Film sleeving device and film sleeving method for automatic processing of rock breaking pipe

Abstract

The invention discloses a film sleeving device for automatic machining of a rock breaking pipe. The film sleeving device comprises a rack, a square frame is arranged on the lower portion of the rack, a conveying line is horizontally arranged on the frame, a plurality of supports are vertically fixed to one side of the frame, the upper portions of the supports are jointly and fixedly connected with a cross beam, the cross beam extends in the horizontal direction, and a translation module is fixedly installed in the length direction of the cross beam; the translation module is slidably connected with a film sleeving mechanism, the tail end of the film sleeving mechanism is arranged over the transmission line, and a film rolling mechanism is installed at the position, close to the end of the transmission line, in the frame and located below the transmission line. The invention further discloses a film sleeving method for automatic machining of the rock breaking pipe. The problems that in the prior art, a film opening is torn and covering is uneven in the rock breaking pipe film sleeving process are solved, efficient and accurate operation of the rock breaking pipe film sleeving procedure is achieved through automatic design, the product quality and the production efficiency are improved, and the production cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of mechanical packaging, and particularly relates to a film sleeving device for automatic processing of rock breaking pipes and a film sleeving method for automatic processing of rock breaking pipes. BACKGROUND

[0002] In the field of rock breaking engineering, rock breaking technologies based on liquid oxygen and carbon-based materials, such as "liquid oxygen-biomass green high-energy instantaneous rock breaking complete technology", have received widespread attention and application. Rock breaking pipes, as the core consumables of this technology, directly affect the effect and cost of rock breaking operations. The film sleeving process, as a key link in the production of rock breaking pipes, plays a decisive role in the protective performance of the product. It not only prevents the rock breaking pipe from being eroded by the external environment during transportation and storage, such as moisture and pollution, but also effectively reduces the damage that may occur during transportation, thereby protecting the performance and service life of the rock breaking pipe.

[0003] However, the traditional film sleeving operation of rock breaking pipes mainly relies on manual completion. The precision of manual film sleeving is difficult to guarantee. Due to differences in skill level, working state and other factors of the operator, problems such as tearing of the film opening and uneven coverage may easily occur during the film sleeving process, resulting in uneven product quality and failing to meet the production requirements of high quality and standardization. These quality problems not only affect the appearance of the product, but also may reduce the protective performance of the product, thereby affecting the effect of the rock breaking pipe in actual use, and even causing safety hazards. Manual film sleeving also faces problems such as high labor intensity and rising labor costs.

[0004] Therefore, in view of the characteristics of various specifications and complex surface structures of rock breaking pipes, it is urgent to develop an automatic film sleeving device. The device needs to realize precise control of the film sleeving process, reduce the tearing rate of the film opening and the uniformity error of the coverage, so as to meet the production requirements of high quality and large scale, and significantly reduce the quality risk and production cost. SUMMARY

[0005] The present application provides a film sleeving device for automatic processing of rock breaking pipes, which aims to solve the problems of tearing of the film opening and uneven coverage in the film sleeving of rock breaking pipes in the prior art.

[0006] Another object of the present application is to provide a film sleeving method for automatic processing of rock breaking pipes.

[0007] The technical solution adopted by the present application is, The application discloses a film sleeving device for automatic processing of rock breaking pipes, which comprises a rack, a square frame at the lower part of the rack, a transmission line horizontally arranged on the frame, a plurality of supports vertically fixed on one side of the frame, a cross beam commonly fixed on the upper parts of the supports, the cross beam extending in the horizontal direction, a translation module fixedly installed along the length direction of the cross beam, a film sleeving mechanism slidingly connected to the translation module, the end of the film sleeving mechanism being arranged directly above the transmission line, a film winding mechanism installed at the position close to the end of the transmission line in the interior of the frame, and the film winding mechanism being located below the transmission line.

[0008] The application also has the characteristics that: The translation module comprises two slide rails, one of the slide rails being fixed on the upper surface of the cross beam, a slide block a being slidingly matched on the slide rail, the number of the slide blocks a being two, the two slide blocks a being spaced apart along the length direction of the slide rail, the other slide rail being fixed on the side vertical surface of the cross beam, a slide block b being slidingly matched on the slide rail, the number of the slide blocks b also being two, the two slide blocks b being spaced apart along the length direction of the slide rail, and a rack being fixed on the side vertical surface of the cross beam, the rack being located between the two slide rails and extending along the length direction of the cross beam.

[0009] The film sleeving mechanism comprises a film sleeving mechanical arm, one end of the film sleeving mechanical arm being slidingly connected to the cross beam through the two slide blocks a and the two slide blocks b, the other end of the film sleeving mechanical arm being fixedly connected with a film port opening device, and the film port opening device being located directly above the transmission line.

[0010] The film port opening device comprises a film supporting sleeve, the film supporting sleeve being a hollow cylindrical structure, the axis of the film supporting sleeve being parallel to the conveying direction of the transmission line, a connecting block being fixedly connected to the top of the film supporting sleeve, the connecting block being a square column, a sliding groove being vertically formed in the side wall of the connecting block, a slide block c being embedded in the sliding groove, a clamping snap ring being fixed to the outer side surface of the slide block c, the radial section of the clamping snap ring being a circular arc, the arc profile of the clamping snap ring being matched with the outer circumference of the film supporting sleeve, a connecting seat being fixed to the upper end surface of the connecting block, a cylinder being installed on the upper part of the connecting seat, the piston rod of the cylinder being connected with the slide block c of the clamping snap ring, the upper part of the connecting seat being fixed with the film sleeving mechanical arm, and the cylinder being arranged in the interior of the film sleeving mechanical arm.

[0011] The sleeve film mechanical arm comprises a mechanical arm, the front end of the mechanical arm is an open box body, the rear end vertical surface of the box body is fixedly connected with two sliding blocks b, the upper part of the rear end vertical surface of the box body is fixedly and vertically provided with a horizontal plate, the horizontal plate extends horizontally and is fixedly connected with two sliding blocks a, a translation motor is installed in the box body, the output shaft of the translation motor is engaged with a gear and a rack, a support frame is fixedly arranged on the upper part close to the opening of the box body, a vertical longitudinal motor and a coupling are vertically installed on the support frame, the top end of the coupling is connected with the output shaft of the longitudinal motor, four sleeves arranged in a matrix are fixedly arranged on the inner wall of the upper part of the box body away from the support frame, four corresponding through holes are formed in the bottom of the box body, each sleeve is coaxially arranged with the corresponding through hole, the mechanical arm is sleeved with a mechanical arm through the sleeves, and the tail end of the mechanical arm extends out of the mechanical arm and is fixedly connected with the upper part of the connecting seat.

[0012] The mechanical arm comprises a bottom plate, the bottom plate is fixedly connected with the upper part of the connecting seat, guide columns are fixedly arranged on the bottom plate, the guide columns are four in number and are fixedly arranged on the upper part of the bottom plate, the top end of each guide column penetrates through the corresponding through hole and is sleeved in the sleeve, a ball screw is arranged at the central position of the four guide columns, the top end of the ball screw is connected with the bottom end of the coupling, the bottom end of the ball screw is threadedly connected with the bottom plate, and the bottom of the bottom plate is fixedly connected with the connecting seat.

[0013] The film rolling mechanism comprises a main body frame fixedly arranged in the frame, a connecting disc is arranged on the side wall of the main body frame, the connecting disc is a cylindrical body, the connecting disc comprises an outer disc and an inner disc, the outer disc is sleeved outside the inner disc, a center hole coaxial with the disc body is arranged at the center of the outer disc and the inner disc, and the outer disc is fixedly connected with the main body frame; an outer ring coaxial with the inner disc is further arranged, a plurality of round holes are uniformly distributed in the circumferential direction of the outer ring, one support column is sleeved in each round hole, one end of the plurality of support columns is fixedly connected with the outer circumferential surface of the inner disc, and the other end of the plurality of support columns is fixedly connected with the inner side wall of the outer ring.

[0014] The translation motor and the longitudinal motor are both servo motors.

[0015] Another technical scheme of the present application is a sleeve film method for automatic processing of a rock breaking pipe, and the sleeve film device for automatic processing of the rock breaking pipe comprises: Step 1, the film sleeve is sleeved on the outer periphery of the support column, one end thereof is pulled out and arranged between the film sleeve supporting ring and the clamping ring, the cylinder is started to drive the clamping ring to move downward to clamp the film sleeve; Step 2, the translation motor is started, and the sleeve film mechanical arm moves to the top of the rock breaking pipe; Step 3, the longitudinal motor is started, the mechanical arm is lowered through the coupling, the film port supporting device is lowered to the sleeve film station coaxial with the rock breaking pipe and covering the pipe port of the film port, the piston rod of the cylinder is retracted, the clamping ring is loosened to make the film sleeve be sleeved on the outer wall of the rock breaking pipe; Step 4, the longitudinal motor is started in reverse to make the mechanical arm rise, and the sleeve film mechanical arm returns to the initial position by starting the translation motor.

[0016] The beneficial effects of the present application are that, through the cooperation of the film sleeve mechanical arm and the translation module, combined with the control of the servo motor driving system, the film sleeve process automation is realized, and the film sleeve time is greatly shortened. By controlling the film sleeve mechanical arm movement and the film port opening device, the film sleeve efficiency is effectively improved and the problems of film port tearing and uneven coverage are avoided. Through the automatic design, the efficient and accurate operation of the rock breaking tube film sleeve process is realized, the product quality and production efficiency are improved, the overall product quality is improved, and the production cost is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a whole structure schematic diagram of the film sleeve device and film sleeve method for automatic processing of the rock breaking tube of the present application. Figure 2 It is a structure schematic diagram of the film sleeve mechanism. Figure 1 Figure 3 It is a structure schematic diagram of the film sleeve mechanism. Figure 1 It is a whole structure schematic diagram of the film sleeve device and film sleeve method for automatic processing of the rock breaking tube of the present application. Figure 4 It is a structure schematic diagram of the film port opening device. Figure 3 It is a whole structure schematic diagram of the film sleeve device and film sleeve method for automatic processing of the rock breaking tube of the present application. Figure 5 It is a structure schematic diagram of the mechanical arm. Figure 3 It is a whole structure schematic diagram of the film sleeve device and film sleeve method for automatic processing of the rock breaking tube of the present application. Figure 6 It is a structure schematic diagram of the mechanical arm. Figure 3 Figure 7 It is a structure schematic diagram of the film sleeve mechanism. Figure 1 It is a whole structure schematic diagram of the film sleeve device and film sleeve method for automatic processing of the rock breaking tube of the present application. Figure 8 It is a structure schematic diagram of the connecting disc. Figure 7

[0018] ​​​In the diagram, 1. Frame, 2. Transmission line, 3. Crossbeam, 4. Translation module, 401. Slider a, 402. Slider b, 403. Rack, 5. Film-making mechanism, 51. Film-making robotic arm, 511. Mechanical arm, 5111. Housing, 5112. Cross plate, 5113. Translation motor, 5114. Support frame, 5115. Longitudinal motor, 5116. Coupling, 5117. Sleeve, 5118. Through hole, 5 12. Mechanical arm, 5121. Base plate, 5122. Guide post, 5123. Ball screw, 52. Membrane opening device, 521. Membrane support ring, 522. Connecting block, 523. Slider c, 524. Clamping ring, 525. Connecting seat, 526. Cylinder, 6. Film winding mechanism, 61. Main frame, 62. Connecting plate, 621. Outer plate, 622. Inner plate, 63. Outer ring, 64. Round hole, 65. Support column. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments.

[0020] like Figure 1 As shown, the automated processing device for rock-breaking pipes includes a frame 1. The lower part of the frame 1 is a cuboid frame, providing basic support for the entire device. A transmission line 2 is horizontally arranged on the frame, which carries and transports the rock-breaking pipe to the film-coating station. Several supports are vertically fixed on one side of the frame, and a crossbeam 3 is fixedly connected to the upper part of these supports. The crossbeam 3 extends horizontally, and a translation module 4 is fixedly installed along the length of the crossbeam 3. A film-coating mechanism 5 is slidably connected to the translation module 4. The end of the film-coating mechanism 5 is positioned directly above the transmission line 2. A film-winding mechanism 6 is installed inside the frame (lower part of the frame) near the end of the transmission line 2, and the film-winding mechanism 6 is located below the transmission line 2.

[0021] like Figure 2 As shown, the translation module 4 consists of two slide rails and four corresponding sliders. One slide rail is fixed to the upper surface of the crossbeam 3, and two sliders a401 are mounted on this slide rail. The two sliders a401 are spaced apart along the length of the slide rail. The other slide rail is fixed to the side facade of the crossbeam 3, where the side facade of the crossbeam 3 is perpendicular to the upper surface of the crossbeam 3. The other slide rail is mounted with two sliders b402, which are spaced apart along the horizontal extension direction of the slide rail. The total number of sliders is four, and the four sliders are arranged in pairs and spaced apart along the length of the slide rail. A rack 403 is also fixed to the side facade of the crossbeam 3. The rack 403 is located between the two slide rails and is parallel to the slide rails. The rack 403 and the two slide rails both extend along the length of the crossbeam 3.

[0022] See Figure 3The film covering mechanism 5 comprises a film covering mechanical arm 51 and a film port opening device 52. The film covering mechanical arm 51 comprises a mechanical large arm 511 and a mechanical small arm 512. One end of the film covering mechanical arm 51 is slidably connected to the cross beam 3 through four sliding blocks (i.e., two sliding blocks a401 and two sliding blocks b402). The interval distance of the two sliding blocks is designed according to the size and stress condition of the film covering mechanical arm 51, so as to ensure uniform stress and smooth movement of the film covering mechanical arm 51 along the sliding rail. The other end of the film covering mechanical arm 51 is fixedly connected with the film port opening device 52 through bolts. The film port opening device 52 is located directly above the transmission line 2.

[0023] As Figure 4As shown, the film mouth opening device 52 includes a film supporting ring 521, a connecting block 522, a clamping ring 524, a connecting seat 525 and a cylinder 526. The film supporting ring 521 is a hollow cylindrical structure, which shape is matched with the outer shape of the rock breaking pipe, and the inner diameter size is designed according to the outer diameter size of the rock breaking pipe, which facilitates the subsequent film sleeve operation. The axis of the film supporting ring 521 is parallel to the conveying direction of the transmission line 2, that is, the movement direction of the film supporting ring 521 is consistent with the conveying direction of the transmission line 2, which ensures that the film sleeve can be accurately sleeved on the rock breaking pipe during the film sleeve process. The top of the film supporting ring 521 is fixedly connected with the connecting block 522, which is a square column. A sliding groove is vertically formed in the side wall of the connecting block 522, and a sliding block c 523 is embedded in the sliding groove. The outer side surface of the sliding block c 523 is fixedly connected with the clamping ring 524, and the clamping ring 524 is slidably connected with the connecting block 522 through the sliding block c 523, and can slide up and down in the sliding groove. The radial section of the clamping ring 524 is arc-shaped, and the arc profile of the clamping ring 524 is matched with the outer circumference of the film supporting ring 521. The clamping ring 524 slides up and down in the sliding groove through the sliding block c 523. The upper end surface of the connecting block 522 is fixedly connected with the connecting seat 525 through bolts, which realizes the stable connection between the film supporting ring 521 and the connecting seat 525, and further enables the film supporting ring 521 to be stably installed on the film sleeve mechanical arm 51. The upper part of the connecting seat 525 is fixedly connected with the cylinder 526, and the piston rod of the cylinder 526 is connected with the sliding block c 523 of the clamping ring 524. The cylinder 526 drives the clamping ring 524 to clamp or release the film sleeve. When the cylinder 526 works, the extension and retraction movement of the piston rod of the cylinder 526 drives the clamping ring 524 to move up and down in the sliding groove. When the piston rod extends, the clamping ring 524 is pushed to move downward, so that the lower semicircular arc of the clamping ring 524 tightly holds the film sleeve; when the piston rod retracts, the clamping ring 524 moves upward and releases the film sleeve, thereby realizing the clamping and releasing actions of the film sleeve. The upper part of the connecting seat 525 is fixedly connected with the film sleeve mechanical arm 51, and the cylinder 526 is arranged in the film sleeve mechanical arm 51. The connecting seat 525 is a square column located above the film supporting ring 521, which not only connects the film supporting ring 521 and the film sleeve mechanical arm 51, but also supports and positions the film supporting ring 521 to some extent, thereby ensuring the stability of the film supporting ring 521 during the working process.

[0024] As Figure 5As shown, the sleeve film mechanical arm 51 includes a mechanical large arm 511, the front end of the mechanical large arm 511 is an open box 5111, the box 5111 is welded by aluminum alloy plates, the adjacent plates are arranged vertically to form a stable structure. The rear vertical surface of the box 5111 is fixedly connected with two sliding blocks b402 through bolts, the upper part of the rear vertical surface of the box 5111 is vertically fixed with a horizontal plate 5112, the horizontal plate 5112 extends horizontally and is fixedly connected with two sliding blocks a401 through bolts, so as to realize the cooperation of the mechanical large arm 511 and the translation module 4, and enable the mechanical large arm 511 to move horizontally under the driving of the translation module 4. A translation motor 5113 is installed in the box 5111, the translation motor 5113 is a servo motor, a gear is installed on the output shaft of the translation motor 5113, and the gear is engaged with the rack 403. When the translation motor 5113 works, the driving gear 21 rotates, and drives the mechanical large arm 511 to move along the extension direction of the slide rail through gear and rack engagement transmission.

[0025] A support frame 5114 is fixedly arranged on the upper part near the opening of the box 5111, a longitudinal motor 5115 and a coupling 5116 are vertically installed on the support frame 5114, the support frame 5114 provides a stable installation platform for the longitudinal motor 5115 and the coupling 5116, ensures that they will not shake or displace during the working process, and guarantees the stability of power transmission. The coupling 5116 is installed above the support frame 5114, the top end of the coupling 5116 is connected with the output shaft of the longitudinal motor 5115, the longitudinal motor 5115 is also a servo motor, four sleeves 5117 are fixedly arranged on the inner wall of the upper part of the box 5111 away from the support frame 5114, the four sleeves 5117 are arranged in a matrix in two groups, four corresponding through holes 5118 are formed in the bottom wall of the box 5111, each sleeve 5117 is coaxially arranged with the corresponding through hole 5118, that is, the axis of each sleeve 5117 coincides with the axis of the corresponding through hole 5118, the sleeve 5117 and the through hole 5118 are used for installing a guide column 5122, the mechanical large arm 511 is sleeved with a mechanical small arm 512 through the sleeve 5117, which provides guidance for the installation and movement of the mechanical small arm 512 and guarantees the stability and accuracy of the mechanical small arm 512 during the movement process. The end (i.e. the working end) of the mechanical small arm 512 extends out of the mechanical large arm 511 and is fixedly connected with the upper part of the connecting seat 525.

[0026] As Figure 6As shown, the mechanical arm 512 includes a bottom plate 5121, guide posts 5122 and ball screws 5123. The bottom plate 5121 is fixed to the upper part of the connecting seat 525 by bolts, and four guide posts 5122 are vertically fixed on the bottom plate 5121. The top end of each guide post 5122 penetrates through the corresponding through hole 5118 and is sleeved in the inner part of the sleeve 5117. The guide post 5122 is an aluminum alloy hollow pipe. The four guide posts 5122 are symmetrically and uniformly distributed at the front end of the mechanical arm 511, and the upper end thereof is connected with the sleeve 5117 and vertically connected with the front end of the mechanical arm 511, so as to ensure the stability and accuracy of the movement of the mechanical arm 512. The length of the sleeve 5117 is greater than the up-down movement stroke of the guide post 5122. The guide post 5122 slides up and down in the sleeve 5117, and the top end thereof is always kept in the inner part of the sleeve 5117, so as to avoid the guide post from being separated from the sleeve. The ball screw 5123 is installed at the central position of the four guide posts 5122. The top end of the ball screw 5123 is connected with the bottom end of the coupling 5116, and the bottom end of the ball screw 5123 is threadedly connected with the bottom plate 5121. The bottom part of the bottom plate 5121 is fixedly connected with the connecting seat 525. When the longitudinal motor 5115 works, the coupling 5116 is driven to rotate, and the coupling 5116 further drives the ball screw 5123 to rotate. Due to the thread cooperation between the ball screw 5123 and the bottom plate 5121 and the guiding effect of the guide post 5122, the bottom plate 5121 is driven to move up and down along the guide post 5122, and the mechanical arm 512 is further stably moved up and down along the guide post 5122 in the longitudinal direction, so as to realize the adjustment of the height of the film port opening device 52, so as to adapt to the film sleeving requirement of the rock breaking pipe of different specifications.

[0027] As shown in Figure 7 The film winding mechanism 6 includes a main frame 61, a connecting disc 62, an outer ring 63 and a support 65. The main frame 61 is fixed in the inner part of the frame, and provides stable support for the entire film winding mechanism 6, so as to ensure that the film winding mechanism 6 will not shake or displace during the working process, and ensure the normal operation of the film winding mechanism 6. The side wall of the main frame 61 is provided with the connecting disc 62, which is a cylindrical body, as shown in Figure 8The connecting disc 62 comprises an outer disc 621 and an inner disc 622, the outer disc 621 is sleeved outside the inner disc 622, the center of the outer disc 621 and the inner disc 622 is provided with a center hole coaxial with the disc body, the outer disc 621 is fixedly connected with the main body frame 61, the inner disc 622 is rotatably connected with the outer disc 621 through a bearing, and the inner disc 622 is used for winding the film sleeve and releasing the film sleeve by rotating. The film winding mechanism 6 further comprises an outer ring 63 coaxially arranged with the inner disc 622, a plurality of circular holes 64 are uniformly distributed along the circumferential direction of the outer ring 63, one support 65 is sleeved in each circular hole 64, one end of the plurality of supports 65 is fixedly connected with the outer circumferential surface of the inner disc 622, and the other end of the plurality of supports 65 is fixedly connected with the inner side wall of the outer ring 63, so as to form a support structure for sleeving the flexible film sleeve, the flexible film sleeve is installed on the support 65, and when the flexible film sleeve is pulled out for use, the inner disc 622 drives the support 65 to rotate and cooperate with the support 65.

[0028] The film sleeving method for automatic processing of the rock breaking pipe is specifically implemented according to the following steps: Step 1, first, the flexible film sleeve is placed on the outer periphery of the support 65 of the film winding mechanism 6, one end of the film sleeve is pulled out, inserted into the hollow of the film sleeve supporting ring 521 and pulled out from the top of the film sleeve supporting ring 521, and then the film sleeve is folded downward to cover the outer circumference of the film sleeve supporting ring 521, and then placed between the film sleeve supporting ring 521 and the clamping ring 524, and then the cylinder 526 is started to drive the clamping ring 524 to move downward along the sliding groove until the clamping ring 524 clamps the film sleeve, and the clamping of the film sleeve is completed. Step 2, after the clamping is completed, the translation motor 5113 is started to drive the film sleeve mechanical arm 51 to move to the upper side of the rock breaking pipe through the transmission action of the gear and rack. Step 3, when the film sleeve mechanical arm 51 reaches the specified position, the longitudinal motor 5115 is started to drive the ball screw 5123 to rotate through the coupling 5116, and the mechanical small arm 512 is driven to move downward, and the film port opening device 52 is driven to descend to the film sleeve station coaxial with the rock breaking pipe and the film port edge completely covers the pipe opening of the rock breaking pipe, then the piston rod of the cylinder 526 is retracted to drive the clamping ring 524 to move upward along the sliding groove, and the clamping of the film sleeve is loosened, and the film sleeve is sleeved on the outer wall of the rock breaking pipe. Step 4, after the film sleeve is sleeved, the longitudinal motor 5115 is started in reverse to drive the coupling 5116 to rotate in reverse, the mechanical small arm 512 moves upward, the film port opening device 52 rises, and the translation motor 5113 is started again to drive the film sleeve mechanical arm 51 to return to the initial position along the two sliding rails.

[0029] The working principle of the film sleeving device and the film sleeving method for automatic processing of the rock breaking pipe is as follows: Before the film is sleeved, the film mouth opening device 52 is in the initial position, which is close to the film winding mechanism 6, so as to facilitate the installation and traction of the film sleeve. First of all, the flexible film sleeve is placed neatly on the outer periphery of the support 65, and it is ensured that there is no wrinkle or winding phenomenon in the film sleeve during the placement process, because once the film sleeve has wrinkles or windings, uneven stretching of the film sleeve, smooth sleeving of the film sleeve on the rock breaking pipe, and even damage to the film sleeve may occur during the subsequent film sleeving process, thereby affecting the normal operation of the entire film sleeving operation. Then, one end of the film sleeve is pulled out, inserted into the hollow of the film sleeve ring 521 and pulled out from the top, the film sleeve edge is folded down to cover the outer periphery of the film sleeve ring 521, and then placed between the film sleeve ring 521 and the clamping ring 524. At this time, the air cylinder 526 is started, the piston rod inside the air cylinder 526 is extended, the clamping ring 524 is pushed to move downward along the sliding groove of the film sleeve ring 521, until the lower semicircular arc of the clamping ring 524 holds the film sleeve, and the clamping operation of the film sleeve is completed. During the clamping process, it is necessary to ensure that the film sleeve is clamped with moderate force, neither too loose to cause the film sleeve to fall off during subsequent operation, nor too tight to cause damage to the film sleeve.

[0030] After the clamping is completed, the translation motor 5113 is started, and the translation motor 5113 starts to operate, driving the gear installed on the shaft to rotate. Because the gear is meshed with the rack 403 installed on the vertical surface of the rack 1, the slide rail fixed on the upper surface of the cross beam 3 is in sliding cooperation with the two slide blocks a401, and the slide rail fixed on the vertical surface of the cross beam 3 is in sliding cooperation with the two slide blocks b402, under the transmission action of the gear and the rack, the film sleeve mechanical arm 51 moves stably on the slide rail through the four slide blocks. During the movement, the translation motor 5113 adopts a servo motor to move the film sleeve mechanical arm 51 to the top of the rock breaking pipe, so as to ensure that the film mouth opening device 52 is aligned with the center axis of the rock breaking pipe.

[0031] When the sleeve film mechanical arm 51 reaches the specified position, the longitudinal motor 5115 is started. The longitudinal motor 5115 is also a servo motor, which is connected to the ball screw 5123 through the shaft coupling 5116. When the longitudinal motor 5115 operates, the rotary motion of the longitudinal motor 5115 is transmitted to the ball screw 5123 through the shaft coupling 5116, thereby driving the ball screw 5123 to rotate. Since the ball screw 5123 is threadedly connected with the center hole of the bottom plate 5121 of the mechanical small arm 512, and the four guide columns 5122 are matrix-distributed on the front end of the mechanical large arm 511 and are matched with the sleeve 5117, the mechanical small arm 512 is provided with stable guidance, and moves stably downward along the guide columns 5122, and the guide columns 5122 slide up and down in the sleeve 5117. The film port opening device 52 is installed on the bottom plate 5121 of the mechanical small arm 512, and synchronously descends with the descent of the mechanical small arm 512. During the descent, the film port opening device 52 is controlled by the longitudinal motor 5115 to descend to the sleeve film station coaxial with the rock breaking tube and completely covering the rock breaking tube port with the film port edge, so that the film material can uniformly wrap the outer wall of the rock breaking tube. Then, the piston rod of the air cylinder 526 is retracted, driving the clamping ring 524 to move upward along the sliding groove of the film supporting sleeve 521, releasing the clamping of the film sleeve, and the film sleeve is smoothly sleeved on the outer wall of the rock breaking tube.

[0032] After the sleeve film is completed, the longitudinal motor 5115 is started in reverse. The output shaft of the longitudinal motor 5115 drives the shaft coupling 5116 to rotate in reverse, and the shaft coupling transmits the rotation of the longitudinal motor 5115 to the ball screw 5123, so that the ball screw 5123 starts to rotate in reverse. The ball screw 5123 is threadedly connected with the center hole of the bottom plate 5121 of the mechanical small arm 512. When the ball screw rotates in reverse, the bottom plate 5121 matched with the ball screw 5123 moves axially, and the mechanical small arm 512 also has a upward movement trend. The four guide columns 5122 are matrix-distributed and are sleeved at the upper end of the sleeve 5117 at the front end of the mechanical large arm 511. The guide columns 5122 and the sleeve 5117 cooperate to guide the movement of the mechanical small arm 512, so that the mechanical small arm 512 can only move along the axial direction (i.e. the up-down direction) of the guide columns 5122, avoiding radial shaking or deviation. The mechanical small arm 512 moves stably upward along the guide columns 5122 under the guidance of the guide columns 5122, and the film port opening device 52 rises, gradually moving away from the rock breaking tube with the sleeve film. The translation motor 5113 is started again, driving the gear to rotate in reverse, and under the transmission of the gear rack, the sleeve film mechanical arm 51 moves along the two sliding rails to the initial position.

[0033] Example 1 The sleeve film device for automatic processing of the rock breaking tube, such as Figure 1As shown, the device includes a frame 1, the lower part of which is a cuboid frame. A transmission line 2 is horizontally arranged on the frame. Several supports are vertically fixed on one side of the frame. A crossbeam 3 is fixedly connected to the upper part of the supports. The crossbeam 3 extends horizontally. A translation module 4 is fixedly installed along the length of the crossbeam 3. A film-wrapping mechanism 5 is slidably connected to the translation module 4. The end of the film-wrapping mechanism 5 is located directly above the transmission line 2. A film-winding mechanism 6 is installed inside the frame near the end of the transmission line 2. The film-winding mechanism 6 is located below the transmission line 2.

[0034] Example 2 Automated processing of rock-breaking pipes using a diaphragm-type device, such as... Figure 1 As shown, the device includes a frame 1, the lower part of which is a cuboid frame. A transmission line 2 is horizontally arranged on the frame. Several supports are vertically fixed on one side of the frame. A crossbeam 3 is fixedly connected to the upper part of the supports. The crossbeam 3 extends horizontally. A translation module 4 is fixedly installed along the length of the crossbeam 3. A film-wrapping mechanism 5 is slidably connected to the translation module 4. The end of the film-wrapping mechanism 5 is located directly above the transmission line 2. A film-winding mechanism 6 is installed inside the frame near the end of the transmission line 2. The film-winding mechanism 6 is located below the transmission line 2.

[0035] like Figure 2 As shown, the translation module 4 includes two slide rails. One slide rail is fixed to the upper surface of the crossbeam 3, and two sliders a401 are slidably fitted on the slide rail. The two sliders a401 are spaced apart along the length of the slide rail. The other slide rail is fixed to the side surface of the crossbeam 3, and two sliders b402 are slidably fitted on the slide rail. The two sliders b402 are also spaced apart along the length of the slide rail. A rack 403 is also fixed to the side surface of the crossbeam 3. The rack 403 is located between the two slide rails, and both the rack 403 and the two slide rails extend along the length of the crossbeam 3.

[0036] Example 3 Automated processing of rock-breaking pipes using a diaphragm-type device, such as... Figure 1 As shown, the system includes a frame 1, the lower part of which is a cuboid frame. A transmission line 2 is horizontally mounted on the frame. Several supports are vertically fixed on one side of the frame. A crossbeam 3 is fixedly connected to the upper part of the supports. The crossbeam 3 extends horizontally, and a translation module 4 is fixedly installed along the length of the crossbeam 3. A film-wrapping mechanism 5 is slidably connected to the translation module 4. The end of the film-wrapping mechanism 5 is positioned directly above the transmission line 2. A film-winding mechanism 6 is installed inside the frame near the end of the transmission line 2, and the film-winding mechanism 6 is located below the transmission line 2. Figure 2As shown in the figure, the translation module 4 includes two slide rails, one of which is fixed on the upper surface of the cross beam 3, and the slide block a401 is slidingly fitted on the slide rail, the number of the slide block a401 is two, and the two slide blocks a401 are spaced apart along the length direction of the slide rail, and the other slide rail is fixed on the side vertical surface of the cross beam 3, and the slide block b402 is slidingly fitted on the slide rail, the number of the slide block b402 is also two, and the two slide blocks b402 are spaced apart along the length direction of the slide rail; the side vertical surface of the cross beam 3 is also fixed with a rack 403, the rack 403 is located between the two slide rails, and the rack 403 and the two slide rails extend along the length direction of the cross beam 3.

[0037] The film covering mechanism 5 includes a film covering mechanical arm 51, one end of the film covering mechanical arm 51 is slidingly connected with the cross beam 3 through the two slide blocks a401 and the two slide blocks b402, the other end of the film covering mechanical arm 51 is fixedly connected with a film port opening device 52, and the film port opening device 52 is located directly above the transmission line 2.

[0038] Embodiment 4 The film covering device for automatic processing of rock breaking pipes includes a frame 1, the lower part of the frame 1 is a square frame, a transmission line 2 is horizontally arranged on the frame, a plurality of supports are vertically fixed on one side of the frame, the upper parts of the plurality of supports are jointly and fixedly connected with a cross beam 3, the cross beam 3 extends along the horizontal direction, and a translation module 4 is fixedly installed along the length direction of the cross beam 3; the film covering mechanism 5 is slidingly connected with the translation module 4, the end of the film covering mechanism 5 is arranged directly above the transmission line 2, a film winding mechanism 6 is installed inside the frame and close to the position of the end of the transmission line 2, and the film winding mechanism 6 is located below the transmission line 2. As shown in the figure, Figure 2 As shown in the figure, the translation module 4 includes two slide rails, one of which is fixed on the upper surface of the cross beam 3, and the slide block a401 is slidingly fitted on the slide rail, the number of the slide block a401 is two, and the two slide blocks a401 are spaced apart along the length direction of the slide rail, and the other slide rail is fixed on the side vertical surface of the cross beam 3, and the slide block b402 is slidingly fitted on the slide rail, the number of the slide block b402 is also two, and the two slide blocks b402 are spaced apart along the length direction of the slide rail; the side vertical surface of the cross beam 3 is also fixed with a rack 403, the rack 403 is located between the two slide rails, and the rack 403 and the two slide rails extend along the length direction of the cross beam 3.

[0039] As shown in the figure, Figure 3 As shown in the figure, the film covering mechanism 5 includes a film covering mechanical arm 51, one end of the film covering mechanical arm 51 is slidingly connected with the cross beam 3 through the two slide blocks a401 and the two slide blocks b402, the other end of the film covering mechanical arm 51 is fixedly connected with a film port opening device 52, and the film port opening device 52 is located directly above the transmission line 2. As shown in the figure, Figure 4As shown, the film mouth opening device 52 includes a film supporting sleeve 521, which is a hollow cylindrical structure, the axis of the film supporting sleeve 521 is parallel to the conveying direction of the conveying line 2, the top of the film supporting sleeve 521 is fixedly connected with a connecting block 522, the connecting block 522 is a square column, a sliding groove is vertically formed in the side wall of the connecting block 522, a sliding block c 523 is embedded in the sliding groove, the connecting block 522 is slidingly connected with a clamping ring 524 through the sliding block c 523, the radial section of the clamping ring 524 is arc-shaped, the arc-shaped profile of the clamping ring 524 matches the outer circumference of the film supporting sleeve 521, a connecting seat 525 is fixedly connected to the upper end surface of the connecting block 522, a pneumatic cylinder 526 is mounted on the upper part of the connecting seat 525, the piston rod of the pneumatic cylinder 526 is connected with the sliding block c 523 of the clamping ring 524, the upper part of the connecting seat 525 is fixedly connected with the film sleeve mechanical arm 51, and the pneumatic cylinder 526 is arranged in the film sleeve mechanical arm 51.

[0040] As shown in the figure, Figure 5 The film sleeve mechanical arm 51 includes a mechanical large arm 511, the front end of the mechanical large arm 511 is an open box 5111, the rear end vertical surface of the box 5111 is fixedly connected with two sliding blocks b 402, a horizontal plate 5112 is vertically fixedly connected to the upper part of the rear end vertical surface of the box 5111, the horizontal plate 5112 extends horizontally and is fixedly connected with two sliding blocks a 401, a translation motor 5113 is mounted in the box 5111, the output shaft of the translation motor 5113 is engaged with the gear and the rack 403, a support frame 5114 is fixedly connected to the upper part near the opening of the box 5111, a longitudinal motor 5115 and a shaft coupling 5116 are vertically mounted on the support frame 5114, the top end of the shaft coupling 5116 is connected with the output shaft of the longitudinal motor 5115, four sleeves 5117 arranged in a matrix are fixedly connected to the inner wall of the upper part of the box 5111 away from the support frame 5114, four corresponding through holes 5118 are formed in the bottom of the box 5111, each sleeve 5117 is coaxially arranged with the corresponding through hole 5118, a mechanical small arm 512 is sleeved with the mechanical large arm 511 through the sleeves 5117, and the distal end of the mechanical small arm 512 extends out of the mechanical large arm 511 and is fixedly connected with the upper part of the connecting seat 525. Figure 6 As shown in the figure, Figure 6 The mechanical small arm 512 includes a bottom plate 5121, the bottom plate 5121 is fixedly connected with the upper part of the connecting seat 525, guide columns 5122 are fixedly connected to the upper part of the bottom plate 5121, four guide columns 5122 are arranged and vertically fixedly connected to the upper part of the bottom plate 5121, the top end of each guide column 5122 penetrates through the corresponding through hole 5118 and is sleeved in the sleeve 5117, a ball screw 5123 is arranged at the central position of the four guide columns 5122, the top end of the ball screw 5123 is connected with the bottom end of the shaft coupling 5116, the bottom end of the ball screw 5123 is threadedly connected with the bottom plate 5121, and the bottom plate 5121 is fixedly connected with the connecting seat 525.

[0041] Example 5 The film sleeving device for automatic processing of rock breaking pipes comprises a rack 1, a square frame at the lower part of the rack 1, a transmission line 2 horizontally arranged on the frame, a plurality of supports vertically fixed on one side of the frame, a crossbeam 3 commonly fixed on the upper parts of the supports, the crossbeam 3 extending along the horizontal direction, a translation module 4 fixedly installed along the length direction of the crossbeam 3, a film sleeving mechanism 5 slidingly connected to the translation module 4, the film sleeving mechanism 5 arranged at the top of the transmission line 2, a film winding mechanism 6 installed inside the frame near the end of the transmission line 2, and the film winding mechanism 6 located below the transmission line 2.

[0042] The film covering mechanism 5 comprises a film covering mechanical arm 51, one end of the film covering mechanical arm 51 is slidably connected with the cross beam 3 through two sliding blocks a 401 and two sliding blocks b 402, the other end of the film covering mechanical arm 51 is fixedly connected with a film port opening device 52, and the film port opening device 52 is located directly above the conveying line 2. The film port opening device 52 comprises a film supporting sleeve 521, the film supporting sleeve 521 is a hollow cylindrical structure, the axis line of the film supporting sleeve 521 is parallel to the conveying direction of the conveying line 2, the top of the film supporting sleeve 521 is fixedly connected with a connecting block 522, the connecting block 522 is a square column, a sliding groove is vertically formed in the side wall of the connecting block 522, a sliding block c 523 is embedded in the sliding groove, the connecting block 522 is slidably connected with a clamping ring 524 through the sliding block c 523, the radial section of the clamping ring 524 is arc-shaped, the arc-shaped profile of the clamping ring 524 is matched with the outer circumference of the film supporting sleeve 521, the upper end face of the connecting block 522 is fixedly connected with a connecting seat 525, the upper part of the connecting seat 525 is provided with a pneumatic cylinder 526, the piston rod of the pneumatic cylinder 526 is connected with the sliding block c 523 of the clamping ring 524, the upper part of the connecting seat 525 is fixed with the film covering mechanical arm 51, and the pneumatic cylinder 526 is arranged in the film covering mechanical arm 51. The film covering mechanical arm 51 comprises a mechanical large arm 511, the front end of the mechanical large arm 511 is an open box body 5111, the rear end vertical surface of the box body 5111 is fixedly connected with two sliding blocks b 402, the upper part of the rear end vertical surface of the box body 5111 is fixedly provided with a horizontal plate 5112, the horizontal plate 5112 extends horizontally and is fixedly connected with two sliding blocks a 401, a translation motor 5113 is arranged in the box body 5111, the output shaft of the translation motor 5113 is engaged with the gear and the rack 403, a support frame 5114 is fixedly arranged on the upper part of the box body 5111 near the opening, a vertical motor 5115 and a shaft coupling 5116 are vertically arranged on the support frame 5114, the top end of the shaft coupling 5116 is connected with the output shaft of the vertical motor 5115, four sleeve cylinders 5117 arranged in a matrix are fixedly arranged on the inner wall of the upper part of the box body 5111 away from the support frame 5114, four corresponding through holes 5118 are formed in the bottom of the box body 5111, each sleeve cylinder 5117 is coaxially arranged with the corresponding through hole 5118, a mechanical small arm 512 is sleeved with the mechanical large arm 511 through the sleeve cylinder 5117, and the mechanical small arm 512 is fixedly connected with the upper part of the connecting seat 525 and extends out of the mechanical large arm 511.

[0043] As Figure 7 shown, the film winding mechanism 6 includes a main frame 61 fixed inside the frame, and the side wall of the main frame 61 is provided with a connecting disc 62 in the form of a cylinder, which includes an outer disc 621 and an inner disc 622, the outer disc 621 being sleeved outside the inner disc 622, as Figure 8 shown, the center of the outer disc 621 and the inner disc 622 is provided with a center hole coaxial with the disc body, and the outer disc 621 is fixedly connected with the main frame 61; further comprising an outer ring 63 coaxially arranged with the inner disc 622, a plurality of circular holes 64 are uniformly distributed along the circumferential direction of the outer ring 63, and a support 65 is sleeved in each circular hole 64, one end of the plurality of supports 65 is fixedly connected with the outer circumferential surface of the inner disc 622, and the other end of the plurality of supports 65 is fixedly connected with the inner side wall of the outer ring 63.

[0044] Embodiment 6 The film winding device for automatic processing of rock breaking pipes includes a frame 1, the lower part of the frame 1 is a square frame, a transmission line 2 is horizontally arranged on the frame, a plurality of supports are vertically fixed on one side of the frame, the upper parts of the plurality of supports are jointly fixedly connected with a cross beam 3 extending in the horizontal direction, and a translation module 4 is fixedly installed along the length direction of the cross beam 3; the film winding mechanism 5 is slidably connected with the translation module 4, the end of the film winding mechanism 5 is arranged directly above the transmission line 2, a film winding mechanism 6 is installed inside the frame near the end of the transmission line 2, and the film winding mechanism 6 is located below the transmission line 2. The translation module 4 includes two slide rails, one slide rail is fixedly connected to the upper surface of the cross beam 3, a slide block a401 is slidably connected to the slide rail, the number of the slide blocks a401 is two, the two slide blocks a401 are spaced apart along the length direction of the slide rail, and the other slide rail is fixedly connected to the side vertical surface of the cross beam 3, a slide block b402 is slidably connected to the slide rail, the number of the slide blocks b402 is also two, and the two slide blocks b402 are spaced apart along the length direction of the slide rail; a rack 403 is also fixedly connected to the side vertical surface of the cross beam 3, the rack 403 is located between the two slide rails, and the rack 403 and the two slide rails extend along the length direction of the cross beam 3.

[0045] The film covering mechanism 5 comprises a film covering mechanical arm 51, one end of the film covering mechanical arm 51 is slidably connected with the cross beam 3 through two sliding blocks a 401 and two sliding blocks b 402, the other end of the film covering mechanical arm 51 is fixedly connected with a film port opening device 52, and the film port opening device 52 is located directly above the conveying line 2. The film port opening device 52 comprises a film supporting sleeve 521, the film supporting sleeve 521 is a hollow cylindrical structure, the axis line of the film supporting sleeve 521 is parallel to the conveying direction of the conveying line 2, the top of the film supporting sleeve 521 is fixedly connected with a connecting block 522, the connecting block 522 is a square column, a sliding groove is vertically formed in the side wall of the connecting block 522, a sliding block c 523 is embedded in the sliding groove, the connecting block 522 is slidably connected with a clamping ring 524 through the sliding block c 523, the radial section of the clamping ring 524 is arc-shaped, the arc-shaped profile of the clamping ring 524 is matched with the outer circumference of the film supporting sleeve 521, the upper end face of the connecting block 522 is fixedly connected with a connecting seat 525, the upper part of the connecting seat 525 is provided with a pneumatic cylinder 526, the piston rod of the pneumatic cylinder 526 is connected with the sliding block c 523 of the clamping ring 524, the upper part of the connecting seat 525 is fixed with the film covering mechanical arm 51, and the pneumatic cylinder 526 is arranged in the film covering mechanical arm 51. The film covering mechanical arm 51 comprises a mechanical large arm 511, the front end of the mechanical large arm 511 is an open box body 5111, the rear end vertical surface of the box body 5111 is fixedly connected with two sliding blocks b 402, the upper part of the rear end vertical surface of the box body 5111 is fixedly provided with a horizontal plate 5112, the horizontal plate 5112 extends horizontally and is fixedly connected with two sliding blocks a 401, a translation motor 5113 is arranged in the box body 5111, the output shaft of the translation motor 5113 is engaged with the gear and the rack 403, a support frame 5114 is fixedly arranged on the upper part of the box body 5111 near the opening, a vertical motor 5115 and a shaft coupling 5116 are vertically arranged on the support frame 5114, the top end of the shaft coupling 5116 is connected with the output shaft of the vertical motor 5115, four sleeve cylinders 5117 arranged in a matrix are fixedly arranged on the inner wall of the upper part of the box body 5111 away from the support frame 5114, four corresponding through holes 5118 are formed in the bottom of the box body 5111, each sleeve cylinder 5117 is coaxially arranged with the corresponding through hole 5118, a mechanical small arm 512 is sleeved with the mechanical large arm 511 through the sleeve cylinder 5117, and the mechanical small arm 512 is fixedly connected with the upper part of the connecting seat 525 and extends out of the mechanical large arm 511.

[0046] The roll film mechanism 6 comprises a main frame 61 fixed inside the frame, the side wall of the main frame 61 is provided with a connecting disc 62, the connecting disc 62 is a cylinder, the connecting disc 62 comprises an outer disc 621 and an inner disc 622, the outer disc 621 is sleeved outside the inner disc 622, the center of the outer disc 621 and the inner disc 622 is provided with a center hole coaxial with the disc body, and the outer disc 621 is fixedly connected with the main frame 61; the outer ring 63 coaxial with the inner disc 622 is further arranged, a plurality of round holes 64 are uniformly distributed along the circumferential direction of the outer ring 63, one support 65 is sleeved in each round hole 64, one end of the plurality of supports 65 is fixedly connected with the outer circumferential surface of the inner disc 622, and the other end of the plurality of supports 65 is fixedly connected with the inner side wall of the outer ring 63. The translation motor 5113 and the longitudinal motor 5115 are both servo motors.

[0047] Example 7 The film sleeve method for automatic processing of rock breaking pipes is implemented by using a film sleeve device for automatic processing of rock breaking pipes, and the following steps are implemented: Step 1, place the flexible film sleeve on the outer periphery of the support 65, pull one end of the film sleeve out and place it between the film sleeve supporting ring 521 and the clamping ring 524, start the air cylinder 526, and push the clamping ring 524 downward to clamp the film sleeve; Step 2, start the translation motor 5113, move the film sleeve mechanical arm 51 to the top of the rock breaking pipe through the transmission of the gear and rack; Step 3, start the longitudinal motor 5115, drive the mechanical arm 512 to descend through the shaft coupling 5116, drive the film port opening device 52 to descend to the film sleeve station coaxial with the rock breaking pipe and the film port edge covering the pipe opening of the rock breaking pipe, the piston rod of the air cylinder 526 is retracted, the clamping ring 524 is loosened, and the film sleeve is sleeved on the outer wall of the rock breaking pipe; Step 4, reverse start the longitudinal motor 5115 to make the mechanical arm 512 rise, and then start the translation motor 5113 to drive the film sleeve mechanical arm 51 to return to the initial position.

Claims

1. A diaphragm-shrouding device for automated processing of rock-breaking pipes, characterized in that, The frame includes a frame (1), the lower part of which is a cuboid frame. A transmission line (2) is horizontally arranged on the frame. Several supports are vertically fixed on one side of the frame. A crossbeam (3) is fixedly connected to the upper part of the supports. The crossbeam (3) extends horizontally. A translation module (4) is fixedly installed along the length of the crossbeam (3). The translation module (4) is slidably connected to a film-coating mechanism (5). The end of the film-coating mechanism (5) is located directly above the transmission line (2). A film-winding mechanism (6) is installed inside the frame near the end of the transmission line (2). The film-winding mechanism (6) is located below the transmission line (2).

2. The diaphragm device for automated processing of rock-breaking pipes according to claim 1, characterized in that, The translation module (4) includes two slide rails. One slide rail is fixed to the upper surface of the crossbeam (3). A slider a (401) is slidably fitted on the slide rail. There are two sliders a (401), and the two sliders a (401) are distributed at intervals along the length of the slide rail. The other slide rail is fixed to the side surface of the crossbeam (3). A slider b (402) is slidably fitted on the slide rail. There are also two sliders b (402), and the two sliders b (402) are distributed at intervals along the length of the slide rail. A rack (403) is also fixed on the side surface of the crossbeam (3). The rack (403) is located between the two slide rails, and the rack (403) and the two slide rails extend along the length of the crossbeam (3).

3. The diaphragm device for automated processing of rock-breaking pipes according to claim 2, characterized in that, The film-coating mechanism (5) includes a film-coating robotic arm (51). One end of the film-coating robotic arm (51) is slidably connected to the crossbeam (3) via two sliders a (401) and two sliders b (402). The other end of the film-coating robotic arm (51) is fixedly connected to a film opening device (52), which is located directly above the transmission line (2).

4. The diaphragm device for automated processing of rock-breaking pipes according to claim 3, characterized in that, The membrane opening device (52) includes a membrane support ring (521), which is a hollow cylindrical structure. The axis of the membrane support ring (521) is parallel to the conveying direction of the transmission line (2). A connecting block (522) is fixed to the top of the membrane support ring (521). The connecting block (522) is a square prism. A groove is vertically opened on the side wall of the connecting block (522). A slider c (523) is embedded in the groove. A clamping ring (524) is fixed on the outer side of the slider c (523). The radial cross section of the ring (524) is arc-shaped. The arc-shaped contour of the clamping ring (524) matches the outer circumference of the membrane support ring (521). The upper end face of the connecting block (522) is fixed with a connecting seat (525). A cylinder (526) is installed on the upper part of the connecting seat (525). The piston rod of the cylinder (526) is connected to the slider c (523) of the clamping ring (524). The upper part of the connecting seat (525) is fixed to the membrane support robot arm (51). The cylinder (526) is located inside the membrane support robot arm (51).

5. The diaphragm device for automated processing of rock-breaking pipes according to claim 4, characterized in that, The robotic arm (51) includes a large robotic arm (511), the front end of which is an open box (5111). The rear end of the box (5111) is fixedly connected to two sliders b (402). A horizontal plate (5112) is vertically fixed on the upper part of the rear end of the box (5111). The horizontal plate (5112) extends horizontally and is fixedly connected to two sliders a (401). A translation motor (5113) is installed inside the box (5111). The output shaft of the translation motor (5113) meshes with a rack (403) through a gear. A support frame (5114) is fixed on the upper part near the opening of the box (5111). The support frame (5114) is vertically... A longitudinal motor (5115) and a coupling (5116) are mounted on the upper part of the housing (5111). The top of the coupling (5116) is connected to the output shaft of the longitudinal motor (5115). Four sleeves (5117) arranged in a matrix are fixed on the inner wall of the upper part of the housing (5111) away from the support frame (5114). Four corresponding through holes (5118) are opened at the bottom of the housing (5111). Each sleeve (5117) is coaxially arranged with its corresponding through hole (5118). The mechanical arm (511) is sleeved with a mechanical arm (512) through the sleeve (5117). The end of the mechanical arm (512) extends out of the mechanical arm (511) and is fixed to the upper part of the connecting seat (525).

6. The diaphragm device for automated processing of rock-breaking pipes according to claim 5, characterized in that, The mechanical arm (512) includes a base plate (5121), which is fixed to the upper part of the connecting seat (525). A guide post (5122) is fixed on the base plate (5121). There are four guide posts (5122) and they are vertically fixed to the upper part of the base plate (5121). The top of each guide post (5122) passes through the corresponding through hole (5118) and is sleeved inside the sleeve (5117). A ball screw (5123) is set at the center of the four guide posts (5122). The top of the ball screw (5123) is connected to the bottom of the coupling (5116). The bottom of the ball screw (5123) is threaded to the base plate (5121). The bottom of the base plate (5121) is fixedly connected to the connecting seat (525).

7. The diaphragm device for automated processing of rock-breaking pipes according to claim 6, characterized in that, The film winding mechanism (6) includes a main frame (61), which is fixed inside the frame. A connecting plate (62) is provided on the side wall of the main frame (61). The connecting plate (62) is cylindrical. The connecting plate (62) includes an outer plate (621) and an inner plate (622). The outer plate (621) is sleeved on the outside of the inner plate (622). The outer plate (621) and the inner plate (622) are both provided with a central hole coaxial with the plate body. The outer plate (621) is fixedly connected to the main frame (61). It also includes an outer ring (63) coaxial with the inner plate (622). Several circular holes (64) are evenly distributed along the circumference of the outer ring (63). A support column (65) is sleeved in each circular hole (64). One end of the several support columns (65) is fixedly connected to the outer circumferential surface of the inner plate (622), and the other end of the several support columns (65) is fixedly connected to the inner side wall of the outer ring (63).

8. The diaphragm device for automated processing of rock-breaking pipes according to claim 7, characterized in that, Both the translation motor (5113) and the longitudinal motor (5115) are servo motors.

9. A method for automating the processing of rock-breaking pipes using a diaphragm-coating device as described in claim 8, characterized in that: include: Step 1: Place the membrane sleeve around the outer perimeter of the support column, pull out one end and place it between the membrane support ring and the clamping ring, start the cylinder to push the clamping ring down to clamp the membrane sleeve. Step 2: Start the translation motor and move the membrane robotic arm directly above the rock-breaking pipe; Step 3: Start the longitudinal motor and lower the mechanical arm through the coupling. This will drive the membrane opening device to descend to the membrane sleeve position, which is coaxial with the rock-breaking pipe and covers its opening. Then, the piston rod of the cylinder will retract, and the clamping ring will loosen the membrane sleeve so that it is sleeved on the outer wall of the rock-breaking pipe. Step 4: Reverse start the longitudinal motor to raise the robotic arm, then start the translation motor to return the robotic arm to the initial position.

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