Energetic material packaging line

Abstract

The application discloses a kind of energetic material packaging line, including main conveying device, bag lifting device, bag binding device, flattening device, cover device, lock cover device and finished product unloading device, main conveying device conveys full load material bucket, its periphery is sequentially provided with bag lifting, bag binding, flattening, cover device, lock cover and unloading station along its conveying direction;Bag lifting device can lift the bag opening upward;Bag binding device can fold the bag opening, and pick up strap to bag opening is bound;Flattening device can flatten the bag opening in material bucket;Cover device can cover the lid on the barrel opening of material bucket;Lock cover device can be combined at the lid and the barrel opening of material bucket with barrel hoop, and barrel hoop is locked to obtain packaging product;Finished product unloading device can transfer packaging product between main conveying device and specified material receiving position;The above seven devices are provided with protective structure.The packaging line structure is simple and reasonable, control logicality is good and simple, and protection performance is good, and the processing environment demand of energetic material can be well satisfied.

Description

TECHNICAL FIELD

[0001] The present application relates to the packaging equipment technical field, especially to a kind of energetic material packaging line. BACKGROUND

[0002] When material is packaged, if the material to be packaged has high sealing requirements, a packaging bag needs to be placed in the container body, the material is filled in the packaging bag, then the bag opening is lifted and sealed with a strap, and finally the lid is sealed and fastened to the container body with a hoop.

[0003] In the prior art, to realize automatic sealing packaging of the material, an automatic packaging production line has been developed, which integrates "automatic folding of the bag opening", "automatic screwing of the bag opening", "automatic strapping of the strap gun", and "automatic feeding and locking of the hoop".

[0004] However, the above-mentioned automatic packaging production line cannot be used for packaging of energetic materials when applied. Because energetic materials are explosive and highly dangerous, the processing environment must be F0 area or F1 area (as known, the firework environment electrical hazard area is divided into F0 area, F1 area and F2 area in working room, F0 area is a working room where explosive and dangerous explosives and their dust exist for a long time; F1 area is a working room where explosive and dangerous explosives and their dust may form an explosion hazard during normal operation; F2 area is a working room where explosive and dangerous explosives, oxidizing agents and their dust may form a fire hazard during normal operation). On the one hand, the existing automatic packaging production line does not have explosion-proof structure or measures, and on the other hand, the devices or mechanisms provided are not suitable for use in the firework environment electrical hazard area, such as automatic strapping of the strap gun. Therefore, the existing automatic packaging production line cannot meet the processing environment requirements of energetic materials.

[0005] Therefore, the present application is proposed. SUMMARY

[0006] In order to overcome the above-mentioned defects, the present application provides an energetic material packaging line, which not only has a simple and reasonable structure, good control logic and simplicity, but also has good protection performance, and can well meet the processing environment requirements of energetic materials.

[0007] The technical scheme adopted by the present application to solve the technical problem is: an energetic material packaging line for sealing and packaging a full-load material barrel, the full-load material barrel comprising a material barrel, a packaging bag sleeved in the material barrel, and energetic material filled in the packaging bag, and the packaging bag opening of the full-load material barrel to be packaged is placed outside the barrel opening in an upward manner; the packaging line comprises:

[0008] A main conveying device is arranged for conveying the full material bucket, and sequentially arranged along the conveying direction of the main conveying device are a bag lifting station, a bag tying station, a bag flattening station, a cap covering station, a cap locking station and a product unloading station;

[0009] A bag lifting device is arranged at the bag lifting station, and the bag lifting device is capable of lifting the bag opening of the packaging bag upward to a predetermined height above the bucket opening.

[0010] A bag tying device is arranged at the bag tying station, and the bag tying device is capable of folding the bag opening of the packaging bag and picking up a tie to tie the bag opening of the packaging bag.

[0011] A bag flattening device is arranged at the bag flattening station, and the bag flattening device is capable of flattening the tied bag opening of the packaging bag in the material bucket.

[0012] A cap covering device is arranged at the cap covering station, and the cap covering device is capable of picking up a cap and covering the cap on the bucket opening.

[0013] A cap locking device is arranged at the cap locking station, and the cap locking device is capable of picking up a hoop, sleeving the hoop on the joint of the cap and the bucket opening, and locking the hoop to lock the cap on the material bucket to obtain a packaging product.

[0014] A product unloading device is arranged at the product unloading station, and the product unloading device is capable of transferring the packaging product between the main conveying device and a designated material receiving position.

[0015] In addition, the main conveying device, the bag lifting device, the bag tying device, the bag flattening device, the cap covering device, the cap locking device and the product unloading device are each provided with a protection structure.

[0016] As a further improvement of the present application, the main conveying device adopts an explosion-proof conveying device, and a plurality of pause positions are arranged along the conveying direction of the main conveying device, each of the plurality of pause positions is provided with a jacking assembly for jacking and positioning the full material bucket, and the plurality of pause positions are arranged in one-to-one correspondence with the bag lifting station, the bag tying station, the bag flattening station, the cap covering station, the cap locking station and the product unloading station.

[0017] As a further improvement of the present application, one of the pause stations corresponding to the bag lifting station is defined as a first pause station; the bag lifting device comprises a lifting unit, a bag lifting power unit, a pickup assembly A and a protective box A, the lifting unit is arranged above the first pause station, the bag lifting power unit is connected with the lifting unit and can provide power to the lifting unit so that the power output end of the lifting unit moves up and down reciprocatingly relative to the first pause station; the pickup assembly A is connected with the power output end of the lifting unit for picking up the bag opening; the protective box A is used for containing deionized water, and the protective box A also accommodates the bag lifting power unit.

[0018] As a further improvement of the present application, the lifting unit comprises a hub and a hanging piece, the hub is arranged above the first pause station and can rotate under the drive of the bag lifting power unit; the hanging piece is arranged around the hub, one end of the hanging piece is fixedly connected with the hub, and the other end of the hanging piece is suspended above the first pause station; the pickup assembly A comprises a base body and a vacuum suction cup, the base body is fixedly connected with the other end of the hanging piece and can be freely sleeved outside the barrel opening under the driving of the lifting unit; the vacuum suction cup is arranged on the base body and can perform telescopic movement relative to the base body.

[0019] As a further improvement of the present application, one of the pause stations corresponding to the bag lifting station is defined as a first pause station; the bag lifting device comprises a lifting unit, a bag lifting power unit, a pickup assembly A and a protective box A, the lifting unit is arranged above the first pause station, the bag lifting power unit is connected with the lifting unit and can provide power to the lifting unit so that the power output end of the lifting unit moves up and down reciprocatingly relative to the first pause station; the pickup assembly A is connected with the power output end of the lifting unit for picking up the bag opening; the protective box A is used for containing deionized water, and the protective box A also accommodates the bag lifting power unit.

[0020] As a further improvement of the application, the auxiliary conveying device comprises a magazine conveying flow line and a first explosion-proof robot, the magazine conveying flow line also adopts an explosion-proof conveying device, the first explosion-proof robot is arranged between the unloading side of the magazine conveying flow line and the tape loading position, and a picking assembly B and a picking assembly C are arranged on the execution end of the first explosion-proof robot, the picking assembly B can work with the first explosion-proof robot to move the magazine limited at the unloading side of the magazine conveying flow line into the tape loading position, and the picking assembly C can work with the first explosion-proof robot to pull the tape in the magazine downward; the two groups of holding devices are arranged side by side on the opposite sides of the second pause position, and the two holding hands are driven to move close to each other or away from each other to realize the folding or unfolding of the bag opening of the packaging bag.

[0021] The sleeve tape device comprises a driving mechanism B and a material receiving hand connected to the power output end of the driving mechanism B, the driving mechanism B is arranged between the second pause position and the tape loading position, and the material receiving hand can move up and down and horizontally reciprocate between the second pause position and the tape loading position under the drive of the driving mechanism B. In addition, the driving mechanism A and the driving mechanism B both adopt a lifting and rotating motion mechanism which can output linear motion power and rotating motion power, and the lifting and rotating motion mechanism is provided with a protection box B for containing deionized water.

[0022] The tape tensioning device comprises a protection box C, a connecting arm A, a flexible clamping head, an explosion-proof power assembly and a transmission assembly A, the protection box C is used for containing deionized water and is arranged beside the second pause position; one end of the connecting arm A is arranged outside the protection box C and points to the second pause position, and the flexible clamping head is connected to the one end of the connecting arm A, and the other end of the connecting arm A is arranged in the protection box C; the explosion-proof power assembly is used for providing power and is connected to the outside of the protection box C, and the power output end of the explosion-proof power assembly is sealingly arranged in the protection box C; the transmission assembly A is connected between the power output end of the explosion-proof power assembly and the other end of the connecting arm A and can drive the flexible clamping head to move linearly close to or away from the second pause position.

[0023] As a further improvement of the application, the bagging device further comprises a folding device arranged beside the second pause position and capable of folding the bag opening of the packaging bag after one tape bundling is completed.

[0024] After the folding device completes the folding of the bag opening of the packaging bag, the holding device, the lacing belt device and the lacing belt tensioning device act in turn to perform secondary lacing and bundling on the folded bag opening of the packaging bag.

[0025] As a further improvement of the present application, one of the pause positions corresponding to the capping station is defined as a third pause position; the flattening device comprises a flattening plate located above the third pause position and capable of downward movement relative to the third pause position; in addition, the transverse cross-sectional area of the flattening plate is smaller than the area of the barrel opening;

[0026] One of the pause positions corresponding to the capping station is defined as a fourth pause position; the capping device comprises a cover conveying flow line and a second explosion-proof robot, the cover conveying flow line also uses an explosion-proof conveying device, and a positioning jig for positioning the cover before capping is arranged on the discharge side of the cover conveying flow line; the second explosion-proof robot is arranged between the discharge side of the cover conveying flow line and the fourth pause position, and a picking assembly D for picking the cover is arranged on the execution end of the second explosion-proof robot.

[0027] As a further improvement of the present application, one of the pause positions corresponding to the capping station is defined as a third pause position; the flattening device comprises a flattening plate located above the third pause position and capable of downward movement relative to the third pause position; in addition, the transverse cross-sectional area of the flattening plate is smaller than the area of the barrel opening;

[0028] The barrel hoop locking device comprises a first adjusting mechanism, a second adjusting mechanism, a supporting mechanism and a locking mechanism arranged around the fifth pause position, the first adjusting mechanism can centrally position the barrel placed in the fifth pause position; the second adjusting mechanism can centrally position the cover capped on the barrel opening; the supporting mechanism can support and limit the barrel hoop sleeved on the joint of the cover and the barrel opening; the locking mechanism can press and limit the barrel hoop body of the barrel hoop while pushing the handle of the barrel hoop to overturn, so as to lock the cover on the barrel opening; in addition, the first adjusting mechanism, the second adjusting mechanism and the locking mechanism are all provided with protection structures.

[0029] As a further improvement of the present application, the barrel hoop conveying flow line also uses an explosion-proof conveying device;

[0030] The material picking mechanism comprises a material taking member, a fixing assembly and a detection limiting assembly, the material taking member is connected to the execution end of the third explosion-proof robot and can be sleeved outside the barrel hoop body under the driving of the third explosion-proof robot, the fixing assembly is connected to one side of the material taking member towards the execution end of the third explosion-proof robot, and the fixing head of the fixing assembly can perform telescopic movement relative to the material taking member, so that the fixing head is movably inserted into the material taking member and then limits and positions the barrel hoop body, and the detection limiting assembly is also connected to one side of the material taking member towards the execution end of the third explosion-proof robot, and the limiting head of the detection limiting assembly can also perform telescopic movement relative to the material taking member, so that the limiting head senses the information of the barrel hoop and can press and limit the handle of the barrel hoop.

[0031] The locking mechanism comprises a pressing mechanism, a first locking mechanism and a second locking mechanism, the pressing mechanism can press and limit the barrel hoop body of the barrel hoop, the first locking mechanism can push the handle of the barrel hoop to overturn a set angle, so that the barrel hoop is in a semi-locking state, and the second locking mechanism can continue to push the handle of the barrel hoop in the semi-locking state to overturn, until the handle is pressed on the barrel hoop body of the barrel hoop, so that the barrel hoop is in a locking state.

[0032] As a further improvement of the present application, one of the pause positions corresponding to the blanking station is defined as a sixth pause position; the finished product blanking device comprises a blanking conveying flow line and a fourth explosion-proof robot, the blanking conveying flow line also adopts an explosion-proof conveying device, the fourth explosion-proof robot is arranged between the sixth pause position and the feeding side of the blanking conveying flow line, and an execution end of the fourth explosion-proof robot is provided with a picking assembly E for picking packaged products.

[0033] The beneficial effects of the present application are: ① the packaging line integrates "automatic feeding", "automatic bag lifting", "automatic bag mouth folding, sleeve lacing and belt tightening", "automatic leveling", "automatic cover covering", "automatic barrel hoop sleeving and locking", "automatic blanking" and other operations, and has high automation and integration, which greatly improves production efficiency and production quality, reduces labor cost and labor intensity. In particular, each device used in the present application is provided with a protection structure capable of reducing the sensitivity of energetic materials or preventing energetic dust from entering the movement mechanism, so that the packaging line can well meet the processing environment requirements of energetic materials. ② The structure of the packaging line is simple and reasonable, the control logic is good and simple, and the production is easy to implement. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is a top view structural schematic diagram of the energetic material packaging line of the present application.

[0035] Figure 2 Structure diagram of the bag lifting device of the present application;

[0036] Figure 3 Structure diagram of the bag lifting device of the present application;

[0037] Figure 4 Structure diagram of the bag lifting device of the present application;

[0038] Figure 5 Structure diagram of the bag lifting device of the present application;

[0039] Figure 6 Structure diagram of the bag lifting device of the present application;

[0040] Figure 7 Structure diagram of the bag lifting device of the present application;

[0041] Figure 8 Structure diagram of the bag lifting device of the present application; Figure 7 Structure diagram of the bag lifting device of the present application;

[0042] Figure 9 Structure diagram of the bag lifting device of the present application; Figure 8 Structure diagram of the bag lifting device of the present application;

[0043] Figure 10 Structure diagram of the bag lifting device of the present application;

[0044] Figure 11 Structure diagram of the bag lifting device of the present application;

[0045] Figure 12 Structure diagram of the bag lifting device of the present application;

[0046] Figure 13 Structure diagram of the bag lifting device of the present application;

[0047] Figure 14 Structure diagram of the bag lifting device of the present application;

[0048] Figure 15 Structure diagram of the bag lifting device of the present application; Figure 14 Structure diagram of the bag lifting device of the present application;

[0049] Figure 16 This is a schematic diagram of the structure of the bushing A in the drive mechanism B of the present invention;

[0050] Figure 17 This is a schematic diagram of the structure of gear B in the drive mechanism B of the present invention;

[0051] Figure 18 This is a schematic cross-sectional view of the drive mechanism B described in this invention when the bushing A and gear B are assembled together.

[0052] Figure 19 This is a schematic diagram of the clamping device in the bag-tying device of the present invention;

[0053] Figure 20 This is a schematic diagram of the material-holding hand in the clamping device of the present invention;

[0054] Figure 21 This is a schematic diagram of the drive mechanism A in the clamping device of the present invention;

[0055] Figure 22 This is a schematic diagram of the structure of the main shaft, bushing A, gear B and rotary bearing of the drive mechanism A of the present invention when they are assembled together.

[0056] Figure 23 This is a schematic cross-sectional view of the drive mechanism A described in this invention, showing the assembly of bushing A, gear B, and rotary bearing together.

[0057] Figure 24 This is a schematic diagram of the strap tightening device in the bag-tying device of the present invention from a first perspective.

[0058] Figure 25 This is a schematic diagram of the strap tightening device in the bag-tying device of the present invention from a second perspective;

[0059] Figure 26 This is a partial structural diagram of the cable tie tightening device described in this invention;

[0060] Figure 27 for Figure 26 An enlarged structural diagram of section B is shown below;

[0061] Figure 28 This is a schematic diagram of the folding device in the bag-tying device of the present invention;

[0062] Figure 29 This is a schematic diagram of the cable tie structure arranged in a Q shape in this invention;

[0063] Figure 30 This is a partial structural diagram of the leveling device described in this invention;

[0064] Figure 31Structure diagram of the positioning jig in the cover covering device of the present application;

[0065] Figure 32 Structure diagram of the barrel hoop in the present application;

[0066] Figure 33 Structure diagram of the barrel hoop feeding device in the cover locking device of the present application;

[0067] Figure 34 Structure diagram of the barrel hoop feeding device in the present application; Figure 33 Structure diagram of the D part in the present application;

[0068] Figure 35 Structure diagram of the pick-up mechanism in the barrel hoop feeding device of the present application from the first perspective;

[0069] Figure 36 Structure diagram of the pick-up mechanism in the barrel hoop feeding device of the present application from the second perspective;

[0070] Figure 37 Structure diagram of the pick-up mechanism in the present application; Figure 36 Structure diagram of the E part in the present application;

[0071] Figure 38 Structure diagram of the pick-up mechanism in the present application when the pick-up piece and the fixing assembly are assembled together (from the first perspective);

[0072] Figure 39 Structure diagram of the pick-up mechanism in the present application when the pick-up piece and the fixing assembly are assembled together (from the second perspective);

[0073] Figure 40 Structure diagram of the barrel hoop locking device in the cover locking device of the present application;

[0074] Figure 41 Structure diagram of the barrel hoop locking device in the present application when the first adjusting mechanism, the supporting mechanism, the first locking mechanism and the second locking mechanism are assembled together (from the first perspective);

[0075] Figure 42 Structure diagram of the barrel hoop locking device in the present application when the first adjusting mechanism, the supporting mechanism, the first locking mechanism and the second locking mechanism are assembled together (from the second perspective);

[0076] Figure 43 Structure diagram of the barrel hoop locking device in the present application when the first adjusting mechanism, the supporting mechanism, the first locking mechanism and the second locking mechanism are assembled together (from the third perspective);

[0077] Figure 44One of the structural schematic views of the first adjusting mechanism, the supporting mechanism and the pressing mechanism assembled together in the barrel hoop locking device according to the present application (under the first visual angle);

[0078] Figure 45 One of the structural schematic views of the first adjusting mechanism, the supporting mechanism and the pressing mechanism assembled together in the barrel hoop locking device according to the present application (under the second visual angle);

[0079] Figure 46 One of the structural schematic views of the first adjusting mechanism, the supporting mechanism and the pressing mechanism assembled together in the barrel hoop locking device according to the present application (under the third visual angle);

[0080] Figure 47 One of the structural schematic views of the second adjusting mechanism in the barrel hoop locking device according to the present application.

[0081] The following description is made in conjunction with the accompanying drawings:

[0082] 1, main conveying device; 2, bag lifting device; 20, hub; 21, hanging piece; 22, base body; 23, vacuum chuck; 24, air bag cylinder B; 25, driving cylinder A; 26, rack A; 27, gear A; 28, first transmission shaft; 29, second transmission shaft; 210, corner turner; 211, first protection box A; 212, second protection box A; 3, bag tying device; 30, auxiliary conveying device; 300, magazine conveying flow line; 301, first explosion-proof robot; 302, clamping jaw cylinder; 303, clamping jaw; 304, base; 305, diaphragm type cylinder A; 306, pressing sheet; 31, holding device; 310, material holding hand; 3100, first connecting arm; 3101, finger; 311, protection box B; 312, main shaft; 3120, flat part; 3121, clamping groove B; 313, driving cylinder B; 314, rack B; 315, shaft sleeve A; 3150, shaft sleeve body; 316, gear B; 317, floating joint; 318, connecting piece; 3180, connecting part; 3181, clamping part; 319, mounting frame A; 3110, lifting plate; 3111, rotary bearing; 3112, guide rod; 32, sleeve tying device; 320, material receiving hand; 3200, second connecting arm; 3201, material receiving part; 3202, limiting block A; 33, tying belt tensioning device; 330, protection box C; 331, connecting arm A; 332, flexible clamping head; 3320, clamping finger; 3321, diaphragm type cylinder B; 333, pneumatic motor; 334, rotary main shaft; 335, speed reducer; 336, rack C; 337, gear C; 338, mounting frame B; 339, sliding seat; 3310, flow channel; 34, support frame; 340, upper plate; 341, lower plate; 342, support column; 343, clamping block; 35, folding device; 350, folding rod; 351, first rotary cylinder; 352, second rotary cylinder; 353, driving cylinder C; 354, organ case A; 4, leveling device; 40, leveling plate; 41, driving cylinder D; 42, mounting frame C42; 5, cover covering device; 50, cover conveying flow line; 51, second explosion-proof robot; 52, positioning jig; 520, work platform; 521, limiting block B; 522, limiting cylinder; 523, pad; 6, cover locking device; 60, barrel hoop conveying flow line; 61, barrel hoop feeding device; 610, third explosion-proof robot; 611, protective cover B; 612, material taking piece; 6120, first mounting plate; 6121, guide column; 6122, base plate; 61220, avoidance notch; 6123, limiting column B; 6124, linear bearing assembly; 6125, spring; 6126, organ case C; 6127, protective cap; 613, fixing assembly; 6130, fixing head; 6131, mounting frame D; 6132, second mounting plate; 6133, first lifting cylinder; 614, detection limiting assembly; 6140, limiting head; 6141, second lifting cylinder; 6142, support A; 6143, support B;6144, proximity switch; 62, barrel hoop locking device; 620, first adjusting mechanism; 6200, movable seat; 6201, adjusting cylinder A; 6202, claw A; 6203, piano cover D; 621, second adjusting mechanism; 6210, fixed seat; 6211, adjusting cylinder B; 6212, claw B; 6213, piano cover E; 622, supporting mechanism; 6220, supporting platform; 62200, position avoiding part; 6221, arc-shaped supporting strip; 6222, third lifting cylinder; 6223, piano cover F; 623, pressing mechanism; 6230, first cylinder; 6231, first connecting rod; 6232, pressing head; 6233, piano cover H; 6234, first protective cover; 624, first locking mechanism; 6240, second cylinder; 6241, second connecting rod; 6242, push block; 6243, piano cover I; 6244, second protective cover; 625, second locking mechanism; 6250, third cylinder; 6251, third connecting rod; 6252, roller; 6253, stand; 6254, piano cover J; 7, finished product discharging device; 70, discharging conveying streamline; 71, fourth explosion-proof robot. DETAILED DESCRIPTION

[0083] The preferred embodiments of the present application will be described in detail below with reference to the attached drawings.

[0084] Embodiment 1

[0085] Please refer to the attached drawings Figure 1 The embodiment 1 provides a packaging line for energetic material, which is used for sealing and packaging full load material barrels. The full load material barrel includes a material barrel B, a packaging bag P sleeved in the material barrel B, and an energetic material filled in the packaging bag P. The bag opening of the full load material barrel to be packaged is placed outside the barrel opening in an upward manner (see the attached drawing Figure 5 .

[0086] Specifically, the energetic material packaging line comprises a main conveying device 1, a bag lifting device 2, a bag tying device 3, a flattening device 4, a lid covering device 5, a lid locking device 6 and a finished product discharging device 7, wherein the main conveying device 1 is used for conveying the full material bucket; and a bag lifting station, a bag tying station, a flattening station, a lid covering station, a lid locking station and a discharging station are sequentially arranged on the periphery of the main conveying device 1 along the conveying direction thereof; the bag lifting device 2 is arranged at the bag lifting station; the bag lifting device 2 can lift the bag opening of the packaging bag upward to a predetermined height above the bucket opening; the bag tying device 3 is arranged at the bag tying station; the bag tying device 3 can fold the bag opening of the lifted packaging bag and pick up a tie to bundle the bag opening; the flattening device 4 is arranged at the flattening station; the flattening device 4 can flatten the bundled bag opening of the packaging bag in the material bucket B; the lid covering device 5 is arranged at the lid covering station; the lid covering device 5 can pick up a lid and cover it on the bucket opening; the lid locking device 6 is arranged at the lid locking station; the lid locking device 6 can pick up a hoop C and set it on the joint of the lid and the bucket opening, and further lock the hoop to lock the lid on the material bucket, so as to obtain the packaging finished product; the finished product discharging device 7 is arranged at the discharging station; the finished product discharging device 7 can transfer the packaging finished product between the main conveying device 1 and a designated material receiving position; in addition, the main conveying device 1, the bag lifting device 2, the bag tying device 3, the flattening device 4, the lid covering device 5, the lid locking device 6 and the finished product discharging device 7 are respectively provided with protective structures.

[0087] Compared with the prior art, the packaging line integrates the operations of "automatic feeding", "automatic bag lifting", "automatic folding of bag opening, wrapping of tie and tightening of tie", "automatic flattening", "automatic lid covering", "automatic hoop setting and locking of hoop", "automatic discharging" and the like, has high automation and integration, greatly improves the production efficiency and production quality, and reduces the labor cost and labor intensity. In particular, each device used in the application is provided with a protective structure capable of reducing the sensitivity of energetic materials or preventing energetic dust from entering the moving mechanism, so that the packaging line can well meet the processing environment requirements of energetic materials. In addition, the structure of the packaging line is simple and reasonable, the control logic is good and simple, and it is beneficial to production implementation.

[0088] The specific structure of the energetic material packaging line of the application will be described below.

[0089] Firstly, the main conveying device 1;

[0090] In the embodiment, the main conveying device 1 adopts an explosion-proof conveying device, and a plurality of pause positions are arranged on the main conveying device 1 along the conveying direction of the main conveying device 1, each of the plurality of pause positions is provided with a jacking assembly for jacking and positioning the full-load material bucket, and each of the plurality of pause positions is arranged in one-to-one correspondence with the bag lifting station, the bag tying station, the flattening station, the cover covering station, the cover locking station and the discharging station.

[0091] Further preferably, the main conveying device 1 of the embodiment preferably adopts the explosion-proof conveying device disclosed in Chinese patent CN202223149164.X (also known as immersion flow line in the industry), so the specific structure thereof will not be described in detail here.

[0092] The jacking assembly for jacking and positioning the full-load material bucket can adopt various implementation structures, for example, the jacking assembly comprises an air bag cylinder A and a positioning pin connected with the air bag cylinder A, wherein the air bag cylinder A is connected to the lower side of the middle part of the water tank of the main conveying device 1 through an auxiliary support (the water tank is a U-shaped water tank with a hollow middle part), and the positioning pin can be driven by the air bag cylinder A to move upward and be inserted into the positioning hole of the tray to stop and limit the tray and the full-load material bucket thereon; it is stated that in the automatic conveying line, the material is usually conveyed by the tray (also known as the loading tray, tray, etc.), which is a well-known common knowledge, so it will not be described in detail; then, the air bag cylinder A drives the tray and the full-load material bucket thereon to move upward by a set distance, so as to realize the separation of the tray and the full-load material bucket thereon from the main conveying device 1, which facilitates the corresponding work of the bag lifting device 2, the bag tying device 3, the flattening device 4, the cover covering device 5, the cover locking device 6 and the finished product discharging device 7.

[0093] Next, regarding the bag lifting device 2;

[0094] In order to describe the structure of the bag lifting device 2, the following definitions are made: a pause position corresponding to the bag lifting station is defined as a first pause position.

[0095] Please refer to the accompanying Figure 2 to the accompanying Figure 5 As shown in the drawings, the bag lifting device 2 comprises a lifting unit, a bag lifting power unit, a pickup assembly A and a protection box A, the lifting unit is arranged above the first pause position, the bag lifting power unit is connected with the lifting unit and can provide power to the lifting unit, so that the power output end of the lifting unit moves up and down reciprocally relative to the first pause position; the pickup assembly A is connected with the power output end of the lifting unit and is used for picking up the bag opening of the packaging bag; the protection box A is used for containing deionized water, and the bag lifting power unit is also accommodated in the protection box A.

[0096] Further preferably, the lifting unit comprises a hub 20 arranged above the first pause position and capable of rotating under the drive of the bag lifting power unit, and a hanging piece 21 arranged around the hub 20, one end of the hanging piece 21 being fixedly connected to the hub 20, and the other end of the hanging piece 21 being suspended above the first pause position, the other end of the hanging piece 21 being the power output end of the lifting unit.

[0097] The pickup assembly A comprises a base body 22 fixedly connected to the other end of the hanging piece 21 and capable of freely sleeving outside the barrel mouth under the drive of the lifting unit, and a vacuum chuck 23 arranged on the base body 22 and capable of telescopic movement relative to the base body 22, i.e., the vacuum chuck 23 is capable of telescopic movement relative to the bag mouth.

[0098] Further preferably, the base body 22 in the embodiment adopts a square frame structure. Based on the structure of the base body 22, the embodiment realizes the structure that the vacuum chuck 23 is arranged on the base body 22 and capable of telescopic movement relative to the base body 22, i.e., the pickup assembly A further comprises a plurality of groups of air bag cylinders B 24, the plurality of groups of air bag cylinders B 24 being symmetrically arranged on the four sides of the base body 22, the plurality of groups of air bag cylinders B 24 being capable of telescopic movement toward the center of the base body 22, and the vacuum chuck 23 being installed on one side of the plurality of groups of air bag cylinders B 24 toward the center of the base body 22. For details, please refer to the accompanying drawings. Figure 3

[0099] In addition, based on the structure of the base body 22, the lifting unit in the embodiment is configured in four groups, the four groups of lifting units being arranged in rows and columns above the first pause position, and the other ends of the hanging pieces 21 in the four groups of lifting units being respectively fixedly connected to the four corners of the base body 22. The hanging piece 21 can preferably adopt a belt.

[0100] In addition, based on the configuration of the four groups of lifting units, the corresponding preferred implementation structures of the protective box A and the bag lifting power unit are as follows:

[0101] For details, please refer to the accompanying drawings. Figure 2 Figure 4 The protective box A comprises a first protective box A211 and a second protective box A212, the first protective box A211 and the second protective box A212 being arranged horizontally and spaced apart above the first pause position, and both being used for containing deionized water.

[0102] ​​The lifting bag power unit comprises a driving cylinder A25, a rack A26, a gear A27, a first transmission shaft 28 and a second transmission shaft 29, the driving cylinder A25 is fixedly connected to the outer wall of the first protection box A211, the piston rod of the driving cylinder A25 is sealingly extended into the first protection box A211, the rack A26 is slidingly arranged in the first protection box A211 (which can be realized by arranging a sliding rail A in the first protection box A211), and the rack A26 is connected with the piston rod of the driving cylinder A25; the gear A27 is fixedly sleeved on the outside of the first transmission shaft 28 and rotatably arranged in the first protection box A211 together with the first transmission shaft 28, and the gear A27 is also meshingly connected with the rack A26; the second transmission shaft 29 is arranged in two, the two second transmission shafts 29 are arranged side by side and are respectively transversely connected between the first protection box A211 and the second protection box A212, and the two second transmission shafts 29 are also respectively drivingly connected with the first transmission shaft 28 through the angle adjuster 210, and in addition, two gears 20 are respectively sleeved on each second transmission shaft 29 along the length direction of the second transmission shaft 29.

[0103] Based on the above description of the structure of the lifting bag device 2, the working method of the lifting bag device 2 is also provided, which is briefly described as follows:

[0104] S1: When the main conveying device 1 conveys the full load bucket to the first pause position, the controller controls the lifting assembly located in the first pause position to work to drive the tray and the full load bucket to move upward to a set height, so that the tray is separated from the main conveying device 1;

[0105] S2: The controller controls the lifting bag power unit to work to drive the other end of the hanging piece 21 to move downward, so that the picking assembly A as a whole moves downward until the base body 22 is freely sleeved on the outside of the bucket mouth; then the controller controls a plurality of groups of the air bag cylinder B24 to work synchronously to drive a plurality of groups of the vacuum suction disc 23 to synchronously extend relative to the base body 22 to approach and suck the bag mouth of the packaging bag P;

[0106] S3: The controller first controls the lifting bag power unit to work to drive the other end of the hanging piece 21 to move upward, so that the picking assembly A as a whole and the packaging bag mouth move upward until the packaging bag is lifted straight (as shown in the dotted line state in FIG. 8); Figure 5 After the plurality of groups of the vacuum suction disc 23 are separated from the packaging bag mouth by controlling the plurality of groups of the vacuum suction disc 23 to become zero air pressure or slightly positive air pressure, the controller controls the plurality of groups of the air bag cylinder B24 to work to drive the plurality of groups of the vacuum suction disc 23 to move away from the packaging bag;

[0107] S4: the controller controls the jacking assembly to work to drive the tray and the full material bucket to move downward together until the tray falls onto the main conveying device 1 and is then continuously conveyed by the main conveying device 1; in addition, the picking assembly A is reset under the driving of the bag lifting power unit and the lifting unit, waiting for the next bag lifting work.

[0108] From the above, the bag lifting device 2 has the following advantages: ① The bag lifting device has high automation, which greatly improves the production efficiency and bag lifting quality, greatly reduces the labor intensity and labor cost, and well meets the automation production demand. ② The bag lifting device is provided with a protection box A for containing deionized water and accommodating the bag lifting power unit, which can greatly reduce the sensitivity of the bag lifting power unit to the energetic material in work (because the energetic material will be passivated when meeting water or in a certain humidity environment, the sensitivity will be reduced), thereby effectively avoiding the risk of explosion of the energetic material, and further playing a good isolation and protection effect on the bag lifting power unit, and making the bag lifting device well applicable to the packaging processing of the energetic material. ③ The structure of the bag lifting device is simple and reasonable, the manufacturing cost is low, and it is easy to produce and implement.

[0109] Next, regarding the bag tying device 3;

[0110] Similarly, in order to facilitate the description of the structure of the bag tying device 3, the following definitions are made: a temporary stop position corresponding to the bag tying station is defined as a second temporary stop position.

[0111] Please refer to the accompanying Figure 6 to the accompanying Figure 29 Fig. 3, the bag tying device 3 of the present embodiment comprises an auxiliary conveying device 30, a holding device 31, a wrapping and tying device 32 and a tying belt tensioning device 33. The auxiliary conveying device 30 is used to convey a magazine loaded with a Q-shaped tying belt and can move the magazine to a tying belt loading position one by one. The tying belt loading position is arranged between the discharge side of the auxiliary conveying device 30 and the second temporary stop position. The holding device 31 can gather the bag opening of the packaging bag temporarily stopped in the second temporary stop position. The wrapping and tying device 32 can pick up the tying belt from the tying belt loading position, move and wrap the tying belt on the bag opening gathered by the holding device 31. The tying belt tensioning device 33 can clamp and tension the tying belt to realize the compact bundling of the bag opening. In addition, the auxiliary conveying device 30, the holding device 31, the wrapping and tying device 32 and the tying belt tensioning device 33 are respectively provided with protection structures.

[0112] Further preferably, the auxiliary conveying device 30 in the embodiment comprises a magazine conveying flow line 300 which also adopts an explosion-proof conveying device, and a first explosion-proof robot 301 which is arranged between the unloading side of the magazine conveying flow line 300 and the ribbon loading position, and the execution end of the first explosion-proof robot 301 is provided with a picking assembly B and a picking assembly C, the picking assembly B can work with the first explosion-proof robot 301 to move the magazine limited at the unloading side of the magazine conveying flow line 300 into the ribbon loading position, and the picking assembly C can work with the first explosion-proof robot 301 to pull the ribbon in the magazine downward.

[0113] Further preferably, the magazine conveying flow line 300 preferably adopts the explosion-proof conveying device structure disclosed in Chinese patent CN202223149164.X, which can well meet the processing environment requirements of energetic materials. The first explosion-proof robot 301 preferably adopts a commercially available four-axis explosion-proof robot, so its specific structure will not be described in detail, and it can also well meet the processing environment requirements of energetic materials.

[0114] In addition, in order to ensure that the first explosion-proof robot 301 can reliably take materials, a first limiting assembly for stopping and limiting the magazine is also arranged at the unloading side of the magazine conveying flow line 300. The first limiting assembly can adopt various implementation structures, for example: the first limiting assembly comprises a pen-shaped cylinder arranged on the unloading side of the rack of the magazine conveying flow line 300 and a guide column connected with the piston rod of the pen-shaped cylinder, the guide column can abut against a bracket (the bracket is used to carry the magazine) under the drive of the pen-shaped cylinder to stop and limit the bracket and position it to the side. It can be understood that a protective cover is also arranged outside the piston rod, guide column and the like of the pen-shaped cylinder to prevent energetic dust from entering the moving mechanism, so as to improve the safety of the operation of the moving mechanism.

[0115] In addition, in order to realize the picking of the magazine and the ribbon by the first explosion-proof robot 301, the specific structure of the picking assembly B and the picking assembly C provided in the embodiment is as follows:

[0116] Please refer to Figs. 1 to 3 of the accompanying drawings Figure 8 and Figs. 4 to 6 of the accompanying drawings Figure 9 As shown, the picking assembly B is used to pick the magazine, and mainly comprises a jaw cylinder 302 and a pair of jaws 303, the jaw cylinder 302 is connected to the execution end of the first explosion-proof robot 301, and the pair of jaws 303 are respectively connected with the jaw cylinder 302 and can approach or move away from each other under the drive of the jaw cylinder 302 to realize clamping or loosening of the magazine.

[0117] In combination with the pickup assembly B structure and the first explosion-proof robot 301, the method that the pickup assembly B cooperates with the first explosion-proof robot 301 is that the first explosion-proof robot 301 drives the pickup assembly B to move to the unloading side of the magazine conveying flow line 300, after the pair of clamping jaws 303 of the pickup assembly B clamps the magazine, the first explosion-proof robot 301 drives the pickup assembly B and the magazine to move to the ribbon loading position together, the pair of clamping jaws 303 of the pickup assembly B releases the magazine, and the magazine is placed at the ribbon loading position.

[0118] The pickup assembly C is used for picking up the ribbon in the magazine, and mainly comprises a base 304, a diaphragm type cylinder A 305 and a pressing sheet 306, the base 304 is connected to the execution end of the first explosion-proof robot 301, one end of the base 304 is formed into a bifurcated structure, and the diaphragm type cylinder A 305 is arranged on the opposite two inner sides of the bifurcated structure respectively, for clamping the strip-shaped tail of the ribbon in the magazine (see the description of the ribbon below); the pressing sheet 306 is arranged between the two diaphragm type cylinders A 305 and is positioned and connected to the bifurcated structure at the same time, for pressing down the strip-shaped tail of the ribbon, to facilitate pulling the ribbon downward. It can be understood that the pressing sheet 306 is also above the clamping part of the diaphragm type cylinder A 305, and does not interfere with each other. The diaphragm type cylinder A 305 adopts a Festo diaphragm type clamping cylinder, and the clamping part of the diaphragm type cylinder A 305 is the diaphragm (made of polyurethane material) of the cylinder.

[0119] In combination with the pickup assembly C structure and the first explosion-proof robot 301, the method that the pickup assembly C cooperates with the first explosion-proof robot 301 is that the first explosion-proof robot 301 drives the pickup assembly C to move to the loading position, after the two diaphragm type cylinders A 305 of the pickup assembly C clamp the strip-shaped tail of the ribbon, the first explosion-proof robot 301 drives the pickup assembly C and the ribbon to move downward together, to realize pulling the ribbon downward.

[0120] In order to facilitate the understanding of the structure and working method of the pickup assembly C, and the following holding device 31, ribbon sleeving device 32 and ribbon tensioning device 33, the structure of the ribbon and the magazine is briefly described as follows:

[0121] The ribbon in the application adopts a self-locking ribbon, which is a widely used type of ribbon on the market, and its structure generally comprises a long strip-shaped ribbon body T1 and a lock head T2 arranged on the head end of the ribbon body T1. When the tail end of the ribbon body T1 is arranged through the lock head T2, the ribbon is arranged into a Q shape. For details, please refer to the accompanying drawings. Figure 29

[0122] ​For the convenience of description, the strap is defined as: including a ring-shaped head and a strip-shaped tail connected to the tail end of the ring-shaped head. It can be understood that the "ring-shaped head" corresponds to the "part arranged in a ring shape on the strap body and the lock head", and the lock head corresponds to the tail end of the ring-shaped head; the "strip-shaped tail" corresponds to the "tail of the strap body".

[0123] In combination with the above description of the structure of the strap, the structure of the magazine can be as follows: including a first base, a second base, a plurality of support rods, two baffles and a stopper, wherein the first base and the second base are arranged opposite to each other in an up-down manner, the first base is a flat plate, the second base is a ring structure with a notch, a plurality of the support rods are vertically extended and arranged in a ring array between the first base and the second base, and the plurality of support rods and the first base and the second base together enclose a receiving space for receiving the ring-shaped head of the strap, and correspondingly, the second base is used as an entrance for the ring-shaped head of the strap to enter or exit the receiving space; two baffles are vertically extended and arranged in a spaced manner beside the receiving space, and the two baffles are mutually inclined in an eight-shaped manner, so that a limiting gap is formed between the two vertical sides of the two baffles close to each other, the limiting gap is communicated with the receiving space and the notch of the second base respectively, and the limiting gap is used to limit the tail end of the ring-shaped head and the strip-shaped tail of the strap extending out of the receiving space; the stopper is elastically arranged beside the side of the limiting gap close to the notch by a spring, and is used to press and fix the tail end of the ring-shaped head of the corresponding strap on one of the baffles.

[0124] Further preferably, in the embodiment, the holding device 31 is configured in two groups, each of the two groups of the holding device 31 includes a driving mechanism A and a material holding hand 310 connected to the power output end of the driving mechanism A, two driving mechanisms A are arranged beside the opposite sides of the second pause position respectively, and two material holding hands 310 are driven to move close to each other or separate from each other by two driving mechanisms A respectively, so as to realize the folding or loosening of the bag opening of the packaging bag; the sleeve strap device 32 includes a driving mechanism B and a material receiving hand 320 connected to the power output end of the driving mechanism B, the driving mechanism B is arranged between the second pause position and the strap feeding position, and the material receiving hand 320 can move up and down and horizontally reciprocate between the second pause position and the strap feeding position under the drive of the driving mechanism B; in addition, the driving mechanism A and the driving mechanism B both adopt a lifting and rotating motion mechanism, the lifting and rotating motion mechanism can output linear motion power and rotary motion power, and the lifting and rotating motion mechanism is provided with a protection box B311 for containing deionized water.

[0125] Further preferably, the lifting and rotating movement mechanism described in the embodiment can adopt various implementation structures in implementation, for example:

[0126] The first implementation structure is as follows:

[0127] Please refer to the accompanying Figure 10 to the accompanying Figure 18 , the lifting and rotating movement mechanism includes a protection box B311, a main shaft 312, two driving cylinders B313, a rack B314, a shaft sleeve A315, a gear B316, a floating joint 317 and a connecting piece 318. The protection box B311 is used to contain deionized water. The main shaft 312 is vertically arranged in the protection box B311, and one end of the main shaft 312 (which can be the upper end or the lower end) is sealed and extends out of the protection box B311 to be used as the power output end of the lifting and rotating movement mechanism. The two driving cylinders B313 are independently fixed to the outer side of the protection box B311, and the piston rods of the two driving cylinders B313 are respectively sealed and arranged in the protection box B311. The rack B314 is horizontally arranged in the protection box B311 and is fixedly connected with the piston rod of one of the driving cylinders B313. The shaft sleeve A315 is sleeved on the main shaft 312, and the main shaft 312 is fixedly connected with the shaft sleeve A315 in the circumferential direction and is axially slidably connected with the shaft sleeve A315. The gear B316 is fixedly arranged on the shaft sleeve A315 and is in meshing connection with the rack B314. The connecting piece 318 is axially fixedly connected with the main shaft 312 and is circumferentially movably connected with the main shaft 312. The floating joint 317 is connected between the piston rod of the other driving cylinder B313 and the connecting piece 318.

[0128] Specifically, the structure for achieving the circumferential fixation and axial sliding connection between the main shaft 312 and the shaft sleeve A315 is as follows: an installation frame A319 is fixedly arranged in the protection box B311, and the installation frame A319 is provided with an installation hole. The main shaft 312 penetrates through the installation hole, and a flat portion 3120 extending in the axial direction of the main shaft 312 is arranged on the side wall of the main shaft 312. The shaft sleeve A315 has a hollow sleeve-shaped shaft sleeve body 3150, the inner hole of the shaft sleeve body 3150 is non-circular (for example, in the shape of a waist hole), and is in sliding matching with the flat portion 3120, so that the main shaft 312 penetrates through the shaft sleeve body 3150 while being circumferentially fixed and axially slidably connected with the shaft sleeve body 3150. At the same time, the shaft sleeve body 3150 is coaxially arranged with the main shaft 312, and the shaft sleeve body 3150 is positioned and connected in the installation hole by screw connection or interference fit connection.

[0129] Specifically, the structure that the gear B 316 is fixedly sleeved outside the shaft sleeve A 315 relative to the shaft sleeve A 315 is that a key is fixedly arranged on the outer wall of the shaft sleeve body 3150, a clamping groove A is concavely arranged on the inner wall of the gear B 316, and the gear B is sleeved outside the shaft sleeve A 315, and the clamping groove A is clamped and connected with the key.

[0130] In addition, in order to further enhance the connection stability between the gear B 316 and the shaft sleeve A 315, a stop ring can also be fixedly arranged on the outer wall of the shaft sleeve body 3150, and a stop washer is fixedly sleeved on the shaft sleeve body 3150 (the fixed mode can adopt tight fitting or threaded connection), and the stop washer and the stop ring respectively stop and limit the axial two sides of the gear B 316.

[0131] Specifically, the structure that the rack B 314 is internally arranged in the protection box B 311 and horizontally slides is that a horizontally extending sliding rail B is fixedly arranged on the mounting frame A 319, and the rack B 314 is slidingly connected with the sliding rail B.

[0132] Specifically, the structure that the connecting piece 318 is axially stopped and circumferentially movably connected with the main shaft 312 is that a clamping groove B 3121 extending along the circumference of the main shaft 312 is concavely arranged on the other shaft end of the main shaft 312, the clamping groove B 3121 is configured as at least two and symmetrically arranged; the connecting piece 318 has a connecting portion 3180 and a clamping portion 3181, the connecting portion 3180 is fixedly connected with the floating joint 317, the clamping portion 3181 is configured as at least two and integrally connected with the connecting portion 3180 on the side away from the floating joint 317, and at least two clamping portions 3181 can be axially stopped and circumferentially movably clamped in at least two clamping grooves B 3121 along the main shaft 312.

[0133] The second implementation structure is as follows:

[0134] Please refer to the accompanying drawings Figure 12 to the accompanying drawings Figure 18 , and the accompanying drawings Figure 21 to the accompanying drawings Figure 23As shown, the lifting and rotating movement mechanism comprises a protection box B311, a main shaft 312, a driving cylinder B313, a rack B314, a shaft sleeve A315, a gear B316, a mounting frame A319, a lifting plate 3110 and a rotary bearing 3111, wherein the specific structure of the protection box B311, the main shaft 312, the driving cylinder B313, the rack B314, the shaft sleeve A315, the gear B316 and the mounting frame A319 and the mutual connection relationship therebetween are all the same as those of the first embodiment, and thus are not described herein; the lifting plate 3110 is built in the protection box B311 and can move axially along the main shaft 312, and the lifting plate 3110 is fixedly connected with a piston rod of the driving cylinder B313 (note: a piston rod of the other driving cylinder B313 is fixedly connected with the rack B314); the main shaft 312 is rotatably mounted on the lifting plate 3110 through the rotary bearing 3111.

[0135] Specifically, the structure that the lifting plate 3110 can move axially along the main shaft 312 and is built in the protection box B311 is that a plurality of guide rods 3112 extending axially along the main shaft 312 are fixedly arranged on the mounting frame A319, and the lifting plate 3110 is slidably connected with the plurality of guide rods 3112 through the shaft sleeve B.

[0136] In this embodiment, the driving mechanism A and the driving mechanism B can randomly adopt the implementation structures of the lifting and rotating movement mechanism according to production needs. For example, the driving mechanism A adopts the second implementation structure of the lifting and rotating movement mechanism, and the driving mechanism B adopts the first implementation structure of the lifting and rotating movement mechanism.

[0137] In addition, in this embodiment, please refer to the accompanying drawings Figure 20 As shown, the material holding hand 310 comprises a first connecting arm 3100 and a plurality of rod-shaped fingers 3101, the first connecting arm 3100 is an L-shaped structure, and one end of the first connecting arm 3100 is fixedly connected with one shaft end (specifically, the upper shaft end) of the main shaft 312 of the driving mechanism A; the plurality of fingers 3101 are equally divided into two columns and are arranged on the other end of the first connecting arm 3100 respectively, and the plurality of fingers 3101 are all inclined and symmetrically arranged relative to the other end of the first connecting arm 3100.

[0138] Please refer to the accompanying drawings Figure 11As shown, the receiving hand 320 comprises a second connecting arm 3200 and a receiving part 3201, the second connecting arm 3200 is in strip shape and is fixedly connected with the receiving part 3201 and an axial end (specifically, a lower axial end) of the main shaft 312 of the driving mechanism B respectively, the receiving part 3201 is provided with an annular hole groove with a notch to match the shape of the ribbon which is previously arranged in Q shape; and a plurality of limiting blocks A3202 for blocking and limiting the ribbon are further arranged on the circumference of the annular hole groove.

[0139] Through the above description of the specific structure of the holding device 31 and the ribbon wrapping device 32, it can be known that the two have the following advantages: ① The protection box B is arranged in the lifting and rotating mechanism, which can greatly reduce the sensitivity of the energetic material to the lifting and rotating mechanism during work, thereby effectively avoiding the risk of explosion of the energetic material, and playing a good isolation and protection role on the lifting and rotating mechanism, so that it can well meet the processing environment demand of the energetic material. ② The lifting and rotating mechanism integrates "lifting linear motion" and "rotating motion" in one, which can greatly reduce the volume and occupied space of the lifting and rotating mechanism, is conducive to the arrangement and installation of the protection box B, and is conducive to the arrangement and installation of the holding device and the ribbon wrapping device; on the other hand, due to the high integration of the lifting and rotating mechanism, the working rhythm and working efficiency can be greatly improved, and the automation production demand can be well met.

[0140] Further preferably, please refer to the attached Figure 24 to the attached Figure 27As shown, the cable tensioning device 33 in the embodiment includes a protective box C330 for containing deionized water and disposed beside the second pause position (the protective box C330 is higher than the second pause position according to production needs), a connecting arm A331 disposed outside the protective box C330 and pointing to the second pause position (based on the layout of the protective box C330, the connecting arm A331 points above the second pause position at one end), and a flexible clamping head 332 connected to the connecting arm A331 at one end, the other end of the connecting arm A331 is disposed in the protective box C330, and the connecting arm A331 is in sliding fit with one side wall of the protective box C330; an explosion-proof power assembly for providing power and connected to the outside of the protective box C330, and the power output end of the explosion-proof power assembly is sealingly disposed in the protective box C330; a transmission assembly A connected between the power output end of the explosion-proof power assembly and the other end of the connecting arm A331, and capable of driving the flexible clamping head 332 to move linearly towards or away from the second pause position. That is, when the cable tensioning device 33 is working, the explosion-proof power assembly and the transmission assembly A first drive the flexible clamping head 332 to move towards the second pause position to realize that the flexible clamping head 332 clamps the strip-shaped tail of the cable; then the explosion-proof power assembly and the transmission assembly A drive the flexible clamping head 332 to move away from the second pause position to realize that the cable is tensioned.

[0141] Further preferably, the flexible clamping head 332 includes two clamping fingers 3320 oppositely and spacedly disposed at one end of the connecting arm A331, and at least one of the two clamping fingers 3320 is provided with a diaphragm type cylinder B3321 (one diaphragm type cylinder B3321 is provided in the embodiment). The diaphragm type cylinder B3321 adopts a Festo diaphragm type clamping cylinder, which has the characteristics of simple structure, small space occupation, good dynamic performance (output force changes during movement), strong anti-torsion ability, etc., which can provide a flexible clamping force to the clamping head, avoiding unnecessary damage to the cable.

[0142] The explosion-proof power assembly comprises a pneumatic motor 333, a vertically arranged rotating main shaft 334, and a speed reducer 335 connected between a power output shaft of the pneumatic motor 333 and a lower shaft end of the rotating main shaft 334, and an upper shaft end of the rotating main shaft 334 is sealingly arranged in the protection box C330, and the rotating main shaft 334 is axially fixed and circumferentially rotatable relative to the protection box C330. Since the pneumatic motor is used, no dangerous factors such as spark, overheating, explosion, short circuit (electricity) are generated during operation, and the explosion-proof power assembly is safe and explosion-proof, and is particularly suitable for use in an environment with flammable and explosive substances or high temperature.

[0143] The transmission assembly A comprises a rack C336 and a gear C337, the rack C336 is horizontally slidingly arranged in the protection box C330, and the rack C336 is further positioned and connected to the other end of the connecting arm A331; the gear C337 is in meshing connection with the rack C336, and the gear C337 is further positioned and connected to the upper shaft end of the rotating main shaft 334.

[0144] Specifically, the structure for positioning and connecting the rack C336 to the other end of the connecting arm A331 is that the cable tensioning device 33 further comprises a mounting frame B338 and a sliding seat 339, the mounting frame B338 is fixedly arranged in the protection box C330, and a horizontally extending sliding rail C is fixedly arranged on the mounting frame B338, one end of the sliding rail C points to the second pause position (the length extension direction of the sliding rail C is parallel to the length extension direction of the rack C336); the sliding seat 339 is slidingly connected to the sliding rail C, and the sliding seat 339 is fixedly connected to the rack C336 and the other end of the connecting arm A331, respectively.

[0145] Further preferably, the upper shaft end of the rotating main shaft 334 is sealingly arranged in the protection box C330, and is further connected to the protection box C330 in a circumferential rotation and axial fixation manner through a bearing seat. In addition, the upper shaft end of the rotating main shaft 334 is rotatably arranged in the mounting frame B338, and is positioned and inserted into an inner hole of the gear C337 in a tight fitting connection manner or a "key and key groove matching manner".

[0146] Furthermore, according to processing requirements, after tightening the cable tie, the cable tie tightening device 33 will control the flexible clamping head 332 to continue moving away from the second pause position until the "excess portion" of the cable tie that does not contribute to tightening the bag opening is broken (Note: To achieve rapid breakage of the cable tie portion, a suitable slit can be pre-set at a predetermined position on the cable tie body, i.e., the size of the slit must meet the requirement that it will not affect the operation of the flexible clamping head in clamping and tightening the cable tie), so as to prevent the cable tie from being too long and damaging the packaging bag. Therefore, in order to collect the broken portion of the cable tie, the cable tie tightening device 33 also includes a flow channel 3310 for guiding the waste material outflow; the flexible clamping head 332 can move above the inlet of the flow channel 3310 under the drive of the explosion-proof power assembly and the transmission assembly A.

[0147] Based on the above description of the structure of the cable tie tightening device 33, it can be seen that it has the following advantages: On the one hand, the cable tie tightening device uses a flexible clamping head that can provide flexible and variable clamping force to clamp the cable tie, which can avoid unnecessary damage to the cable tie and well meet the operational requirements of the cable tie being tightened and partially broken along the preset cut; on the other hand, the cable tie tightening device is equipped with a protective box C for holding deionized water and transmission component A, as well as an explosion-proof power component with explosion-proof function, which can greatly reduce the sensitivity of energetic materials to the cable tie tightening device during operation (because energetic materials will become passivated when exposed to water or in a certain humidity environment, and their sensitivity will decrease), thereby effectively avoiding the risk of energetic materials exploding, so that the cable tie tightening device can well meet the processing environment requirements of energetic materials.

[0148] Furthermore, in this embodiment, the unloading side of the magazine conveyor 300 and the cable tie loading position are preferably arranged at intervals and side by side, and a support frame 34 for receiving the magazine is provided at the cable tie loading position. The receiving hand 320 can be movably inserted into the support frame 34 to receive the cable tie pulled down by the picking component C and the first explosion-proof robot 301.

[0149] For further preferred options, please refer to the appendix. Figure 8 As shown, the support frame 34 includes an upper plate 340 and a lower plate 341, both annular bodies with notches, arranged vertically in parallel, and two support columns 342 respectively fixedly connected between the upper and lower plates. The upper plate 340 is also provided with a locking block 343 for engaging with the magazine. Note: The parts of the support frame 34 that contact the magazine are all made of anti-static Teflon material.

[0150] In addition, in the embodiment, the bagging device 3 further comprises a folding device 35 arranged beside the second pause position and capable of folding the bag opening of the packaging bag after one-time strapping.

[0151] Specifically, please refer to the accompanying drawings Figure 28 As shown in the drawings, the folding device 35 comprises a first rotary air cylinder 351, a second rotary air cylinder 352 and a driving air cylinder C 353, wherein the first rotary air cylinder 351 is configured as two and arranged at positions beside the second pause position and close to the bag opening of the packaging bag, and the rotary disc of each first rotary air cylinder 351 is further provided with a folding rod 350 pointing to the bag opening of the packaging bag; the rotary disc of the second rotary air cylinder 352 is connected with the cylinder body of each first rotary air cylinder 351 to drive the two first rotary air cylinders 351 to rotate synchronously; the driving air cylinder C 353 is fixed relative to the ground position, the piston rod of the driving air cylinder C 353 is connected with the cylinder body of the second rotary air cylinder 352, and the folding rods 350 on the two first rotary air cylinders 351 can be driven by the driving air cylinder C 353 to move synchronously close to or away from the bag opening of the packaging bag.

[0152] It can be understood that the operation method of the folding device 35 is as follows: after the bag opening of the packaging bag is completed once strapping, the driving air cylinder C 353 drives the two folding rods 350 to move synchronously close to the bag opening of the packaging bag until the two folding rods 350 are respectively placed on both sides of the bag opening of the packaging bag; then the second rotary air cylinder 352 and the first rotary air cylinder 351 work cooperatively to realize folding the bag opening of the packaging bag. After the bag opening of the packaging bag is folded, the driving air cylinder C 353 drives the two folding rods 350 to move synchronously away from the bag opening of the packaging bag.

[0153] In addition, in the embodiment, the folding device 35 is further provided with an accordion cover A 354 on the piston rod cover of the driving air cylinder C 353, which can avoid the entry of energetic dust into the moving mechanism, improve the safety of the operation of the moving mechanism, and make the folding device 35 well meet the processing environment requirements of energetic materials.

[0154] Description: According to the packaging process requirements of the energetic material, two of the bagging devices 3 are provided and arranged along the conveying direction of the main conveying device 1; wherein the first bagging device 3 close to the bag lifting device 2 is used for one-time strapping of the bag opening of the packaging bag, and the second bagging device 3 close to the flattening device 4 is used for twice strapping of the bag opening of the packaging bag after one-time strapping. The working methods of the two bagging devices 3 are briefly described as follows:

[0155] Firstly, because two bagging devices 3 are arranged, it can be understood that the present application also correspondingly arranges two bagging stations, two second pause positions and two strapping feeding positions. In order to facilitate distinction and description, the bagging station, the second pause position and the strapping feeding position corresponding to the first bagging device 3 are defined as bagging station A, second pause position A and strapping feeding position A respectively; the bagging station, the second pause position and the strapping feeding position corresponding to the second bagging device 3 are defined as bagging station B, second pause position B and strapping feeding position B respectively.

[0156] The working method of the first bagging device 3 is as follows: (in addition to the main conveying device 1 and the lifting assembly, the following flow lines, robots, mechanisms, assemblies and devices related to the bagging device all belong to the first bagging device)

[0157] S11: When the main conveying device 1 conveys the full load bucket to the second pause position A, the controller controls the lifting assembly in the second pause position A to work to drive the tray and the full load bucket to move upward to a set height, so that the tray is separated from the main conveying device 1;

[0158] When the magazine conveying flow line 300 conveys the magazine to the unloading side thereof, the controller controls the first limiting assembly to work to stop and limit the bracket carrying the magazine, and to position it aside; then, the controller controls the first explosion-proof robot 301 to work cooperatively with the picking assembly B to move the magazine limited in the unloading side of the magazine conveying flow line 300 to the support frame 34 in the strapping feeding position A;

[0159] Description: The sequence of the above-mentioned lifting and positioning operation of the full load bucket and the moving operation of the magazine can be set according to the production rhythm requirements, and the present application does not make any limitation;

[0160] S12: The controller controls the two drive mechanisms A, the drive mechanism B and the first explosion-proof robot 301 to work respectively to realize that the two drive mechanisms A drive the two material holding hands 310 to approach each other to fold the bag opening of the packaging bag lifted;

[0161] The driving mechanism B drives the material receiving hand 320 to move to the strapping material loading position A and to be inserted into the support frame 34, and then, after the first explosion-proof robot 301 cooperates with the picking assembly C to pull the strapping material in the magazine downwards, the material receiving hand 320 can receive the pulled strapping material. Then, the driving mechanism B drives the material receiving hand 320 to move to the second temporary position A and to set the strapping material on the bag opening of the bag gathered by the gathering device 31. Then, the driving mechanism B drives the material receiving hand 320 to reset and waits for the next operation of taking strapping material.

[0162] S13: The controller controls the explosion-proof power assembly to work, realizing that the flexible clamping head 332 is driven to move towards the second temporary position A and to clamp the strip-shaped tail of the strapping material, then the flexible clamping head 332 is driven to move away from the second temporary position A, the strapping material is pulled tight, and the “excess part” of the strapping material which does not act on the bag opening is pulled off along the preset cut; and the pulled-off part of the strapping material flows out through the flow channel 3310.

[0163] Then, the driving mechanism A drives the material gathering hand 310 to reset, that is, the operation of once strapping and bundling the bag opening by the strapping material is completed.

[0164] The working method of the second strapping bag device 3 is as follows: (except that the main conveying device 1 and the jacking assembly, the following flow lines, robots, mechanisms, assemblies, devices and the like related to the strapping bag device belong to the second strapping bag device)

[0165] S21: When the main conveying device 1 conveys the full load bucket to the second temporary position B, the controller controls the jacking assembly located in the second temporary position B to work to drive the tray and the full load bucket to move upwards to a set height, so that the tray is separated from the main conveying device 1.

[0166] When the magazine conveying flow line 300 conveys the magazine to the lower side of the magazine, the controller controls the first limiting assembly to work to stop and limit the bracket carrying the magazine to be positioned on the side. Then, the controller controls the first explosion-proof robot 301 to cooperate with the picking assembly B to move the magazine limited on the lower side of the magazine conveying flow line 300 to the support frame 34 in the strapping material loading position B.

[0167] Note: The sequence of the jacking and positioning operation of the full load bucket and the moving operation of the magazine can be set according to the production rhythm requirement, and the present application does not make any limitation.

[0168] S22: the controller controls the driving cylinder C353 to work, so as to drive the two turning levers 350 to move synchronously towards the bag opening of the packaging bag until the two turning levers 350 are respectively arranged on the two sides of the bag opening of the packaging bag; then the controller controls the second rotary cylinder 352 and the first rotary cylinder 351 to work coordinately, so as to realize the folding of the bag opening of the packaging bag.

[0169] S23: the controller controls the two driving mechanisms A and B, the first explosion-proof robot 301 and the explosion-proof power assembly to work, so as to realize the secondary strapping of the folded bag opening of the packaging bag.

[0170] Supplementary explanation: ①after the clamping device 31 works to clamp the folded bag opening of the packaging bag, the driving cylinder C353 drives the two turning levers 350 to move away from the bag opening of the packaging bag; ②the specific operation method of the above S23 is the same as that of the above S12 and S13, and thus is not described herein.

[0171] Next, regarding the flattening device 4;

[0172] Similarly, in order to describe the structure of the flattening device 4, the following definitions are made: a temporary position corresponding to the flattening station is defined as a third temporary position.

[0173] Please refer to the accompanying drawings Figure 1 and the accompanying drawings Figure 30 As shown in the drawings, the flattening device 4 comprises a flattening plate 40, which is located above the third temporary position and can move downward relative to the third temporary position; in addition, the transverse cross-sectional area of the flattening plate 40 is smaller than the area of the barrel opening, so that the flattening plate 40 can extend into the barrel opening to realize the flattening of the strapping bag opening in the barrel B.

[0174] Further preferably, the flattening device 4 further comprises a driving cylinder D41, which can preferably be a pen-shaped cylinder (but is not limited thereto), the driving cylinder D41 is positioned above the third temporary position through a mounting frame C42, the piston rod of the driving cylinder D41 points downward, and the flattening plate 40 is fixedly connected to the bottom end of the piston rod of the driving cylinder D41. In addition, the flattening plate 40 is in the shape of a circular plate to match the shape of the barrel opening, and the area of the flattening plate 40 is smaller than the area of the barrel opening. In addition, a protective cover A is arranged on the cylinder body cover of the driving cylinder D41, and an organ case B is arranged on the piston rod of the driving cylinder D41, so as to prevent the inclusion of dust into the movement mechanism (driving cylinder D41), thereby improving the safety of the movement mechanism.

[0175] Through the above description of the structure of the flattening device 4, the working method of the flattening device 4 is:

[0176] S1: When the main conveying device 1 conveys the full material bucket to the third pause position, the controller controls the lifting assembly in the third pause position to work to drive the tray and the full material bucket to move upward to a set height together, so that the tray is separated from the main conveying device 1;

[0177] S2: The controller controls the driving air cylinder D41 to work to drive the flattening plate 40 to move downward to the full material bucket paused in the third pause position, so as to flatten the bag opening of the bunched packaging bag in the material bucket B.

[0178] Then, regarding the cover covering device 5;

[0179] Similarly, in order to facilitate the description of the structure of the cover covering device 5, the following definitions are made: a pause position corresponding to the cover covering station is defined as a fourth pause position.

[0180] Please refer to the accompanying Figure 1 and the accompanying Figure 31 As shown in the drawings, the cover covering device 5 comprises a cover conveying flow line 50 and a second explosion-proof robot 51, the cover conveying flow line 50 also adopts an explosion-proof conveying device, and a positioning jig 52 for positioning the cover before covering is arranged on the discharge side of the cover conveying flow line 50; the second explosion-proof robot 51 is arranged between the discharge side of the cover conveying flow line 50 and the fourth pause position, and a picking assembly D for picking the cover is arranged on the execution end of the second explosion-proof robot 51.

[0181] Further preferably, the cover conveying flow line 50 can preferably adopt the same explosion-proof conveying device as the magazine conveying flow line 300, and the second explosion-proof robot 51 can also preferably adopt a commercially available four-axis explosion-proof robot, so the specific structures of the two are not described in detail, and both can well meet the processing environment requirements of energetic materials.

[0182] Supplementary explanation: ① The cover is loaded in the magazine A in a stack, and the magazine A is transported by the cover conveying flow line 50 through the supporting plate. This is a common technical means commonly used in the automatic processing line. As for the structure of the above-mentioned magazine A (defined as magazine A, in order to distinguish from the above-mentioned magazine carrying the binding tape), a frame structure can meet the processing requirements, such as: the magazine A includes a bottom plate A and a plurality of limiting columns A arranged in a ring around the periphery of the bottom plate A. ② In order to ensure that the second explosion-proof robot 51 can reliably take materials, a second limiting component for stopping and limiting the supporting plate carrying the cover is arranged on the discharge side of the cover conveying flow line 50. The structure of the second limiting component can be the same as that of the first limiting component, so it is not described in detail here.

[0183] As for the positioning jig 52, the structure adopted is: including a workbench 520, a limiting block B521 and a limiting cylinder 522, the workbench 520 is arranged between the discharge side of the cover conveying flow line 50 and the fourth pause position, the limiting block B521 is at least two, and is fixedly arranged on the upper side of the workbench 520 in a first direction. The discharge side of the cover conveying flow line 50 and the fourth pause position are arranged side by side, and the side-by-side direction of the two is the first direction; the limiting cylinder 522 is also arranged on the upper side of the workbench 520 and is arranged opposite to at least two limiting blocks B521, and the piston rod of the limiting cylinder 522 can extend and retract relative to at least two limiting blocks B521. When the cover is placed between the limiting block B521 and the limiting cylinder 522 (according to production requirements, a pad 523 for supporting the cover can be arranged between the limiting block B521 and the limiting cylinder 522), the limiting cylinder 522 can push the cover to move and position towards the limiting block B521 (which can be understood as edge positioning).

[0184] As for the pickup assembly D, it can adopt the same structure as the pickup assembly B (that is, a combination of a jaw cylinder and a jaw), or it can adopt a similar structure to the pickup assembly A (that is, a combination of a gas bag cylinder and a vacuum suction cup). The specific structure is determined according to production requirements, so it is not described in detail here.

[0185] From the above description of the structure of the cover covering device 5, it can be seen that the working method of the cover covering device 5 is:

[0186] S1: When the main conveying device 1 conveys the full-load bucket to the fourth pause position, the controller controls the lifting assembly in the fourth pause position to work to drive the tray and the full-load bucket to move upward together to a set height, so that the tray is separated from the main conveying device 1;

[0187] When the cover conveying flow line 50 conveys the cover to its unloading side, the controller controls the second limiting assembly to work, and the carrier with the cover is stopped and limited, and positioned on the side; then the controller controls the second explosion-proof robot 51 to work cooperatively with the pickup assembly D, and moves the cover limited on the unloading side of the cover conveying flow line 50 to the working platform 520 (specifically, places the cover on the cushion block 523);

[0188] Description: The sequence of the above-mentioned lifting positioning operation of the full-load material bucket and the moving operation of the cover can be set according to the production rhythm requirement, and the application does not make any limitation;

[0189] S2: The controller controls the limiting cylinder 522 to work, and pushes the cover to move and position towards the limiting block B521, so as to realize the positioning operation before the cover is closed.

[0190] S3: The controller controls the second explosion-proof robot 51 to work cooperatively with the pickup assembly D again, and picks up the positioned cover and closes it on the bucket mouth.

[0191] Then, the lock cover device 6 is described.

[0192] Similarly, in order to describe the structure of the lock cover device 6, the following definitions are made first: a pause position corresponding to the lock cover station is defined as a fifth pause position.

[0193] Before describing the lock cover device 6, the bucket hoop structure is described first: it is known that the bucket hoop is a device for connecting the cover and the bucket body together to achieve sealing and fastening. The conventional structure of the bucket hoop is shown in the accompanying drawings, which mainly includes a bucket hoop body C1, a handle C2 and a connecting piece C3. The bucket hoop body C1 is a ring structure with a notch, one end of the handle C2 is hinged to one side of the notch of the bucket hoop body C1, one end of the connecting piece C3 is hinged to the other side of the notch of the bucket hoop body C1, and the other end of the connecting piece C3 is also hinged to the handle C2. Figure 32 When it is necessary to tighten the bucket hoop, the handle C2 is pushed in the clockwise direction, which can drive the connecting piece C3 to move in the clockwise direction, so that the two sides of the notch of the bucket hoop body C1 are close to each other. After the handle C2 is completely pressed on the bucket hoop body C1, the tightening and fastening of the bucket hoop are completed. Figure 32 Please refer to the accompanying drawings

[0194] to Figure 33 to Figure 47As shown, in the embodiment, the lock cover device 6 comprises a barrel hoop conveying flow line 60, a barrel hoop feeding device 61 and a barrel hoop locking device 62, wherein the barrel hoop conveying flow line 60 is used for conveying barrel hoops C; the barrel hoop feeding device 61 comprises a third explosion-proof robot 610, a picking mechanism connected with an execution end of the third explosion-proof robot 610, and a protective cover B611 provided outside the picking mechanism, the third explosion-proof robot 610 is arranged between a discharging side of the barrel hoop conveying flow line 60 and the fifth pause position, and the third explosion-proof robot 610 cooperates with the picking mechanism to pick the barrel hoop C from the discharging side of the barrel hoop conveying flow line 60, and then sleeves the barrel hoop to the combined part of the cover and the barrel opening paused in the fifth pause position; the barrel hoop locking device 62 comprises a first adjusting mechanism 620, a second adjusting mechanism 621, a supporting mechanism 622 and a locking mechanism arranged around the fifth pause position, the first adjusting mechanism 620 can centrally position the barrel in the fifth pause position; the second adjusting mechanism 621 can centrally position the cover combined on the barrel opening; the supporting mechanism 622 can support and limit the barrel hoop C sleeved on the combined part of the cover and the barrel opening; the locking mechanism can press and limit the barrel hoop body C1 of the barrel hoop C, and also can push the handle C2 of the barrel hoop C to overturn, so as to lock the cover on the barrel opening of the barrel; in addition, the first adjusting mechanism 620, the second adjusting mechanism 621 and the locking mechanism are all provided with protective structures.

[0195] Further preferably, in the embodiment, the barrel hoop conveying flow line 60 also adopts an explosion-proof conveying device. Specifically, the barrel hoop conveying flow line 60 can preferably adopt an explosion-proof conveying device with the same structure as the magazine conveying flow line 300.

[0196] Supplementary description: The barrel hoops are loaded in the magazine B in a pile, and the magazine B is conveyed by the barrel hoop conveying flow line 60 through a supporting plate, which is a conventional technical means commonly used in automatic processing lines. As for the structure of the magazine B, the same structure as the above-mentioned magazine A can be adopted, which will not be described here. In addition, in order to ensure that the third explosion-proof robot 610 can reliably pick up the material, a third limiting component for stopping and limiting the supporting plate carrying the barrel hoop is arranged on the discharging side of the barrel hoop conveying flow line 60, and the structure of the third limiting component can be the same as that of the first limiting component, which will not be described in detail here.

[0197] Further preferably, in the embodiment, the third explosion-proof robot 610 can also preferably adopt a commercially available four-axis explosion-proof robot, so the specific structure thereof will not be described in detail, which can well meet the processing environment requirements of energetic materials.

[0198] Further preferably, in the embodiment, please refer to the accompanying drawings Figure 35 to the accompanying drawingsFigure 39 As shown, the material picking mechanism comprises a material taking member 612, a fixing assembly 613 and a detection limiting assembly 614, the material taking member 612 is connected to the execution end of the third explosion-proof robot 610 and can be sleeved on the barrel hoop body under the driving of the third explosion-proof robot 610; the fixing assembly 613 is connected to one side of the material taking member 612 towards the execution end of the third explosion-proof robot 610, and the fixing head 6130 of the fixing assembly 613 can perform telescopic motion relative to the material taking member 612, so that after the fixing head 6130 is movably inserted into the material taking member 612, the barrel hoop body is limited and positioned; the detection limiting assembly 614 is also connected to one side of the material taking member 612 towards the execution end of the third explosion-proof robot 610, and the limiting head 6140 of the detection limiting assembly 614 can also perform telescopic motion relative to the material taking member 612, so that the limiting head 6140 can sense the barrel hoop incoming material information while being able to press and limit the handle of the barrel hoop.

[0199] Further preferably, the execution end of the third explosion-proof robot 610 is an output shaft. The material taking member 612 comprises a first mounting plate 6120, a plurality of guide columns 6121, a base plate 6122 and a plurality of limiting columns B 6123, wherein the first mounting plate 6120 is built in the protective cover B 611 and fixedly connected with the output shaft, and the upper side of the protective cover B 611 is also fixedly connected with the output shaft; a plurality of guide columns 6121 extend along the axis of the output shaft, and one end of each of the plurality of guide columns 6121 is slidably connected with the first mounting plate 6120 through a linear bearing assembly 6124 (the linear bearing assembly is a widely used sliding component in linear motion systems, which generally comprises a bearing fixed seat and a linear bearing built in the bearing fixed seat), and the other end of each of the plurality of guide columns 6121 is fixedly connected with one side of the base plate 6122, meanwhile, the plurality of guide columns 6121 are also symmetrically distributed around the axis of the output shaft, and a spring 6125 is sleeved on each of the guide columns 6121, and both ends of the spring 6125 are elastically abutted with the corresponding linear bearing assembly 6124 and the base plate 6122; a plurality of limiting columns B 6123 extend along the axis of the output shaft and are arranged in a ring on the other side of the base plate 6122 away from the output shaft, and the annular area surrounded by the plurality of limiting columns B 6123 is matched with the shape of the barrel hoop body C1. In addition, an organ case C6126 is provided outside each spring 6125, and a protective cap 6127 is fixedly provided on the upper side of each linear bearing assembly 6124.

[0200] The fixing assembly 613 comprises a mounting frame D6131 centrally and fixedly connected to one side of the base plate 6122, a second mounting plate 6132 sleeved on the mounting frame D6131 in an axial sliding manner along the output shaft, and a first lifting cylinder 6133 fixedly connected to the mounting frame D6131, wherein a piston rod of the first lifting cylinder 6133 is capable of extending and retracting in an axial direction of the output shaft and is fixedly connected to the second mounting plate 6132; the fixing head 6130 is a plurality of magnets; the plurality of fixing heads 6130 are arranged in a ring on the second mounting plate 6132, the annular area surrounded by the plurality of fixing heads 6130 is adapted to the shape of the barrel hoop body, and the annular area surrounded by the plurality of fixing heads 6130 can be projected into the annular area surrounded by the plurality of limiting columns B6123.

[0201] In addition, it is understood that, in order to achieve the activity of the fixing head 6130 inserted into the material taking part 612, a plurality of through holes for the fixing head 6130 to freely pass through are formed on the base plate 6122.

[0202] The detection limiting assembly 614 comprises a second lifting cylinder 6141 fixedly connected to one side of the base plate 6122 through a support A6142, a piston rod of the second lifting cylinder 6141 is capable of extending and retracting in an axial direction of the output shaft, and one end of the piston rod of the second lifting cylinder 6141 further points to the avoidance gap 61220 at the edge of the base plate 6122; the limiting head 6140 and the proximity switch 6144 are both fixedly connected to one end of the piston rod of the second lifting cylinder 6141 through a support B6143, one end of the limiting head 6140 is connected to the proximity switch 6144, the other end of the limiting head 6140 points to the avoidance gap 61220, and is used for pressing and limiting the handle of the barrel hoop.

[0203] Through the above structure of the barrel hoop feeding device 61, it has the following advantages: ① The barrel hoop feeding device adopts explosion-proof robot, protective cover, organ case, protective cap and other structures, which can effectively avoid the risk of containing energy dust entering the device, thereby effectively avoiding the risk of explosion of the containing energy material, so that the barrel hoop feeding device can well meet the processing environment demand of the containing energy material, that is, it can be well applied to the automatic packaging processing of the containing energy material. ② When picking up the barrel hoop, the barrel hoop body is first framed and initially positioned by the taking part, and then the barrel hoop body is limited and positioned by the fixing head, and the handle is pressed and limited by the limiting head, that is, the double fastening picking of the barrel hoop is completed; therefore, the picking firmness of the barrel hoop feeding device is high, which can well ensure the accuracy of the barrel hoop unloading. In addition, when picking up the barrel hoop, the limiting head can also complete the sensing of the barrel hoop incoming information in the pressing process, and the auxiliary controller can realize the supply control of the barrel hoop feeding device.

[0204] Further preferably, in the present embodiment, please refer to the attached Figure 40 to the attached Figure 47 , the locking mechanism includes a pressing mechanism 623, a first locking mechanism 624 and a second locking mechanism 625, the pressing mechanism 623 can press and limit the barrel hoop body C1 of the barrel hoop C, the first locking mechanism 624 can push the handle C2 of the barrel hoop C to flip a set angle, so that the barrel hoop C is in a semi-locking state; that is, the first locking mechanism 624 can push the handle C2 of the barrel hoop C to flip from the initial relaxed state (S1 state shown in the attached Figure 32 , that is, the fully open state) to the semi-locking state (S2 state shown in the attached Figure 32 ); the second locking mechanism 625 can push the handle C2 of the barrel hoop C in the semi-locking state to continue to flip until the handle C2 is pressed on the barrel hoop body C1 of the barrel hoop C, so that the barrel hoop C is in a locking state; that is, the second locking mechanism 625 can push the handle C2 of the barrel hoop C to flip from the semi-locking state (S2 state shown in the attached Figure 32 ) to the locking state (S3 state shown in the attached Figure 32 ).

[0205] Still further preferably, the fifth pause position has a first side and a second side in opposite arrangement, and a third side and a fourth side also in opposite arrangement.

[0206] The first adjusting mechanism 620 comprises two movable seats 6200, two adjusting cylinders A 6201 and two clamping jaws A 6202, the two movable seats 6200 are oppositely and respectively slidably arranged beside the first side and the second side of the fifth pause position (which can be realized by laying slide rails D on the ground), and the two movable seats 6200 can also move towards or away from the fifth pause position under the drive of the two adjusting cylinders A 6201; the two clamping jaws A 6202 are respectively fixedly connected to one side of the two movable seats 6200 towards the fifth pause position, and the two clamping jaws A 6202 can also move towards each other under the drive of the two movable seats 6200 to realize the center positioning of the barrel.

[0207] In addition, it can be understood that one side of the clamping jaw A 6202 towards the fifth pause position is recessed with a circular arc holding part to match the shape of the barrel. The slide rail D is covered with an organ cover D 6203 for protection.

[0208] The second adjusting mechanism 621 comprises two fixed seats 6210, two adjusting cylinders B 6211 and two clamping jaws B 6212, the two adjusting cylinders B 6211 are oppositely and fixedly arranged beside the third side and the fourth side of the fifth pause position through the two fixed seats 6210, and the piston rods of the two adjusting cylinders B 6211 both point to the fifth pause position; the two clamping jaws B 6212 are respectively fixedly connected with the piston rods of the two adjusting cylinders B 6211 and can move towards each other under the drive of the two adjusting cylinders B 6211 to realize the center positioning of the cover.

[0209] In addition, it can be understood that one side of the clamping jaw B 6212 towards the fifth pause position is recessed with a clamping jaw groove to match the shape of the cover. The piston rod of the adjusting cylinder B 6211 is covered with an organ cover E 6213 for protection.

[0210] The supporting mechanism 622 comprises two supporting platforms 6220, the two supporting platforms 6220 are respectively vertically and slidably arranged on one side of the two movable seats 6200 towards the fifth pause position (i.e. the two opposite sides of the two movable seats 6200), one side of the two supporting platforms 6220 towards the fifth pause position is formed with a concave arc avoiding part 62200, and an arc-shaped supporting strip 6221 for supporting the barrel hoop C is fixedly arranged on the two avoiding parts 62200 respectively.

[0211] Specifically, the structure that enables the two support platforms 6220 to be vertically slidably arranged on the sides of the two movable seats 6200 towards the fifth pause position is that: slide rails E extending in the vertical direction are respectively fixed on the opposite sides of the two movable seats 6200, and the two slide rails E are respectively in sliding connection with the two support platforms 6220; the support mechanism 622 further comprises two third lifting cylinders 6222, the two third lifting cylinders 6222 are respectively fixedly arranged on the two movable seats 6200, and the piston rods of the two third lifting cylinders 6222 are respectively fixedly connected with the two support platforms 6220.

[0212] In addition, it can be understood that the slide rails E are covered with an organ cover F6223 to play a protective role.

[0213] The first locking mechanism 624 and the second locking mechanism 625 are independently arranged on the first side of the fifth pause position, and the pressing mechanism 623 is arranged on the second side of the fifth pause position.

[0214] The pressing mechanism 623 comprises a first cylinder 6230, a first connecting rod 6231 fixedly connected with the piston rod of the first cylinder 6230, and a pressing head 6232 fixedly connected to one end of the first connecting rod 6231, the first cylinder 6230 is fixedly arranged on the upper side of the support platform 6220 located on the second side of the fifth pause position, one end of the first connecting rod 6231 and the pressing head 6232 thereon both point towards (or are understood to be towards) the fifth pause position, and an organ cover H6233 is sleeved on one end of the first connecting rod 6231, a first protective cover 6234 is positioned on the remaining part of the first connecting rod 6231 and the first cylinder 6230;

[0215] The first locking mechanism 624 comprises a second cylinder 6240, a second connecting rod 6241 fixedly connected with the piston rod of the second cylinder 6240, and a push block 6242 fixedly connected to one end of the second connecting rod 6241, the second cylinder 6240 is fixedly arranged on the upper side of the support platform 6220 located on the first side of the fifth pause position, and the push block 6242 can push the handle C2 of the barrel hoop C to rotate clockwise; in addition, an organ cover I6243 is sleeved on the other end of the second connecting rod 6241, and a second protective cover 6244 is positioned on the remaining part of the second connecting rod 6241 and the second cylinder 6240;

[0216] The second locking mechanism 625 comprises a third cylinder 6250, a third connecting rod 6251 fixedly connected with the piston rod of the third cylinder 6250, and a roller 6252 rotationally connected to one end of the third connecting rod 6251. The third cylinder 6250 is fixedly arranged beside the supporting platform 6220 beside one side of the fifth pause position through a stand 6253. One end of the third connecting rod 6251 and the roller 6252 thereon both point (or are understood to be directed) to the fifth pause position, and the roller 6252 can also push the handle C2 of the barrel hoop C to rotate clockwise. In addition, an organ case J6254 is arranged on the piston rod of the third cylinder 6250.

[0217] In addition, the first connecting rod 6231 and the second connecting rod 6241 are both in the shape of a round rod and are both horizontally arranged. Both are also arranged to be inclined relative to the horizontal center line of the fifth pause position. The third connecting rod 6251 is in the shape of T. One end of the second connecting rod 6241 also points to the third connecting rod 6251.

[0218] From the above description of the structure of the barrel hoop locking device, the following advantages can be known. ① The first adjusting mechanism, the second adjusting mechanism, and the locking mechanism in the barrel hoop locking device are all provided with protective structures such as protective covers and organ cases. The risk of enabling dust entering the device can be effectively avoided, thereby effectively avoiding the risk of explosion of the enabling material, so that the barrel hoop locking device can well meet the processing environment requirement of the enabling material, that is, it can be well applied to the automatic packaging processing of the enabling material. ② The first adjusting mechanism for centrally positioning the material barrel and the second adjusting mechanism for centrally positioning the cover are arranged in the barrel hoop locking device, which can ensure that the cover and the material barrel are accurately and stably closed, avoid the risk that the barrel hoop cannot be accurately discharged due to the occasional poor closure of the cover and the material barrel, and thereby ensure that the barrel hoop is accurately discharged and positioned, and ensure the accuracy of the locking mechanism in completing the handle pushing work, thereby realizing the stable locking of the barrel hoop. ③ The supporting mechanism and the locking mechanism are used in the barrel hoop locking device to limit and position the barrel hoop. On the one hand, the barrel hoop body can be positioned very stably, which is beneficial to the handle turning of the locking mechanism. On the other hand, the whole device can be simplified, and the device layout and installation are facilitated.

[0219] In addition, from the above description of the structure of the cover locking device 6, the working method of the cover locking device 6 can be known as follows.

[0220] S1: When the main conveying device 1 conveys the full material barrel to the fifth pause position, the controller controls the lifting assembly in the fifth pause position to drive the tray and the full material barrel to move upward to a set height, so that the tray is separated from the main conveying device 1.

[0221] When the barrel hoop conveyor 60 conveys the barrel hoop to its unloading side, the controller controls the third limiting component to stop and position the pallet carrying the barrel hoop to the side; then the controller controls the third explosion-proof robot 610 to work in coordination with the picking mechanism to pick up the barrel hoop C from the unloading side of the barrel hoop conveyor 60 and fit the barrel hoop onto the junction of the cover and the barrel opening, which is paused in the fifth pause position;

[0222] Note: The order of the above-mentioned lifting and positioning operation of the full-load hopper and the moving operation of the hopper hoop can be set according to the production cycle requirements, and this invention does not impose any restrictions.

[0223] S2: The controller controls the first adjusting mechanism 620, the second adjusting mechanism 621, the supporting mechanism 622, and the pressing mechanism 623 to operate, thereby achieving: the first adjusting mechanism 620 centers the bucket in the fifth pause position; the second adjusting mechanism 621 centers the lid; the supporting mechanism 622 supports and restricts the bucket hoop C; and the pressing mechanism 623 presses and restricts the bucket hoop body C1 of the bucket hoop C.

[0224] S3: The controller first controls the first locking mechanism 624 to work, causing the push block 6242 to push the handle C2 of the barrel hoop C to rotate clockwise by a set angle, thereby putting the barrel hoop C in a semi-locked state (see Appendix). Figure 32 (S2 shown by dashed line); Subsequently, the controller controls the second locking mechanism 625 to operate, causing the roller 6252 to push the handle C2 of the barrel hoop C, which is in a semi-locked state, to continue to rotate until the handle C2 presses against the barrel hoop body C1, so that the barrel hoop C is in a locked state (see Appendix). Figure 32 The dashed line indicates state S3.

[0225] Finally, regarding the finished product unloading device 7;

[0226] Similarly, for the convenience of describing the structure of the finished product unloading device 7, the following definition is made first: the pause position corresponding to the unloading station is defined as the sixth pause position.

[0227] Please see the appendix Figure 1 As shown, the finished product unloading device 7 described in this embodiment includes an unloading conveyor line 70 and a fourth explosion-proof robot 71. The unloading conveyor line 70 also adopts an explosion-proof conveying device. The fourth explosion-proof robot 71 is located between the sixth pause position and the loading side of the unloading conveyor line 70, and a picking component E for picking up packaged finished products is provided on the execution end of the fourth explosion-proof robot 71.

[0228] Further preferably, in the embodiment, the down conveying flow line 70 can preferably adopt the same explosion-proof conveying device as the main conveying device 1, and the fourth explosion-proof robot 71 can preferably adopt a commercially available four-axis explosion-proof robot, so the specific structures of the two are not described in detail, and both can well meet the processing environment requirements of energetic materials.

[0229] The pickup assembly E can adopt the same structure as the pickup assembly B (i.e., a combination of a gripper cylinder and a gripper), so it is not described in detail here.

[0230] From the above description of the structure of the finished product down feeder 7, it can be seen that the working method of the finished product down feeder 7 is as follows:

[0231] S1: When the main conveying device 1 conveys the packaged finished product to the sixth pause position, the controller controls the lifting assembly in the sixth pause position to drive the tray and the packaged finished product to move upward to a set height, so that the tray is separated from the main conveying device 1;

[0232] S2: The controller controls the fourth explosion-proof robot 71 to work cooperatively with the pickup assembly E to move the packaged finished product paused in the sixth pause position to the down conveying flow line 70;

[0233] S3: The down conveying flow line 70 conveys the packaged finished product to a designated receiving position.

[0234] Note: In this specification, the prefixes "first", "second", "third", etc. of the component names (such as first mounting plate, second mounting plate, etc.), and the suffixes "A", "B" … "I", "J" of the component names (such as support A, support B, organ case A, organ case B, … organ case I, organ case J, etc.) are only for easy understanding, and are not used to limit the scope of the invention.

[0235] In summary, the energetic material packaging line of the present application not only has a simple and reasonable structure, good control logic and simplicity, but also has good protection performance, which can well meet the processing environment requirements of energetic materials.

[0236] In the foregoing description, numerous specific details are set forth to provide a thorough understanding of the present application. However, there can be cases in which certain implementations of the present application are practicable even though some of the specific details are not disclosed. Therefore, the scope of the present application is defined by the appended claims rather than the foregoing description of the preferred embodiments. It will be apparent to those skilled in the art that many modifications, both to the methods and to the apparatus, can be practiced with the present application without departing from the spirit and the essential characteristics of the present application. Thus, the scope of the present application should be limited only by the appended claims and equivalents thereof.

Claims

1. A packaging line for energetic materials, used to seal and package a full-loaded drum, the full-loaded drum comprising a drum, a packaging bag placed inside the drum, and energetic material filled in the packaging bag, wherein the opening of the packaging bag in the full-loaded drum to be packaged is placed outside the opening of the drum with its opening facing upwards; characterized in that: The packaging line includes: The main conveying device (1) is used to convey the full-load bucket; and the main conveying device (1) is provided with a bag lifting station, a bag tying station, a leveling station, a capping station, a cap locking station and a material unloading station in sequence along its conveying direction; the main conveying device (1) adopts an explosion-proof conveying device, and multiple pause positions are provided at intervals along its conveying direction on the main conveying device (1), and each of the multiple pause positions is provided with a lifting component for lifting and positioning the full-load bucket, and the multiple pause positions are respectively arranged in a one-to-one correspondence with the bag lifting station, bag tying station, leveling station, capping station, cap locking station and material unloading station; A bag-lifting device (2) is provided at the bag-lifting station; the bag-lifting device (2) can lift the bag opening upwards to a predetermined height above the opening of the material bucket; A bag-tying device (3) is provided at the bag-tying station; the bag-tying device (3) can close the opening of the lifted packaging bag and pick up the tie to tie the opening of the packaging bag. A leveling device (4) is installed at the leveling station; the leveling device (4) can flatten the opening of the bundled packaging bag in the material bucket; A capping device (5) is provided at the capping station; the capping device (5) can pick up the cap and close it on the opening of the material bucket; A locking device (6) is provided at the locking station; the locking device (6) can pick up the barrel hoop and put it on the joint between the lid and the barrel opening, and can also lock the barrel hoop to lock the lid to the barrel and obtain the packaged product; a pause position corresponding to the locking station is defined as the fifth pause position. The locking device (6) includes a barrel hoop conveying line (60), a barrel hoop feeding device (61) and a barrel hoop locking device (62). The barrel hoop conveying line (60) is used to convey barrel hoops. The barrel hoop feeding device (61) includes a third explosion-proof robot (610), a picking mechanism connected to the execution end of the third explosion-proof robot (610), and a protective cover B (611) positioned outside the picking mechanism. The third explosion-proof robot (610) is located between the unloading side of the barrel hoop conveying line (60) and the fifth pause position. The exploding robot (610) works in conjunction with the material picking mechanism to pick up the barrel hoop from the unloading side of the barrel hoop conveyor (60) and then fit the barrel hoop onto the junction of the lid and the barrel opening, which is paused at the fifth pause position. The barrel hoop locking device (62) includes a first adjustment mechanism (620), a second adjustment mechanism (621), a support mechanism (622), and a locking mechanism surrounding the fifth pause position. The first adjustment mechanism (620) can center the barrel placed in the fifth pause position. The second adjustment mechanism (621) can center the lid that is closed on the barrel opening. The support mechanism (622) can support and restrict the barrel hoop fitted at the junction of the lid and the barrel opening. The locking mechanism can press and restrict the barrel hoop body while also pushing the handle of the barrel hoop to flip, so as to lock the lid to the barrel opening. Finished product unloading device (7) is provided at the unloading station; the finished product unloading device (7) is capable of transferring packaged finished products between the main conveyor device (1) and the designated receiving station; In addition, the main conveying device (1), the bag lifting device (2), the bag tying device (3), the leveling device (4), the cover device (5), the first adjustment mechanism (620), the second adjustment mechanism (621), the locking mechanism and the finished product unloading device (7) are all equipped with protective structures.

2. The energetic material packaging line according to claim 1, characterized in that: The pause position corresponding to the bag-carrying station is defined as the first pause position; The bag-carrying device (2) includes a lifting unit, a bag-carrying power unit, a pickup component A, and a protective box A. The lifting unit is located above the first pause position. The bag-carrying power unit is connected to the lifting unit and can provide power to the lifting unit so that the power output end of the lifting unit moves up and down reciprocally relative to the first pause position. The pickup component A is connected to the power output end of the lifting unit and is used to pick up the bag opening. The protective box A is used to hold deionized water and also houses the bag-carrying power unit.

3. The energetic material packaging line according to claim 2, characterized in that: The lifting unit includes a hub (20) and a hanging member (21). The hub (20) is located above the first pause position and can rotate under the drive of the bag power unit. The hanging member (21) is wrapped around the hub (20), and one end of the hanging member (21) is fixedly connected to the hub (20), while the other end of the hanging member (21) is suspended above the first pause position. The pickup component A includes a base (22) and a vacuum suction cup (23). The base (22) is fixedly connected to the other end of the lifting component (21) and can be freely placed outside the opening of the material bucket under the drive of the lifting unit. The vacuum suction cup (23) is set on the base (22) and can extend and retract relative to the base (22).

4. The energetic material packaging line according to claim 1, characterized in that: The pause position corresponding to the bag-tying station is defined as the second pause position; The bag-tying device (3) includes an auxiliary conveying device (30), a clamping device (31), a strap-attaching device (32), and a strap-tightening device (33). The auxiliary conveying device (30) is used to convey magazines carrying straps pre-arranged into a Q shape and can move the magazines one by one to the strap loading position. The strap loading position is located between the unloading side of the auxiliary conveying device (30) and the second pause position. The clamping device (31) can close the bag opening of the packaging bag paused in the second pause position. The strap-attaching device (32) can pick up the strap from the strap loading position, transfer the strap, and attach it to the bag opening of the packaging bag closed by the clamping device (31). The strap-tightening device (33) can clamp and tighten the strap to tightly tie the bag opening. In addition, the auxiliary conveying device (30), the clamping device (31), the strapping device (32), and the strapping tensioning device (33) are all equipped with protective structures.

5. The energetic material packaging line according to claim 4, characterized in that: The auxiliary conveying device (30) includes a magazine conveying flow line (300) and a first explosion-proof robot (301). The magazine conveying flow line (300) also adopts an explosion-proof conveying device. The first explosion-proof robot (301) is located between the unloading side of the magazine conveying flow line (300) and the cable tie loading position. The execution end of the first explosion-proof robot (301) is provided with a pickup component B and a pickup component C. The pickup component B can work in conjunction with the first explosion-proof robot (301) to move the magazine located at the unloading side of the magazine conveying flow line (300) to the cable tie loading position. The pickup component C can work in conjunction with the first explosion-proof robot (301) to pull the cable tie in the magazine downward. The clamping device (31) is configured as two sets. Each set of clamping devices (31) includes a drive mechanism A and a gripper (310) connected to the power output end of the drive mechanism A. The two drive mechanisms A are respectively located on opposite sides of the second pause position. The two grippers (310) move closer to each other or separate under the drive of the two drive mechanisms A to achieve the closing or opening of the packaging bag opening. The cable tie device (32) includes a drive mechanism B and a receiving hand (320) connected to the power output end of the drive mechanism B. The drive mechanism B is located between the second pause position and the cable tie loading position. The receiving hand (320) can move up and down under the drive of the drive mechanism B and move horizontally back and forth between the second pause position and the cable tie loading position. In addition, both the drive mechanism A and the drive mechanism B adopt a lifting and rotating motion mechanism, which can output linear motion power and rotational motion power, and the lifting and rotating motion mechanism is equipped with a protective box B (311) for holding deionized water. The cable tie tightening device (33) includes a protective box C (330), a connecting arm A (331), a flexible clamping head (332), an explosion-proof power assembly, and a transmission assembly A. The protective box C (330) is used to hold deionized water and is located next to the second pause position. One end of the connecting arm A (331) is placed outside the protective box C (330) and points towards the second pause position. The flexible clamping head (332) is also connected to one end of the connecting arm A (331). (331) The other end extends into the protective box C (330); the explosion-proof power assembly is used to provide power and is connected to the outside of the protective box C (330), and the power output end of the explosion-proof power assembly is sealed and extended into the protective box C (330); the transmission assembly A is connected between the power output end of the explosion-proof power assembly and the other end of the connecting arm A (331), and can drive the flexible clamping head (332) to move closer to or further away from the second pause position in a straight line.

6. The energetic material packaging line according to claim 4, characterized in that: The bag-tying device (3) also includes a folding device (35), which is located next to the second pause position and can fold the bag opening after one tying is completed. After the folding device (35) completes the folding of the bag opening, the clamping device (31), the strapping device (32) and the strap tightening device (33) operate in sequence to tie the folded bag opening with a secondary strap.

7. The energetic material packaging line according to claim 1, characterized in that: The pause position corresponding to the leveling station is defined as the third pause position; The leveling device (4) includes a leveling plate (40), which is located above the third pause position and can be pressed down relative to the third pause position; in addition, the transverse cross-sectional area of ​​the leveling plate (40) is smaller than the area of ​​the barrel opening. The pause position corresponding to the capping station is defined as the fourth pause position; The capping device (5) includes a cap conveying flow line (50) and a second explosion-proof robot (51). The cap conveying flow line (50) also adopts an explosion-proof conveying device, and a positioning fixture (52) for positioning the cap before closing is provided on the unloading side of the cap conveying flow line (50). The second explosion-proof robot (51) is located between the unloading side of the cap conveying flow line (50) and the fourth pause position, and a picking component D for picking up the cap is provided on the execution end of the second explosion-proof robot (51).

8. The energetic material packaging line according to claim 1, characterized in that: The barrel hoop conveyor (60) also adopts an explosion-proof conveyor device; The material picking mechanism includes a picking component (612), a fixing component (613), and a detection and limiting component (614). The picking component (612) is connected to the execution end of the third explosion-proof robot (610) and can be fitted onto the barrel hoop body under the drive of the third explosion-proof robot (610). The fixing component (613) is connected to the side of the picking component (612) facing the execution end of the third explosion-proof robot (610), and the fixing head (6130) of the fixing component (613) can move relative to the picking component (612). The device performs a telescopic movement to allow the fixed head (6130) to be inserted into the material-taking component (612) and then to restrict and position the barrel hoop body. The detection and restriction component (614) is also connected to the side of the material-taking component (612) facing the execution end of the third explosion-proof robot (610), and the restriction head (6140) of the detection and restriction component (614) can also telescopically move relative to the material-taking component (612) so that the restriction head (6140) can sense the barrel hoop material information and press and restrict the handle of the barrel hoop. The locking mechanism includes a pressing mechanism (623), a first locking mechanism (624), and a second locking mechanism (625). The pressing mechanism (623) can press and restrict the barrel hoop body. The first locking mechanism (624) can push the handle of the barrel hoop to rotate at a set angle so that the barrel hoop is in a semi-locked state. The second locking mechanism (625) can push the handle of the barrel hoop in the semi-locked state to continue to rotate until the handle is pressed against the barrel hoop body, so that the barrel hoop is in a locked state.

9. The energetic material packaging line according to claim 1, characterized in that: The pause position corresponding to the unloading station is defined as the sixth pause position; The finished product unloading device (7) includes an unloading conveyor line (70) and a fourth explosion-proof robot (71). The unloading conveyor line (70) also adopts an explosion-proof conveying device. The fourth explosion-proof robot (71) is located between the sixth pause position and the loading side of the unloading conveyor line (70). The execution end of the fourth explosion-proof robot (71) is provided with a picking component E for picking up packaged finished products.

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