of the automatic medicine weighing machine is convenient for observing the status of the automatic medicine weighing machine; red indicates that the emergency stop button is pressed, yellow indicates that the machine is in a paused state (when the pause button is pressed or the equipment alarms), and green indicates that the work is completed.

[0208] 3) The automatic drug weighing machine has two control modes: local control and remote control. Local control is located next to the automatic drug weighing machine and allows for simple manual operation via buttons, facilitating debugging. Remote control is located outside the explosion-proof room and operates the automatic drug weighing machine via a touchscreen and buttons on the control panel. Local and remote control are interlocked.

[0209] 4) During normal automatic operation, if you need to change models or finish get off work, press and hold the cleaning button for 2 seconds to trigger the cleaning program. From this moment on, the medicine feeding machine will stop feeding medicine, which is equivalent to the automatic medicine weighing machine ceasing to feed material in the coarse feeding process. The cleaning signal is then transmitted sequentially to the fine feeding process, the waste removal process, and the unloading process via a shift transmission method, ensuring that the automatic medicine weighing machine stops working after processing the pyrotechnic agent on the current rotating mechanism 9, and the medicine tray assembly 13 is automatically discharged. The purpose of this program is to facilitate cleaning.

[0210] 5) Data Recording: The automatic medicine weighing machine can record the weighing value; the recording interface on the touch screen of the control panel can display the weight of the pyrotechnic agent in the finished medicine container 16 on the current medicine tray assembly 13. The display order corresponds one-to-one with the actual weight, and a maximum of 256 items can be displayed. The data will be cleared after the new tray 13-7 of the medicine tray assembly 13 is replaced and the machine restarts; using the recording function of the touch screen, 5,000 weighing results can be recorded and stored in the USB flash drive plugged into the touch screen.

[0211] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high-precision automatic pharmaceutical weighing machine, characterized in that: It includes a main frame, a coarse feeding mechanism, a fine feeding mechanism, a weighing module, a waste rejection mechanism, a discharging mechanism, a medicine tray assembly, a rotating mechanism, and a control system. The coarse feeding mechanism, the fine feeding mechanism, the waste rejection mechanism, and the discharging mechanism are arranged in a ring on the platform of the main frame. The weighing module is located on the platform of the main frame, below the fine feeding mechanism. The medicine tray assembly is located on the platform of the main frame, below the discharging mechanism. The rotating mechanism is positioned between the ring-arranged coarse feeding mechanism, fine feeding mechanism, waste rejection mechanism, and discharging mechanism. The rotating mechanism has four... Each operating terminal corresponds to the coarse feeding mechanism, the fine feeding mechanism, the waste rejection mechanism, and the unloading mechanism, respectively. Through rotation, the pyrotechnic agent is sequentially transferred from the coarse feeding mechanism to the fine feeding mechanism, the waste rejection mechanism, and the unloading mechanism. The unloading mechanism pours the weighed and qualified pyrotechnic agent into the finished product container of the powder tray assembly to complete the weighing of the pyrotechnic agent. The control system is located inside the main frame, below the platform, and fixedly connected. The control system is electrically connected to the coarse feeding mechanism, the fine feeding mechanism, the weighing module, the waste rejection mechanism, the unloading mechanism, the powder tray assembly, and the rotating mechanism.

2. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: in The platform of the high-precision automatic drug weighing machine is equipped with an explosion-proof cover, which encloses the circularly arranged coarse feeding mechanism, fine feeding mechanism, weighing module, waste rejection mechanism, unloading mechanism, medicine tray assembly, and rotating mechanism. The explosion-proof cover includes an explosion-proof cover, an explosion-proof sliding window, and an explosion-proof push rod. The explosion-proof sliding window is provided on the side wall of the explosion-proof cover. At least one explosion-proof push rod has its cylinder body on top and its piston rod on the bottom, positioned next to the explosion-proof sliding window on the side wall of the explosion-proof cover. The cylinder body of the explosion-proof push rod is fixedly connected to the side wall of the explosion-proof cover, and the piston rod is fixedly connected to the explosion-proof sliding window, so that the explosion-proof sliding window can move downward to open. A guide component is provided between the explosion-proof cover and the explosion-proof sliding window. Its structure includes a guide rail, an upper guide sleeve, and a lower guide sleeve. The two guide rails are respectively placed on both sides of the explosion-proof sliding window and between the explosion-proof push rod and the explosion-proof sliding window. The guide rails are fixedly connected to the explosion-proof cover. The upper guide sleeve is sleeved on the guide rail. The first end of the upper guide sleeve is fixedly connected to the explosion-proof sliding window. The lower guide sleeve is sleeved on the guide rail. The first end of the lower guide sleeve is fixedly connected to the explosion-proof sliding window, and the second end is fixedly connected to the piston cylinder of the explosion-proof push rod. The explosion-proof push rod is a pneumatic push rod.

3. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The main frame includes a frame body, wheels, a platform, an explosion-proof electrical cabinet, and an explosion-proof gas holder. The bottom surface of the frame body is equipped with wheels. The platform is located in the middle of the frame body and is fixedly connected. The explosion-proof electrical cabinet and the explosion-proof gas holder are both located inside the frame body, below the platform, and are fixedly connected. The control system is located in the explosion-proof electrical cabinet and the explosion-proof gas holder according to electric control and pneumatic control, respectively. The top of the rotating mechanism is fixedly connected to the frame body. The explosion-proof cover is placed on the platform, covered outside the frame body, and fixedly connected.

4. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The coarse feeding mechanism includes a fixed plate, a connecting vertical plate, a medicine pulling machine, and a funnel. The connecting vertical plate is provided at one end of the fixed plate and is fixedly connected to the rotating mechanism. The medicine pulling machine is placed on the fixed plate and fixedly connected. The funnel is inserted into the fixed plate and fixedly connected. The material receiving port of the funnel faces the feeding port and the material discharge port of the medicine pulling machine and contacts the mouth of the fixed medicine container. A wear-resistant component is installed inside the base of the medicine dispensing machine at the metering plate. Its structure is as follows: A lower anti-wear pad is installed between the bottom of the metering plate and the base of the medicine dispensing machine, and an upper anti-wear pad is installed between the top of the metering plate and the base of the medicine dispensing machine. The lower anti-wear pad includes a rubber pad and a polytetrafluoroethylene (PTFE) pad. The rubber pad is placed in the base of the drug delivery machine, below the metering plate and fixedly connected. The PTFE pad is placed between the rubber pad and the bottom of the metering plate and fixedly connected to prevent wear on the lower surface of the metering plate. The upper anti-wear pad is a polytetrafluoroethylene (PTFE) pad, which is placed on top of the metering plate and fixed between it and the base of the drug delivery machine to prevent wear on the upper surface of the metering plate.

5. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The precision feeding mechanism includes a precision feeding frame, a vibrator, a material cup, and a hopper. The upper end of the precision feeding frame is fixedly connected to the top of the main frame, and the lower end is fixedly connected to the platform of the main frame. The vibrator is placed above or below the precision feeding frame and fixedly connected. The hopper is placed next to the vibrator. The weighing module is placed on the side of the precision feeding frame and below the hopper. The material cup is placed on top of the weighing module, and the bottom surface of the material cup is in contact with the weighing module for weighing. The mouth of the material cup is opposite to the feeding channel outlet of the hopper and is used to receive pyrotechnic agents. A vibrating plate is provided between the fine feeding machine frame and the vibrator. The vibrating plate is placed on or below the fine feeding machine frame and fixedly connected. The hopper is placed next to the vibrator, inserted into the vibrating plate and fixedly connected. Shock-absorbing pads are installed between the vibrating plate and the fine feeding machine frame; The vibrator is a pneumatic vibrator; The hopper includes a porous inner hopper, an outer hopper, and a locking screw. The bottom of the porous inner hopper has several material passage holes along its circumferential surface. The bottom of the outer hopper has a discharge port. The porous inner hopper is installed inside the outer hopper. At least one material passage hole of the porous inner hopper communicates with the discharge port of the outer hopper to form a feeding channel. The size of the feeding channel depends on the relative position between the material passage hole of the porous inner hopper and the discharge port of the outer hopper. The locking screw is threaded to the outer hopper and its end contacts the porous inner hopper, used to limit the relative position between the material passage hole of the porous inner hopper and the discharge port of the outer hopper.

6. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The waste rejection mechanism includes a waste rejection suspension frame, a translation component, a code disk gripper component, a lifting component, a support, a waste collection component, and a sensor. The top of the waste rejection suspension frame is fixedly connected to the top of the main frame. The translation component is located below and fixedly connected to the bottom of the waste rejection suspension frame. The code disk gripper component is located below and fixedly connected to the translation component. A lifting component is provided between the translation component and the code disk gripper component. The upper end of the lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the code disk gripper component. The support is located below and fixedly connected to the code disk gripper component. The waste collection component is located below the code disk gripper component and above the support, and is fixedly connected to it to receive the waste dumped by the code disk gripper component. A sensor is provided below the waste collection component to observe its position. The sensor is fixedly connected to the support via a bracket. The waste removal suspension frame includes a top plate, a connecting column, and a reinforcing plate. The top plate is fixedly connected to the top of the main frame, the connecting column is located below the top plate and fixedly connected, and the reinforcing plate is located on the side of the connecting column and fixedly connected. The translation assembly includes a transition plate, side uprights, and a translation cylinder. The transition plate is placed below and fixedly connected to the connecting column and reinforcing plate of the waste removal suspension frame. The two side uprights are respectively placed at both ends of the transition plate and fixedly connected. The translation cylinder is placed between the two side uprights. The guide rail of the translation cylinder is fixedly connected to the two side uprights respectively. The slide of the translation cylinder is sleeved on the guide rail and slidably connected. The encoder gripper assembly includes a mounting plate and a swing gripper. The mounting plate is placed on the bottom surface of the slide of the translation assembly and its top end is fixedly connected to the slide. The swing gripper is placed at the bottom end of the mounting plate and fixedly connected. The gripper's claws are used to grip the fixed medicine container and pour out the medicine in the fixed medicine container. The lifting assembly includes a lifting cylinder, which is located on the side of the encoder gripper assembly. The cylinder body of the lifting cylinder is fixedly connected to the mounting plate of the encoder gripper assembly, and the push rod of the lifting cylinder is fixedly connected to the swing gripper of the encoder gripper assembly to adjust the height position of the encoder gripper assembly. The waste collection assembly includes a rejection box, a rejection collection box, and a waste funnel. The rejection box is barrel-shaped and has a waste channel inside. The rejection box is placed on a support and fixedly connected. The rejection collection box has a drawer structure and is inserted into the bottom of the rejection box to collect waste. The opening of the rejection collection box faces upward and communicates with the waste channel of the rejection box. The waste funnel is placed on top of the rejection box. The inlet of the waste funnel faces the hand gripping assembly of the stacker, and the outlet of the waste funnel is located inside the rejection box and communicates with the waste channel of the rejection box.

7. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The feeding mechanism includes a feeding suspension frame, a translation component, a encoder hand gripping component, a first lifting component, a funnel frame, a second lifting component, and a feeding funnel. The top of the feeding suspension frame is fixedly connected to the top of the main frame. The translation component is placed below the bottom of the feeding suspension frame and fixedly connected. The encoder hand gripping component is placed below the translation component and fixedly connected. The upper end of the first lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the encoder hand gripping component. The funnel frame is placed on the side of the feeding suspension frame and below the translation component. A second lifting component is arranged between the translation component and the funnel frame. The upper end of the second lifting component is fixedly connected to the translation component, and the lower end is fixedly connected to the upper end of the funnel frame. The lower end of the funnel frame is located above the finished medicine container. The feeding funnel is placed inside the funnel frame, and its outlet is aligned with the finished medicine container. The material unloading suspension frame includes a top plate, a bottom plate, and a connecting column. The top plate is fixedly connected to the top of the main frame, the bottom plate is placed below the top plate, and the connecting column is placed between the top plate and the bottom plate and fixedly connected. The translation assembly includes a transition plate, side uprights, and a translation cylinder. The transition plate is placed below the bottom plate of the unloading suspension frame and fixedly connected. The two side uprights are respectively placed at both ends of the transition plate and fixedly connected. The translation cylinder is placed between the two side uprights. The guide rail of the translation cylinder is fixedly connected to the two side uprights respectively. The slide of the translation cylinder is sleeved on the guide rail and slidably connected. The encoder gripper assembly includes a mounting plate and a swing gripper. The mounting plate is placed on the bottom surface of the slide of the translation assembly and its top end is fixedly connected to the slide. The swing gripper is placed at the bottom end of the mounting plate and fixedly connected. The gripper's claws are used to grip the fixed medicine container and pour out the medicine in the fixed medicine container. The first lifting component includes a first cylinder, which is located on the side of the encoder gripper component. The cylinder body of the first cylinder is fixedly connected to the mounting plate of the encoder gripper component, and the push rod of the first cylinder is fixedly connected to the swing gripper of the encoder gripper component to adjust the height position of the encoder gripper component. The funnel frame includes a tray and optical shafts. The tray is provided with a receiving hole for accommodating the feeding funnel. The tray is located below the swinging pneumatic gripper of the encoder hand gripper assembly and at the first end of the translation assembly. The two optical shafts are respectively placed at both ends of the tray and on both sides of the first end of the translation assembly. The upper end of the optical shaft is fixedly connected to the lifting plate of the second lifting assembly, and the lower end is fixedly connected to the tray. The middle of the optical shaft passes through the transition plate of the translation assembly and is fixedly connected to the transition plate through a linear bearing. The feeding funnel is placed in the receiving hole of the tray. The second lifting assembly includes a lifting plate, a second cylinder, and a linear bearing. The lifting plate is positioned above the transition plate of the translation assembly. The upper ends of the two optical axes of the funnel frame are respectively fixedly connected to the lifting plate. The second cylinder is positioned between the transition plate and the lifting plate of the translation assembly. The cylinder body of the second cylinder is fixedly connected to the transition plate of the translation assembly, and the push rod is fixedly connected to the lifting plate. It is used to adjust the height position of the funnel frame. The linear bearing is positioned between the transition plate of the translation assembly and the optical axis of the funnel frame. The linear bearing is fixedly connected to the transition plate of the translation assembly and slidably connected to the optical axis of the funnel frame. A leak-proof cover is installed at the discharge port of the feeding funnel. A material passage hole is provided in the middle of the leak-proof cover. The upper end of the leak-proof cover is sealed to the discharge port of the feeding funnel, and the lower end is sealed to the mouth of the finished medicine container.

8. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The medicine tray assembly includes a module mounting plate, a cross module, a base plate, a tray, and medicine bowls. The module mounting plate is placed on the platform of the main frame, below the unloading mechanism, and is fixedly connected. The cross module is mounted on the module mounting plate, the base plate is placed on the cross module, the tray is placed on the base plate and is fixedly connected, and several medicine bowls are placed inside the tray. A conductive rubber pad is provided between the base plate and the tray.

9. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The rotating mechanism includes a rotating suspension frame, a rotating assembly, and a supporting assembly. The rotating suspension frame is positioned in the middle of the coarse feeding mechanism, the fine feeding mechanism, the waste rejection mechanism, and the unloading mechanism arranged in a ring around the automatic drug weighing machine. The top end of the rotating suspension frame is fixedly connected to the top end of the main frame. The rotating assembly has four suspension arms along its circumference, each corresponding to one of the four mechanisms. A fixed medicine container is provided at the end of each suspension arm for holding pyrotechnic agents. The rotating assembly is placed below and fixed to the rotating suspension frame. By rotating, the rotating assembly transfers the fixed medicine container at the end of the suspension arm from the coarse feeding mechanism to the fine feeding mechanism, the waste removal mechanism, and the unloading mechanism to complete the weighing of the pyrotechnic agent. The supporting assembly is placed on the table of the main frame, in the middle of the four circularly arranged processes, and below the rotating assembly. The supporting assembly has three supporting arms around its circumference, which correspond to the coarse feeding mechanism, the waste removal mechanism, and the unloading mechanism, respectively. The lower end of the supporting assembly is fixed to the table of the main frame. The rotating mechanism is equipped with an identification component, the structure of which is: a unique identification mark is set on each suspension arm of the rotating component, and a sensor for reading is set on at least one support arm of the support component to identify different positions of the rotating component. The rotating mechanism is equipped with a lifting component, the structure of which is as follows: the lifting component is placed between the rotating suspension frame and the rotating component, the top end of the lifting component is fixedly connected to the bottom end of the rotating suspension frame, and the bottom end of the lifting component is fixedly connected to the rotating component. The lifting assembly includes an upper connecting plate, a lower connecting plate, and a lifting cylinder. The upper connecting plate is placed at the bottom end of the rotating suspension frame and fixedly connected. The lower connecting plate is placed at the bottom end of the rotating assembly and fixedly connected. The lifting cylinder is placed between the upper connecting plate and the lower connecting plate. The cylinder body of the lifting cylinder is fixedly connected to the upper connecting plate, and the push rod is fixedly connected to the lower connecting plate. The rotating assembly includes a hoisting frame, a turntable, a rotating platform, a suspension arm, and a gripping component. The hoisting frame is placed on the bottom surface of the lifting assembly and fixedly connected. The turntable is provided with four suspension arms around its circumference and is located below the hoisting frame. The rotating platform is located between the hoisting frame and the turntable, with its upper end fixedly connected to the hoisting frame and its lower end fixedly connected to the turntable. The gripping component is a fixed medicine container, which is inserted into the end of the suspension arm and slidably engaged. The supporting assembly includes a support base, a tray, supporting arms, and a support column. The support base is placed on the table surface of the main frame, in the middle of the four processes arranged in a ring, and below the rotating assembly. The tray is placed on top of the support base and fixedly connected. Three supporting arms are arranged around the circumference of the tray, and the three supporting arms correspond to the coarse feeding mechanism, the waste removal mechanism, and the unloading mechanism, respectively. The support column is arranged at the end of the supporting arm, corresponding to the fixed medicine container that is inserted into the suspension arm, for pushing the fixed medicine container out of the suspension arm for operation.

10. The high-precision automatic pharmaceutical weighing machine as described in claim 1, characterized in that: The control system includes a controller, sensors, a cylinder solenoid valve, a vibrator solenoid valve, a proportional valve, a tri-color indicator light, a servo driver, a weighing scale, and a control panel. The control system is electrically connected to the sensors, the cylinder solenoid valve, the vibrator solenoid valve, the proportional valve, the tri-color indicator light, the servo driver, the weighing scale, and the control panel, respectively. The controller is used to control the automatic weighing machine for pharmaceuticals, enabling the coordinated operation of various functional mechanisms to complete the weighing of pyrotechnic agents; The sensors are used to transmit the collected signals to the controller and are electrically connected to the controller. They include a through-beam sensor, a waste collection sensor, a first position sensor, and a second position sensor, wherein: The through-beam sensors are placed on both sides of the hopper of the coarse feeding mechanism to monitor the material status inside the hopper; The waste collection sensor is placed on the support of the waste rejection mechanism to observe the position of the waste collection component and the status of the rejection collection box; The first position sensor and the second position sensor are simultaneously placed on the support assembly of the rotating mechanism to determine the current position of the lifting assembly and determine the original position during initialization. The cylinder solenoid valves are used to control the actions of each cylinder and are electrically connected to the controller. They include an explosion-proof push rod solenoid valve, a drug-pulling cylinder solenoid valve, a pneumatic pressure regulating valve, a waste-removing translation cylinder solenoid valve, a waste-removing lifting cylinder solenoid valve, a waste-removing swing gripper solenoid valve, a material-discharging translation cylinder solenoid valve, a material-discharging swing gripper solenoid valve, a first material-discharging lifting cylinder solenoid valve, a second material-discharging lifting cylinder solenoid valve, and a rotary lifting cylinder solenoid valve, wherein: The explosion-proof push rod solenoid valve is placed in the explosion-proof push rod gas line of the explosion-proof cover and is used to open and close the explosion-proof sliding window; The solenoid valve of the pneumatic cylinder for plucking is placed in the air circuit of the plucking machine of the coarse feeding mechanism and is used for coarse feeding; The pneumatic pressure regulating valve is placed in the air circuit of the feeder of the coarse feeding mechanism and is used to regulate the air pressure of the feeder. The solenoid valve of the waste removal translation cylinder is placed in the air circuit of the translation cylinder of the waste removal mechanism and is used to control the horizontal position of the waste removal code disk hand gripper assembly. The solenoid valve of the waste removal lifting cylinder is placed in the air circuit of the lifting cylinder of the waste removal mechanism and is used to control the height position of the waste removal code disk hand gripper assembly. The solenoid valve of the waste removal swing gripper is placed in the air circuit of the swing gripper of the waste removal mechanism and is used to control the opening, closing and flipping of the waste removal swing gripper. The solenoid valve of the feeding translation cylinder is placed in the air circuit of the translation cylinder of the feeding mechanism and is used to control the horizontal position of the encoder hand gripper assembly. The solenoid valve of the unloading swing gripper is placed in the air circuit of the swing gripper of the unloading mechanism and is used to control the opening, closing and flipping of the unloading swing gripper. The first feeding lifting cylinder solenoid valve is placed in the air circuit of the first cylinder of the feeding mechanism to control the height position of the feeding encoder hand gripping assembly; The second feeding lifting cylinder solenoid valve is located in the air circuit of the second cylinder of the feeding mechanism and is used to control the height position of the funnel frame. The solenoid valve of the rotary lifting cylinder is placed in the air circuit of the lifting cylinder of the rotary mechanism and is used to control the height position of the rotary component. The vibrator solenoid valve is used to control the vibration of each vibrator and is electrically connected to the controller. It includes a first vibrator solenoid valve and a second vibrator solenoid valve, wherein: The first vibrator solenoid valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the start and stop of the first vibrator; The second vibrator solenoid valve is located in the air circuit of the second vibrator of the fine feeding mechanism and is used to control the start and stop of the second vibrator; The proportional valve is used to control the air pressure to change the vibration force and vibration frequency of the vibrator, and is electrically connected to the controller. It includes a first proportional valve and a second proportional valve, wherein: The first proportional valve is placed in the air circuit of the first vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the first vibrator; The second proportional valve is placed in the air circuit of the second vibrator of the fine feeding mechanism to control the air pressure, thereby changing the vibration force and vibration frequency of the second vibrator; The three-color light is used to indicate the status of the automatic medicine weighing machine and is electrically connected to the controller. The three-color light is placed inside the protective cover to indicate the status of the automatic medicine weighing machine. Red indicates emergency stop, yellow indicates pause, and green indicates work completed. The servo driver is used to receive signals from each servo motor and control the movement of each servo motor, and is electrically connected to the controller. It includes an X-direction drive motor, a Y-direction drive motor, and a rotary drive motor, wherein: The X-direction drive motor is located on the X-direction module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the X-direction drive motor to move. The Y-direction drive motor is located on the Y-direction module of the cross module of the medicine tray assembly, and is used to receive and transmit motor control signals to control the Y-direction drive motor to move. The rotary drive motor is mounted on the rotary assembly of the rotary mechanism and is used to receive and transmit control signals from the rotary platform to control the movement of the rotary platform. The weighing scale is used to transmit weighing signals to the controller and receive instructions from the controller, and is electrically connected to the controller. It includes a first weighing scale and a second weighing scale, wherein: The first weighing scale is placed on the weighing module and is used to weigh the first fixed medicine container and the pyrotechnic agents inside it. The second weighing scale is placed on the weighing module and is used to weigh the second fixed medicine container and the pyrotechnic agents inside it; The control panel is used to enable human-machine interaction and is electrically connected to the controller. The control structures between the mechanisms of each process, and between the mechanisms of each process and the rotating mechanism, are as follows: In the coarse feeding process, the pyrotechnic agent is loaded into the fixed charging container. Then, the coarse feeding mechanism transfers it to the fine feeding process via a rotating mechanism to weigh it. The fine feeding mechanism replenishes the weight of the pyrotechnic agent to meet the standard requirements. Then, the fine feeding mechanism transfers it to the rejection process via a rotating mechanism. The rejection mechanism removes the unqualified pyrotechnic agent. Finally, the rejection mechanism transfers it to the unloading process via a rotating mechanism. The unloading mechanism loads the qualified pyrotechnic agent into the finished charging container, completing the weighing of the pyrotechnic agent.

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