Rotary unloading automatic sequencing device

Abstract

This invention discloses an automatic rotary feeding and sorting device, which includes a fixed disk, a guiding mechanism, a rotary disk, a robotic arm, and a discharging mechanism. The guiding mechanism is provided with an opening track section, a clamping track section, a flipping track section, and a release track section surrounding the fixed disk. The robotic arm is respectively positioned at the opening, clamping, flipping, and release positions of the rotary disk and can move along the preset tracks of the opening, clamping, flipping, and release tracks to perform opening, clamping, flipping, and releasing actions to clamp materials onto the discharging mechanism. The automatic rotary feeding and sorting device disclosed in this invention realizes the orderly arrangement of the robotic arm's opening, clamping, flipping, and smooth release of medicine rolls onto the discharging mechanism, making the medicine clamping work safe and orderly, and avoiding the problem of medicine rolls being piled up haphazardly on the conveyor belt and then manually sorted, as in the prior art.

Description

Technical Field

[0001] This invention relates to the field of emulsion explosive production and packaging, and more particularly to an automatic rotary feeding and sorting device. Background Technology

[0002] Emulsion explosives refer to a type of water-in-oil emulsion-type water-resistant industrial explosive prepared using emulsification technology. They consist of fine droplets of an oxidizing agent aqueous solution as the dispersed phase, suspended in a continuous medium composed of an oil-like substance containing dispersed air bubbles or hollow glass microspheres, forming a special water-in-oil emulsion system. Currently, the most widely used emulsion explosive loading machine in the civil explosives industry is the rotary clamping loading machine. This type of machine typically has 12 clamping heads when producing small-diameter explosive cartridges, achieving a production speed of approximately 300 cartridges per minute. The emulsion explosives produced by the loading machine are cut into individual cartridges by the clamping heads, then thrown onto a conveyor belt by a rotating turntable for transport. During this process, the cartridges are initially disordered. A sorting device then organizes the cartridges, followed by tube arrangement or sorting using robots (requiring several robots). This method currently suffers from low efficiency, high equipment cost, and complex structure.

[0003] Therefore, it is necessary to propose a rotary feeding automatic sorting device to solve the above-mentioned defects. Summary of the Invention

[0004] The main objective of this invention is to provide a rotary feeding and automatic sorting device, which aims to solve the problem of low production efficiency caused by the existing disordered arrangement of medicine rolls requiring manual sorting by operators.

[0005] To achieve the above objectives, the present invention provides an automatic rotary feeding and sorting device, comprising a fixed disk, a guide mechanism mounted on the fixed disk, a rotary disk with multiple stations, a robot arm mounted on the rotary disk, and a discharge mechanism for placing materials gripped by the robot arm. The guide mechanism is provided with an opening track section, a clamping track section, a flipping track section, and a release track section surrounding the outer periphery of the fixed disk. The robot arm is respectively disposed at the opening station, clamping station, flipping station, and release station of the rotary disk and can move along the preset trajectories of the opening track section, the clamping track section, the flipping track section, and the release track section to realize the opening, clamping, flipping, and releasing actions of the robot arm to clamp the materials onto the discharge mechanism.

[0006] Preferably, the guiding mechanism includes multiple track clamping assemblies fixed on the fixed disk and multiple tracks with preset trajectories. Each track clamping assembly is evenly distributed around the fixed disk with the axis of the fixed disk as the center. Each track surrounds the circumference of the rotating disk and is fixed on the track clamping assembly. The robot arm at each station contacts the corresponding track.

[0007] Preferably, the plurality of robotic arms include a mounting base fixed on the rotary disk, an upper clamping arm rotatably connected to the mounting base, and a lower clamping arm rotatably connected to the upper clamping arm. The plurality of tracks are a first track, a second track, a third track, and a fourth track. The first track, the second track, the third track, and the fourth track are each formed with a preset curved shape. The first track surrounds the release station and the flipping station. The second track and the third track are arranged vertically and simultaneously surround the opening station. The third track bends and extends from the opening station to the clamping station. The fourth track is located at the release station. The upper clamping arm and the lower clamping arm contact different tracks under the drive of the rotary disk to realize the opening, clamping, flipping, and releasing actions.

[0008] Preferably, the upper clamping arm includes an upper clamp, a first clamping rod, a first follower roller, and a first elastic tensioning member. The first clamping rod is hinged to the mounting base, and the upper clamp and the first follower roller are respectively connected to the two ends of the first clamping rod. The two ends of the first elastic tensioning member are respectively connected to the mounting base and the first clamping rod. The rolling surface of the first follower roller is in contact with the track. The lower clamping arm includes a lower clamp, a second clamping rod, a second follower roller, and a second elastic tensioning member. The second clamping rod is hinged to the first clamping rod, and the lower clamp and the second follower roller are respectively connected to the two ends of the second clamping rod. The two ends of the second elastic tensioning member are respectively connected to the first clamping rod and the second clamping rod. The rolling surface of the second follower roller is in contact with the track. The upper clamp and the lower clamp can be closed to form a clamping space that can accommodate materials.

[0009] Preferably, the upper clamp is a first clamping plate with an arc-shaped cross-section fixedly connected to the first clamping rod, and the lower clamp includes a connecting plate connected to the end of the second clamping rod and a second clamping plate with an arc-shaped cross-section that extends from the end of the connecting plate. The first clamping plate and the second clamping plate can be closed to form a clamping space that can accommodate materials.

[0010] Preferably, the first follower roller and the second follower roller have the same structure, the first follower roller is axially mounted to the end of the first clamping rod, and the second follower roller is axially mounted to the end of the second clamping rod.

[0011] Preferably, the material discharge mechanism includes a frame, a drive wheel and a driven wheel fixed on the frame, and a conveying mechanism wound around the drive wheel and the driven wheel. The conveying mechanism includes a conveyor belt and a plurality of material carriers fixed to the outer surface of the conveyor belt for loading materials. Each material carrier is arranged sequentially at intervals along the movement direction of the conveyor belt.

[0012] Preferably, a material loading trough for placing materials is formed between two adjacent material loading racks. Each material loading rack includes a base plate and a side plate that bends and extends from one side of the base plate. The material loading trough is formed in the space enclosed by the base plate and the side plates of the two adjacent material loading racks.

[0013] Preferably, each of the material carriers is provided with a material loading trough for loading materials.

[0014] Preferably, both the driving wheel and the driven wheel are provided with external meshing teeth on their outer contours, and the inner side of the conveyor belt is provided with internal meshing teeth, and the external meshing teeth and the internal meshing teeth mesh and drive each other.

[0015] Compared with the prior art, the rotary unloading automatic sorting device provided by the present invention has the following beneficial effects:

[0016] The rotary feeding automatic sorting device provided by this invention uses a robotic arm to grip the medicine rolls. During the rotation of the rotary disc, the robotic arm moves along a preset trajectory of the opening, gripping, flipping, and releasing sections of the guide mechanism. This achieves the orderly arrangement of the medicine rolls on the feeding mechanism through the robotic arm's opening, gripping, flipping, and smooth release. This ensures safe and orderly medicine handling. By replacing electrical control with a purely mechanical structure, the device is more stable and reliable. It avoids the problem in existing technologies where medicine rolls are randomly piled on the conveyor belt after being clipped by the rotary clipping head, requiring manual or robotic sorting. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0018] Figure 1 A perspective view of the rotary unloading automatic sorting device provided by the present invention;

[0019] Figure 2for Figure 1 The front view of the rotary unloading automatic sorting device is shown.

[0020] Figure 3 for Figure 1 The diagram shows a partial structural diagram of the rotary automatic sorting device.

[0021] Figure 4 for Figure 1 The diagram shows a partial structural diagram of the guiding mechanism.

[0022] Figure 5 for Figure 1 A 3D view of the robotic arm shown;

[0023] Figure 6 for Figure 1 The diagram shown is a structural schematic of the robotic arm.

[0024] Figure 7 for Figure 6 The diagram shown is a structural schematic of the robotic arm in its open state.

[0025] Figure 8 for Figure 6 The diagram shows the structure of the robotic arm clamping the medicine roll.

[0026] Figure 9 for Figure 6 The diagram shows the structure of the robotic arm in its flipped state.

[0027] Figure 10 for Figure 6 The diagram shows the structure of the robotic arm in the state of releasing the drug roll;

[0028] Figure 11 for Figure 1 A three-dimensional view of the material feeding mechanism shown;

[0029] Figure 12 for Figure 11 The diagram shows a partial structural diagram of the material discharge mechanism.

[0030] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0031] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0033] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0034] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0035] Please refer to the appendix. Figures 1-3 This invention provides a rotary feeding and automatic sorting device, which is coaxially disposed below a rotary clamping head. The rotary clamping head clamps the emulsion explosive cartridge and breaks it into a rod-shaped cartridge 1, thereby realizing the rotary feeding action. The rotary feeding and automatic sorting device is used to clamp the cartridge 1 on the rotary clamping head and place it on the explosive loading mechanism.

[0036] The rotary feeding and automatic sorting device includes a fixed disk 10, a guide mechanism 30 mounted on the fixed disk 10, a multi-station rotary disk 50, a plurality of robotic arms 70 circumferentially mounted on the rotary disk 50, and a discharge mechanism 90 for placing materials held by the robotic arms 70. The guide mechanism 30 is provided with an opening track section, a clamping track section, a flipping track section, and a release track section surrounding the outer periphery of the fixed disk 10. The plurality of robotic arms 70 are respectively arranged on the opening station 51, clamping station 53, flipping station 55, and release station 57 of the rotary disk 50 and can move along the preset trajectory of the opening track section, the clamping track section, the flipping track section, and the release track section to realize the opening, clamping, flipping, and releasing actions of the robotic arms 70 to clamp the medicine roll 1 onto the discharge mechanism 90. Specifically, in the initial state, the robotic arm 70 clamps the drug roll 1 from the rotating clamping head. As the rotating disk 50 moves, when the robotic arm 70 installed on the opening station 51 is connected to the opening track section, it forces the robotic arm 70 to rotate and open. When the robotic arm 70 installed on the clamping station 53 is connected to the clamping track section, it returns to the initial state and clamps the drug roll. When the robotic arm 70 installed on the flipping station 55 is connected to the clamping track section, it forces the robotic arm 70 to rotate and flip. When the robotic arm 70 installed on the release station 57 is connected to the release track section, it forces the robotic arm 70 to rotate and release the drug roll onto the discharge mechanism 90, arranging the drug rolls one by one in a row. The robotic arm 70 grips the pill rolls, and during the rotation of the rotary table 50, it moves along the preset trajectories of the opening, gripping, flipping, and releasing sections of the guide mechanism 30. This achieves the orderly arrangement of the robotic arm 70 in opening, gripping, flipping, and smoothly releasing the pill rolls onto the discharge mechanism 90. This ensures safe and orderly pill-gripping operations. By replacing electronic control with a purely mechanical structure, the structure is more stable and reliable. This avoids the problem in existing technologies where pill rolls are randomly piled on the conveyor belt after being clipped by the rotating clipping head, requiring manual or robotic sorting.

[0037] Please refer to the attached document. Figure 4Specifically, in this embodiment, the guiding mechanism 30 includes multiple track clamping assemblies 31 fixed to the fixed disk 10 and multiple tracks 33 with preset trajectories. Each track clamping assembly 31 is evenly distributed around the fixed disk 10 with its axis as the center. Each track 33 surrounds the rotating disk 50 and is fixed to the track clamping assembly. The track clamping assembly 31 is mounted facing outwards from the fixed disk 10, and a clamping bar protrudes outwards from the track clamping assembly 31 to hold the track 33. The robotic arm at each workstation contacts the corresponding track. That is, the robotic arm on the opening station 51 contacts the track on the opening track section, the robotic arm on the clamping station 53 contacts the track on the clamping track section, the robotic arm on the flipping station 55 contacts the track on the flipping track section, and the robotic arm on the release station 57 contacts the track on the flipping track section. By setting preset trajectories of the tracks with different shapes to change their concave or convex curve shapes, the robotic arms in contact with them rotate and pass through different trajectories, thereby realizing different states of opening, clamping, flipping, and releasing.

[0038] It should be noted that each of the robotic arms 70 is mounted on the same rotating disk 50. The rotating disk 50 is located below the rotating card head and is coaxially arranged with the rotating card head. Both are driven by the same rotating driver. Without the need for additional power, the original power of the equipment is used to achieve different movements of the rotating disk 50 and the robotic arms 70.

[0039] Please refer to the appendix. Figure 5 Furthermore, each of the robotic arms 70 includes a mounting base 71 fixed to the periphery of the rotating disk 50, an upper clamping arm 73 rotatably connected to the mounting base 71, and a lower clamping arm 75 rotatably connected to the upper clamping arm 73. By simply mounting the robotic arm 70 onto the rotating disk 50, a series of actions such as gripping, flipping, and releasing the medication roll can be achieved through the interaction between the fixed track and the upper and lower clamping arms 73 and 75. It is understood that this method allows the robotic arm 70 to move synchronously with any moving part, resulting in quick and accurate movements. This solves the problem in existing technologies where power and control (cylinders and motors) are required to provide power, leading to complex structures and low accuracy.

[0040] Please refer to the following: Figure 3 and 4It is understood that the multiple tracks are divided into the opening track section, the clamping track section, the flipping track section and the releasing track section according to the working position of the rotating disk 50. Specifically, the multiple tracks are designated as a first track 331, a second track 333, a third track 335, and a fourth track 336. The first track 331, second track 333, and third track 335 each form a preset curved shape. The first track 331 is located at the release station 57 and the flipping station 55. The second track 333 and third track 335 are arranged vertically and simultaneously located at the opening station 51. The third track 335 curves and extends from the opening station 51 to the clamping station 53. The fourth track 336 is located at the release station. The upper clamping arm 73 contacts the third track 335, while the lower clamping arm 75 contacts the second track 333. Due to the curved deformation of the second track 333 and the third track 335, the upper and lower clamps of the robotic arm 70 are open. In the following states: When the upper clamping arm 73 contacts the third track 335, the upper and lower clamping heads of the robotic arm 70 are clamped due to the curve deformation of the third track 335; when the upper clamping arm 73 contacts the first track 331, the upper clamping arm 73 can rotate further under the curve deformation of the first track 331, so that the robotic arm can flip at a certain angle while clamped; when the upper clamping arm contacts the first track 331 and the lower clamping arm contacts the fourth track 336, the drug cartridge is released under the curve deformation of the first and fourth tracks; the upper clamping arm 73 and the lower clamping arm 75 contact different tracks under the drive of the rotating disk 50 to realize the opening, clamping, flipping and releasing actions. Therefore, by using the preset deformed tracks, the robotic arm can achieve various states by rotating and moving synchronously with the rotating disk. By flexibly changing the structure of a purely mechanical system, various states can be achieved. Each robot at each station of the rotary table does not require individual control components to control it, and different activity states can be achieved. The control of a purely mechanical structure is more reliable than that of electrical components, and complex motion modes are realized using a simple mechanical structure.

[0041] It should be explained that the upper clamping arm 73 and the lower clamping arm 75 engage with the inner side of the first track 331, the second track 333, or the third track 335. The first track 331, the second track 333, and the third track 335 form a preset curve change, and the curve deformation is similar to the motion principle of a cam mechanism. It can be understood that during the rotation of the cam, the outer contour curve of the cam changes, thereby causing a change in the stroke of the component in contact with the outer contour line of the cam to achieve the reciprocating movement of the component. Based on this principle, when the curve shape of each track changes, the ends of the lower clamping arm 75 and the upper clamping arm 73 in contact with the track change position. Since the upper clamping arm 73 and the lower clamping arm 75 are rotatably connected, the upper clamping arm 73 and the lower clamping arm 75 can rotate to achieve different states of the upper clamping arm 73 and the lower clamping arm 75. Understandably, when the upper clamping arm 73 or the lower clamping arm 75 needs to rotate to change its angle to change its state, for example, from a clamped state to an open state, the track can change from a smooth curve to an inward concave shape. Because the meshing curve changes, the upper clamping arm 73 or the lower clamping arm 75 will rotate.

[0042] Please refer to the following: Figure 5 and Figure 6 Specifically, the upper clamping arm 73 includes an upper clamp 731, a first clamping rod 733, a first follower roller 735, and a first elastic tensioning member 737. The first clamping rod 733 is hinged to the mounting base 71, and the upper clamp 731 and the first follower roller 735 are respectively connected to the two ends of the first clamping rod 733. The two ends of the first elastic tensioning member 737 are respectively connected to the mounting base 71 and the first clamping rod 733. The rolling surface of the first follower roller 735 contacts the track and moves along the track under the drive of the rotating disk 50. The lower clamping arm 75 includes a lower clamp 751, a second clamping rod 753, a second follower roller 755, and a second elastic tensioning member 757. The second clamping rod 753 is hinged to the first clamping rod 733. The lower clamp 751 and the second follower roller 755 are respectively connected to the two ends of the second clamping rod 753. The two ends of the second elastic tensioning member 757 are respectively connected to the first clamping rod 733 and the second clamping rod 753. The rolling surface of the second follower roller 755 contacts the track and moves along the track under the drive of the rotating disk 50. The upper clamp 731 and the lower clamp 751 can close together to form a clamping space that can accommodate materials. Therefore, the various motion states of the manipulator 70 are realized through a purely mechanical structure, which is more energy-efficient and efficient than pneumatic and electric systems, and the movements are more accurate. Moreover, it shares the same power source with the rotating disk 50 and achieves synchronous movement with the rotation speed of the rotating disk, eliminating the need for manual intervention and resulting in high work efficiency.

[0043] Furthermore, the upper clamp 731 is a first clamping plate with an arc-shaped cross-section fixedly connected to the first clamping rod 733. The lower clamp 751 includes a connecting plate 758 connected to the end of the second clamping rod 753 and a second clamping plate 759 with an arc-shaped cross-section that extends from the end of the connecting plate 758. The first clamping plate (the upper clamp 731) and the second clamping plate 759 can be closed to form a clamping space that can accommodate materials. The first clamping plate rotates an angle under the action of the first clamping rod 733, and the second clamping plate 759 rotates an angle under the action of the second clamping rod 753. The rotation of the first clamping plate and the second clamping plate 759 realizes the opening and clamping of the medicine roll.

[0044] Specifically, in this embodiment, both the first elastic tensioning member 737 and the second elastic tensioning member 757 are springs. The first clamping rod 733 and the second clamping rod 753 are tightened by the preload of the springs, while the tensile deformable force of the springs adapts to various stretching conditions. Preferably, both the first elastic tensioning member 737 and the second elastic tensioning member 757 are double-hook tension springs.

[0045] Specifically, the first follower roller 735 and the second follower roller 755 have the same structure. The first follower roller 735 is axially mounted to the end of the first clamping rod 733 via a bearing and can rotate around the axis of the first clamping rod 733. The second follower roller 755 is axially mounted to the end of the second clamping rod 753 via a bearing and can rotate around the axis of the second clamping rod 753.

[0046] The rolling surfaces of the first follower roller 735 and the second follower roller 755 are arc-shaped surfaces that match the cross-sectional shape of the track. Meanwhile, the track 33 is a round rod with a preset curved shape. Thus, the upper clamping arm 73 and the lower clamping arm 75 form point contact with the track, and the lower clamping arm 75 forms point contact with the upper track. This allows for state adjustment through different contact positions.

[0047] Furthermore, the first clamping rod 733 is formed by bending a round rod. Specifically, the first clamping rod 733 includes a vertical mounting section 7331 and a clamping section 7333 extending from the mounting section 7331. The second clamping rod 753 includes a vertical assembly section 7531 and a bracket 7533 connected to the assembly section 7531. In the clamping state, the clamping section 7333 is parallel to the bracket 7533 to achieve clamping of the medicine roll.

[0048] Please refer to the appendix. Figure 7 , Figure 7The diagram shows the robot arm 70 in its open state under the action of the track 33. Specifically, the first elastic tensioner 737 tensions the first clamping rod 733. At this time, the first follower roller 735 is pressed against the third track 335. The upper clamping arm 73 remains vertical under the combined action of the first elastic tensioner 737 and the third track 335. Simultaneously, the second follower roller 755, under the action of the second track 333, causes the second clamping rod 753 to rotate inward around the second hinge center 754, thereby causing the upper and lower clamps of the robot arm 70 to open.

[0049] Please refer to the appendix. Figure 8 , Figure 8 The illustration shows the state in which the robotic arm 70 clamps the medication roll under the action of the track 33. Specifically, the second elastic tensioning member 757 tightens the second clamping rod 753. At this time, the first follower roller 735 is pressed against the third track 335. The upper clamping arm 73 remains vertical under the combined action of the second elastic tensioning member 757 and the third track 335. Simultaneously, the second follower roller 755 disengages from the second track 333. Under the action of the second elastic tensioning member 757, the upper clamp and the lower clamp remain in a clamped state.

[0050] Please refer to the appendix. Figure 9 , Figure 9 The diagram illustrates the state in which the robotic arm 70 is flipped under the action of the track 33. Specifically, the second follower roller 755, guided by the first track 331 (the second follower roller 755 is close to the first track 331), flips outward at a certain angle around the first hinge center 734. Simultaneously, the first clamping rod 733, under the action of the first elastic tensioning member 737, is tightened by the first elastic tensioning member 737. When the upper clamp and the lower clamp are in the clamping state, the robotic arm flips at a certain angle.

[0051] Please refer to the appendix. Figure 10 , Figure 10 The illustration shows the state in which the robotic arm 70 releases the medication roll under the action of the track. Specifically, the first gripping rod 733, guided by the first track 335 (with the first follower roller 735 close to the first track 331), has rotated outward to a certain angle around the first hinge center 734. At the same time, the fourth track 336 closes to the second follower roller 755, causing the second gripping rod 753 to rotate around the second hinge center 754 and open to a certain angle. At this time, the upper and lower grippers are in an open state, realizing the function of releasing the medication roll.

[0052] Furthermore, the rotating disk 50 is coaxially arranged with the fixed disk 10, and the rotating disk 50 is positioned above the fixed disk 10. The rotating disk 50 and the fixed disk 10 are integrated, which makes the structure more compact.

[0053] Please refer to the appendix. Figure 11 The discharge mechanism 90 is used to load the pill rolls 1 held by the robotic arm 70. The discharge mechanism 90 includes a frame 91, a drive wheel 93 and a driven wheel 95 fixed to the frame 91, a conveying mechanism 97 wound around the drive wheel 93 and the driven wheel 95, and a driver for driving the drive wheel 93. The conveying mechanism 97 includes a conveyor belt 971 and several material carriers 973 fixed to the outer surface of the conveyor belt for loading materials. Each material carrier 973 is arranged sequentially at intervals along the direction of movement of the conveyor belt. By arranging multiple material carriers 973 laterally side-by-side on the conveyor belt, pill rolls can be discharged one by one onto each material carrier 973. Each material carrier 973 accommodates one pill roll, ensuring orderly and uniform automatic arrangement of the pill rolls during transport. This solves the problems of uneven pill roll arrangement, pill roll piling, and pill roll misalignment caused by flat belt conveying in the prior art, which requires manual intervention for discharge.

[0054] Please refer to the appendix. Figure 12 Specifically, in this embodiment, a material loading trough 975 for placing materials is formed between two adjacent material carriers 973. Each material carrier 973 includes a base plate 977 and a side plate 979 that bends and extends from one side of the base plate 977. The material loading trough 975 is formed in the space enclosed by the base plate 977 and the side plates 979 of the two adjacent material carriers 973. A plurality of material loading troughs 975 are formed between multiple material carriers 973 and arranged in a row. A medicine roll is placed in one material loading trough 975 so that the medicine roll is evenly arranged.

[0055] Furthermore, the cross-section of the material carrier 973 is L-shaped. The L-shaped material carrier 973 and the side plate 979 of the adjacent material carrier 973 form a material loading groove 975. The material loading groove 975 is rectangular and adapted to the structural shape of the rod-shaped drug roll for easy loading.

[0056] Furthermore, the width of the material loading trough 975 is greater than the width of a single material but less than the combined width of two materials. This ensures that the width of the material loading trough 975 is just enough to hold one medicine roll, guaranteeing an orderly and uniform arrangement of the medicine rolls during transport.

[0057] Specifically, the conveyor belts 971 are two belts arranged side-by-side and spaced apart on the driving wheel 93 and the driven wheel 95, and each of the material carriers 973 is fixedly connected to both conveyor belts 971. In order to reduce material consumption, the two conveyor belts 971 are narrow-width conveyor belts. Of course, in other embodiments, the conveyor belts can also be a single, wide conveyor belt.

[0058] Specifically, in this embodiment, both the driving wheel 93 and the driven wheel 95 are provided with external meshing teeth on their outer contours, and the conveyor belt 971 is provided with internal meshing teeth on its inner side. The external meshing teeth and the internal meshing teeth engage to drive the conveyor belt, thereby moving the material carrier 973. The driving wheel 93 rotates at an angle and drags the conveyor belt a distance equal to the length of one material carrier 973. This cycle repeats, and the continuous displacement of the conveyor belt achieves the lateral discharge and conveying of the medicine rolls.

[0059] It should be noted that the conveying mechanism 97 can also be a sprocket and chain or other flexible conveyor belt, which can also satisfy the conveying purpose in this embodiment.

[0060] Specifically, in this embodiment, the frame 91 includes a frame body 911 and a side guide plate 913 disposed on the top of the frame body 911. The side guide plate 913 is located on the side of the material carrier 973 and extends along the conveying direction of the conveyor belt. The side guide plate 913 can straighten the displaced drug rolls and prevent the drug rolls from shifting at an angle.

[0061] Specifically, in this embodiment, the driver is a reducer motor. The driver is fixed to the frame 91 and is connected to the drive wheel 93 to drive the drive wheel 93 to move. Through the conveyor belt, the drive wheel 93 drives the driven wheel 95 to rotate. After the clamping mechanism conveys the emulsion explosive cartridge to the loading rack 973, the system sends a signal to the servo motor. Then, the servo motor rotates one revolution, which is converted by the reducer into a rotation of the drive wheel 93 at an angle. The drive wheel 93 rotates one angle and drags the conveyor belt one distance of the loading rack 973. This cycle continues. As the clamping mechanism continuously feeds cartridges, the conveyor belt continuously shifts, thereby realizing the lateral arrangement and conveying of the cartridges.

[0062] In another embodiment, each of the material carriers 973 is provided with a material loading trough 975 for loading materials. Specifically, a U-shaped groove is provided on the material loading trough 975, and the medicine roll is placed in the U-shaped groove.

[0063] In another preferred embodiment, such as Figure 1 and Figure 2As shown, the rotary automatic sorting device further includes a drive assembly 100, which is located below the fixed disk 10. The drive assembly 100 passes through the fixed disk 10 from below and connects to the rotary disk 50. The rotary disk 50 is driven to rotate by the drive assembly 100. The drive assembly 100 is also the power component that drives the rotary clamping head. The drive assembly 100 drives the rotary clamping head and the rotary disk 50 to rotate through the same transmission shaft. The structure is compact and requires no additional control components.

[0064] The rotary feeding automatic sorting device provided by the present invention uses a robotic arm 70 to clamp the medicine rolls. During the rotation of the rotary disk 50, the robotic arm 70 moves along a preset trajectory of the opening track section, clamping track section, flipping track section, and release track section of the guide mechanism 30. This realizes the action process of the robotic arm 70 opening, clamping, flipping, and smoothly releasing the medicine rolls on the discharge mechanism 90 for orderly arrangement. This makes the medicine clamping work safe and orderly, avoiding the problem in the prior art where the medicine rolls are thrown off the turntable after being clamped by the rotary clamping head, resulting in the medicine rolls being piled up randomly on the conveyor belt for transportation, and then having to be sorted manually or by robots.

[0065] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A rotary destacking and automatic sequencing apparatus, characterized in that, The device includes a fixed disk, a guide mechanism mounted on the fixed disk, a multi-station rotary disk, several robotic arms mounted on the rotary disk, and a discharge mechanism for placing materials gripped by the robotic arms. The guide mechanism is provided with an opening track section, a clamping track section, a flipping track section, and a release track section surrounding the outer periphery of the fixed disk. The several robotic arms are respectively arranged at the opening, clamping, flipping, and release positions of the rotary disk and can move along the preset trajectories of the opening, clamping, flipping, and release track sections to realize the opening, clamping, flipping, and releasing actions of the robotic arms to clamp the materials onto the discharge mechanism. The guiding mechanism includes multiple track clamping assemblies fixed on the fixed disk and multiple tracks with preset trajectories. Each track clamping assembly is evenly distributed around the fixed disk with the axis of the fixed disk as the center. Each track surrounds the circumference of the rotating disk and is fixed on the track clamping assembly. The robot arm at each station contacts the corresponding track. The multiple robotic arms include a mounting base fixed on the rotary disk, an upper clamping arm rotatably connected to the mounting base, and a lower clamping arm rotatably connected to the upper clamping arm. The multiple tracks are a first track, a second track, a third track, and a fourth track. The first track, the second track, the third track, and the fourth track are each formed with a preset curved shape. The first track surrounds the release station and the flipping station. The second track and the third track are arranged vertically and simultaneously surround the opening station. The third track bends and extends from the opening station to the clamping station. The fourth track is located at the release station. The upper clamping arm and the lower clamping arm contact different tracks under the drive of the rotary disk to realize the opening, clamping, flipping, and releasing actions. The upper clamping arm includes an upper clamp, a first clamping rod, a first follower roller, and a first elastic tensioning member. The first clamping rod is hinged to the mounting base, and the upper clamp and the first follower roller are respectively connected to the two ends of the first clamping rod. The two ends of the first elastic tensioning member are respectively connected to the mounting base and the first clamping rod. The rolling surface of the first follower roller is in contact with the track. The lower clamping arm includes a lower clamp, a second clamping rod, a second follower roller, and a second elastic tensioning member. The second clamping rod is hinged to the first clamping rod, and the lower clamp and the second follower roller are respectively connected to the two ends of the second clamping rod. The two ends of the second elastic tensioning member are respectively connected to the first clamping rod and the second clamping rod. The rolling surface of the second follower roller is in contact with the track. The upper clamp and the lower clamp can be closed to form a clamping space that can accommodate materials. During the opening action: the first elastic tensioning member tensions the first clamping rod, the first follower roller presses against the third track, the upper clamping arm remains vertical under the combined action of the first elastic tensioning member and the third track, and the second follower roller, under the action of the second track, causes the second clamping rod to rotate inward around the second hinge center, causing the upper clamp and the lower clamp of the robot arm to open. During the clamping action: the first follower roller is close to the third track, the upper clamping arm remains vertical under the combined action of the first elastic tensioning member and the third track, the second follower roller disengages from the second track, the second elastic tensioning member tightens the second clamping rod, and the upper clamp and the lower clamp are in a clamping state; During the flipping action: Under the action of the second elastic tensioning member, the upper clamp and the lower clamp continue to be clamped, the first follower roller is close to the first track, and the first clamping rod is flipped outward around the first hinge center to a certain angle under the guidance of the first track, so as to realize the robot arm flipping to a certain angle. During the release action: Under the guidance of the first track, the robot arm rotates at a certain angle, the fourth track presses against the second follower roller, causing the second clamping rod to rotate around the second hinge center and open at a certain angle. At this time, the upper clamp and the lower clamp are in an open state, realizing the function of releasing the medicine roll; Wherein, the hinge point between the first clamping rod and the mounting base is the first hinge center, and the hinge between the first clamping rod and the second clamping rod is the second hinge center.

2. The rotating strip sequencing apparatus of claim 1, wherein, The upper clamp is a first clamping plate with an arc-shaped cross-section, which is fixedly connected to the first clamping rod. The lower clamp includes a connecting plate connected to the end of the second clamping rod and a second clamping plate with an arc-shaped cross-section that extends from the end of the connecting plate. The first clamping plate and the second clamping plate can be closed to form a clamping space that can accommodate materials.

3. The rotating strip sequencing apparatus of claim 1, wherein, The first follower roller and the second follower roller have the same structure. The first follower roller is axially mounted on the end of the first clamping rod, and the second follower roller is axially mounted on the end of the second clamping rod.

4. The rotary unloading automatic sorting device according to claim 1, characterized in that, The material discharge mechanism includes a frame, a drive wheel and a driven wheel fixed on the frame, and a conveying mechanism wound around the drive wheel and the driven wheel. The conveying mechanism includes a conveyor belt and a plurality of material carriers fixed to the outer surface of the conveyor belt for loading materials. Each material carrier is arranged at intervals along the movement direction of the conveyor belt.

5. The rotating strip sequencing apparatus of claim 4, wherein, A material loading trough for placing materials is formed between two adjacent material loading racks. Each material loading rack includes a base plate and a side plate that bends and extends from one side of the base plate. The material loading trough is formed in the space enclosed by the base plate and the side plates of the two adjacent material loading racks.

6. The rotating strip sequencing apparatus of claim 4, wherein, Each of the aforementioned material racks is provided with a material loading trough for loading materials.

7. The rotating strip sequencing apparatus of claim 4, wherein, Both the driving wheel and the driven wheel have external meshing teeth on their outer contours, and the conveyor belt has internal meshing teeth on its inner side. The external meshing teeth and the internal meshing teeth mesh and drive each other.

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