Propellant grain conveying and transferring system and working method

Abstract

The invention discloses a propellant grain conveying and transferring system and a working method. The propellant grain conveying and transferring system comprises a conveying mechanism used for conveying a propellant grain loading tray loaded with propellant grains, a mechanical arm used for transferring the propellant grains to a target position and a machine tool machining mechanism used for machining the propellant grains. The conveying mechanism comprises a first conveying belt and a second conveying belt, a positioning mechanism and a lifting mechanism are sequentially arranged between the first conveying belt and the mechanical arm, the bottom elevation of the positioning mechanism is the same as the elevation of the first conveying belt, and the high elevation of the positioning mechanism is provided with a first pushing mechanism used for pushing materials to the upper end of the lifting mechanism. The high elevation of the lifting mechanism is the same as that of the positioning mechanism, the bottom elevation of the lifting mechanism is provided with a second pushing mechanism used for pushing the materials to the upper end of the second conveying belt, and the side, away from the machine tool machining mechanism, of the mechanical arm is provided with a reversing mechanism used for rotating the propellant grain to the preset angle. According to the automatic feeding and discharging device, automatic feeding and discharging during propellant grain processing are achieved, and man-machine isolation and man-medicine separation are achieved.

Description

Technical Field

[0001] This invention relates to the field of civilian explosives transportation technology, and in particular to a propellant charge delivery and transfer system and its working method. Background Technology

[0002] Currently, each shift has one person dedicated to the propellant processing step, who is responsible for handling the propellant charge using a CNC lathe. As a result, the operators inevitably come into direct contact with the propellant, which means that the toxic and harmful substances and dust cannot be avoided from affecting human health, and the risk of combustion and explosion cannot be effectively mitigated. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, one objective of this invention is to provide a propellant delivery and transfer system and its operating method, solving the technical challenges of separating personnel from machines and personnel from propellant in production, improving processing efficiency and quality, reducing operational risks for personnel, and enhancing the inherent safety of the processing process.

[0004] In a first aspect, according to the present invention, a propellant grain conveying and transfer system includes a conveying mechanism for conveying a loading tray containing propellant grains, a robotic arm for transferring the propellant grains to a target position, and a machine tool processing mechanism for processing the propellant grains. The conveying mechanism includes a first conveyor belt and a second conveyor belt. The first conveyor belt is positioned above the second conveyor belt. The robotic arm is positioned on the side of the first conveyor belt near the discharge port. A positioning mechanism and a lifting mechanism are sequentially arranged between the first conveyor belt and the robotic arm. The machine tool processing mechanism is positioned on the side of the first conveyor belt near the robotic arm. The positioning mechanism has two sets of vertical elevations, and the bottom elevation of the positioning mechanism is perpendicular to the elevation of the conveyor belt. The elevations of the two conveyor belts are the same. The elevation of the positioning mechanism is close to that of the first conveyor belt, and a pushing mechanism is provided on the side of the lifting mechanism to push the material to the upper end of the lifting mechanism. The lifting mechanism has two sets of vertical elevations, and the elevations of the lifting mechanism are the same as those of the positioning mechanism. The bottom elevation of the lifting mechanism is located near the feed inlet of the second conveyor belt. The bottom elevation of the lifting mechanism is away from the second conveyor belt, and a pushing mechanism is provided on the side of the lifting mechanism away from the second conveyor belt to push the material to the upper end of the second conveyor belt. The robotic arm is away from the machine tool processing mechanism and has a reversing mechanism for rotating the propellant column to a preset angle. The transfer range of the robotic arm covers the machine tool processing mechanism, the positioning mechanism, and the reversing mechanism.

[0005] Preferably, the positioning mechanism, when in a low elevation state, has a positioning stop bar on the side near the lifting mechanism to block the movement of the loading tray. The positioning mechanism includes a conveying roller, and the lower end of the conveying roller is provided with a telescopic cylinder two for controlling the lifting and lowering of the conveying roller. The side of the conveying roller along the material conveying direction is provided with a positioning clamping rod to guide the movement of the loading tray. The side of the conveying roller away from the positioning clamping rod is provided with a displacement clamping rod, and the side of the displacement clamping rod away from the positioning clamping rod is provided with a telescopic cylinder three for driving the displacement clamping rod to move and clamp the loading tray.

[0006] Preferably, the lifting mechanism includes a second conveying roller, and a fourth telescopic cylinder for controlling the lifting of the second conveying roller is provided below the second conveying roller. The fourth telescopic cylinder is fixed by a second fixing plate. Positioning blocks for blocking the movement of the medicine loading tray are provided at both ends of the side of the second conveying roller away from the positioning mechanism.

[0007] Preferably, a centering mechanism is provided at the upper end of the discharge port near the first conveyor belt. The centering mechanism includes two sets of centering rods and two sets of guide rods. The two sets of centering rods and the two sets of guide rods are fixed to both sides of the frame of the first conveyor belt by rod fixing members. The two sets of centering rods form a centering channel, and the two sets of guide rods form a guide channel. The inlet width of the centering channel is greater than or equal to the width of the first conveyor belt. The outlet of the centering channel is connected to the inlet of the guide channel and has the same width. The width of the guide channel is adapted to the width of the loading tray.

[0008] Preferably, the pushing mechanism includes a push plate, which is located above the second conveyor belt and close to the positioning mechanism. The side of the push plate away from the positioning mechanism is provided with a telescopic cylinder for driving the displacement of the push plate. The fixed end of the telescopic cylinder is connected to the frame of the first conveyor belt through a fixing plate.

[0009] Preferably, the reversing mechanism includes a second gripper, a second gripper mounting base, and a third gripper. The second gripper and the third gripper are both located on the side closest to the robotic arm and are staggered. The sides of the second gripper and the third gripper away from the robotic arm are respectively connected to the second gripper mounting base via gripper cylinders. A rotary cylinder is installed on the side of the second gripper mounting base away from the gripper cylinders, and the rotary cylinder is connected to the frame of the robotic arm via a mounting rod.

[0010] Preferably, the free end of the robotic arm is provided with four sets of grippers, and each of the four sets of grippers is connected to the free end of the robotic arm through a gripper mounting base. The four sets of grippers are arranged along a square and are located at the vertices of the square. The square formed by the four sets of grippers is adapted to the square formed by the four adjacent loading cavities of the loading tray.

[0011] Preferably, the positioning mechanism is provided with a second sensor for detecting materials on the side near the lifting mechanism, a first sensor for detecting materials on the side near the discharge port of the first conveyor belt, and a third sensor for detecting materials on the side near the discharge port of the second conveyor belt.

[0012] Preferably, the machine tool processing mechanism is a dual-station propellant column processing machine tool.

[0013] Secondly, according to the present invention, a method for operating a propellant grain delivery and transfer system includes any of the above-mentioned propellant grain delivery and transfer system schemes, and the method steps are as follows:

[0014] S1: Conveyor belt one and conveyor belt two are working. Determine whether sensor two has detected the medicine loading tray. If so, proceed to step S2.

[0015] S2: The telescopic cylinder three extends to the preset stroke, the displacement clamping rod clamps and positions the medicine tray, and it is determined whether the sensor one continuously detects the medicine tray within the preset time. If so, proceed to step S3.

[0016] S3: Conveyor belt one stops working, telescopic cylinder two extends to the preset stroke, positioning mechanism moves to the high elevation, and step S4 is executed;

[0017] S4: The robotic arm grabs four sets of pills to be processed and moves them to the designated position of the machine tool processing mechanism. The pills are fixed at the dual workstations of the machine tool processing mechanism. The robotic arm moves to the preset position and executes step S5.

[0018] S5: The machine tool processing mechanism starts working and stops working after the preset working time is reached and the processing of one end of the medicine column is completed. Then, proceed to step S6.

[0019] S6: The robotic arm moves to the preset position, takes out the two pills that have been processed at one end, and places the two sets of pills to be processed at the double station of the machine tool processing mechanism to fix the pills. The robotic arm moves to the preset position and executes step S7.

[0020] S7: The machine tool processing mechanism starts working, and the robotic arm places the two pills that have been processed at one end into the two jaws of the reversing mechanism for fixation until the preset time is reached. After the pills in the machine tool processing mechanism are processed, the work stops, and the pills fixed in the two jaws of the reversing mechanism complete a 180° rotation. Then, step S8 is executed.

[0021] S8: The robotic arm will grab the completed rotating pill, replace the completed rotating pill in the machine tool processing mechanism, and execute step S9;

[0022] S9: Repeat steps S7-S8. The two sets of pills gripped by the robotic arm are pills with both ends processed. The pills in the machine tool processing mechanism are pills with one end processed and the other end to be processed. Execute S10.

[0023] S10: The machine tool processing mechanism starts working. At the same time, the robotic arm places the drug column with both ends processed into a preset position on the upper end of the drug loading tray of the positioning mechanism and clamps the two sets of unprocessed drug columns in the preset position in the drug loading tray until the preset time is reached. The machine tool processing mechanism stops working and executes step S11.

[0024] S11: The robotic arm replaces the original drug column in the machine tool processing mechanism with the drug column in the robotic arm. The machine tool processing mechanism starts to work. At the same time, the robotic arm places the drug column with both ends processed at the preset position of the drug loading tray at the upper end of the positioning mechanism and clamps the two sets of unprocessed drug columns at the preset position in the drug loading tray until the preset time is reached. The machine tool processing mechanism stops working and executes step S12.

[0025] S12: The robotic arm replaces the two sets of drug cartridges it carries with the drug cartridges in the machine tool processing mechanism. The machine tool processing mechanism starts working. At the same time, the robotic arm places the drug cartridges it carries at this time into the reversing mechanism. After the preset time is reached, the drug cartridges in the machine tool processing mechanism complete the processing and stop working. The drug cartridges in the reversing mechanism complete a 180° reversal. Step S13 is then executed.

[0026] S13: The robotic arm replaces the drug column in the reversing mechanism with the drug column in the machine tool processing mechanism, and places the replaced drug column in the reversing mechanism until the preset time is reached. Then the drug column in the machine tool processing mechanism completes processing and stops working, and the drug column in the reversing mechanism completes a 180° reversal. Step S14 is then executed.

[0027] S14: The robotic arm replaces the drug column in the reversing mechanism with the drug column in the machine tool processing mechanism, places the replaced drug column at the preset position of the drug loading tray at the upper end of the positioning mechanism, and clamps the two sets of unprocessed drug columns at the preset position in the drug loading tray until the preset time is reached. Then the drug column in the machine tool processing mechanism completes the processing and stops working. Step S15 is executed.

[0028] S15: Repeat steps S11-S14 until all the drug columns in the drug loading trays have been processed, then proceed to step S16.

[0029] S16: The telescopic cylinder resets, the first push mechanism works, the medicine tray is pushed to the upper end of the lifting mechanism and then the first push mechanism resets, and step S17 is executed.

[0030] S17: The lifting mechanism descends to the bottom elevation, and the second pushing mechanism pushes the loading tray to the upper end of the second conveyor belt and then the second pushing mechanism resets, and step S18 is executed;

[0031] S18: After the positioning mechanism is reset to the bottom elevation and the lifting mechanism is reset to the high elevation, proceed to step S19.

[0032] S19: Repeat steps S1-S18 until all the drug columns on the drug loading trays have been processed.

[0033] The beneficial effects of this invention are as follows: the use of a robotic arm enables automatic loading and unloading of propellant columns; the use of a double-layer belt conveyor technology solves the problem of conveying the propellant loading tray in a confined space; the use of a propellant column reversing mechanism enables simultaneous reversal of two propellant columns, improving production efficiency; and the automation of the entire production process and the separation of humans and propellants are achieved through sensor and preset working method control, thereby improving processing efficiency and quality, reducing human operational risks, and enhancing the inherent safety of the processing process. Attached Figure Description

[0034] In the attached diagram:

[0035] Figure 1 This is a schematic diagram of the structure of a propellant delivery and transfer system proposed in this invention;

[0036] Figure 2 The present invention proposes Figure 1 A magnified view of a section at point A in the middle;

[0037] Figure 3 This is a schematic diagram of the structure of the pushing mechanism one proposed in this invention;

[0038] Figure 4 This is a schematic diagram of the positioning mechanism proposed in this invention;

[0039] Figure 5 This is a schematic diagram of the structure of a part of the gripper of the robotic arm proposed in this invention;

[0040] Figure 6 This is a schematic diagram of the lifting mechanism proposed in this invention;

[0041] Figure 7 This is a schematic diagram of the reversing mechanism proposed in this invention;

[0042] Figure 8 This is a top view of the propellant delivery and transport system proposed in this invention.

[0043] In the diagram: 1-Conveying mechanism, 2-Centering mechanism, 3-Machine tool processing mechanism, 4-Pushing mechanism one, 5-Positioning mechanism, 6-Robotic arm, 7-Pushing mechanism two, 8-Lifting mechanism, 9-Reversing mechanism;

[0044] 11-Conveyor Belt 1, 12-Conveyor Belt 2;

[0045] 21-Centering rod, 22-Rod body fixing component, 23-Guide rod, 24-Sensor 1;

[0046] 41-Telescopic cylinder 1, 42-Fixed plate 1, 43-Push plate;

[0047] 51-Positioning stop bar, 52-Conveying roller one, 53-Telescopic cylinder two, 54-Displacement clamping rod, 55-Telescopic cylinder three, 56-Sensor two, 57-Positioning clamping rod;

[0048] 61-Gripper 1, 62-Gripper mounting base 1;

[0049] 81-Conveyor Roller II, 82-Fixed Plate II, 83-Telescopic Cylinder IV, 84-Positioning Stop;

[0050] 91-Gripper II, 92-Gripper Cylinder, 93-Rotary Cylinder, 94-Gripper Mounting Base II, 95-Mounting Rod, 96-Gripper III;

[0051] 121-Sensor Three. Detailed Implementation

[0052] Reference Figure 1 A propellant column conveying and transfer system and its working method are disclosed, comprising a conveying mechanism 1 for conveying a loading tray containing propellant columns, a robotic arm 6 for transferring the propellant columns to a target position, and a machine tool processing mechanism 3 for processing the propellant columns. The conveying mechanism 1 includes a first conveyor belt 11 and a second conveyor belt 12, with the first conveyor belt 11 positioned above the second conveyor belt 12. The robotic arm 6 is positioned on the side of the first conveyor belt 11 near the discharge port. A positioning mechanism 5 and a lifting mechanism 8 are sequentially arranged between the first conveyor belt 11 and the robotic arm 6. The machine tool processing mechanism 3 is positioned on the side of the first conveyor belt 11 near the robotic arm 6. The positioning mechanism 5 has two sets of vertical elevations, with the bottom elevation of the positioning mechanism 5 being the same as that of the first conveyor belt 11. The elevations of the positioning mechanism 5 and the lifting mechanism 8 are the same. The high elevation of the positioning mechanism 5 is close to the side of the conveyor belt 11, and a pushing mechanism 4 is provided for pushing the material to the upper end of the lifting mechanism 8. The lifting mechanism 8 has two sets of vertical elevations. The high elevation of the lifting mechanism 8 is the same as the high elevation of the positioning mechanism 5. The bottom elevation of the lifting mechanism 8 is located near the feed inlet of the conveyor belt 12. The bottom elevation of the lifting mechanism 8 is far away from the conveyor belt 12, and a pushing mechanism 7 is provided for pushing the material to the upper end of the conveyor belt 12. The robotic arm 6 is far away from the machine tool processing mechanism 3, and a reversing mechanism 9 is provided for rotating the propellant column to a preset angle. The transfer range of the robotic arm 6 covers the machine tool processing mechanism 3, the positioning mechanism 5 and the reversing mechanism 9.

[0053] Specifically, the machine tool processing mechanism 3 is a dual-station propellant column processing machine tool.

[0054] Reference Figure 1 and Figure 4 The positioning mechanism 5 is located at a low elevation and is equipped with a positioning stop bar 51 on the side near the lifting mechanism 8 to block the movement of the loading tray. The positioning mechanism 5 includes a conveying roller 52. The lower end of the conveying roller 52 is equipped with a telescopic cylinder 53 for controlling the lifting and lowering of the conveying roller 52. The side of the conveying roller 52 along the material conveying direction is equipped with a positioning clamping rod 57 to guide the movement of the loading tray. The side of the conveying roller 52 away from the positioning clamping rod 57 is equipped with a displacement clamping rod 54. The side of the displacement clamping rod 54 away from the positioning clamping rod 57 is equipped with a telescopic cylinder 55 for driving the displacement clamping rod 54 to move and clamp the loading tray.

[0055] Reference Figure 6 The lifting mechanism 8 includes a second conveying roller 81. Below the second conveying roller 81 is a fourth telescopic cylinder 83 for controlling the lifting of the second conveying roller 81. The fourth telescopic cylinder 83 is fixed by a second fixing plate 82. The two ends of the second conveying roller 81 away from the positioning mechanism 5 are provided with positioning blocks 84 for blocking the movement of the medicine loading tray.

[0056] Reference Figure 1 and Figure 2 A centering mechanism 2 is provided at the upper end of the discharge port near the conveyor belt 11. The centering mechanism 2 includes two sets of centering rods 21 and two sets of guide rods 23. The two sets of centering rods 21 and the two sets of guide rods 23 are fixed to both sides of the frame of the conveyor belt 11 by rod fixing parts 22. The two sets of centering rods 21 form a centering channel, and the two sets of guide rods 23 form a guide channel. The inlet width of the centering channel is greater than or equal to the width of the conveyor belt 11. The outlet of the centering channel is connected to the inlet of the guide channel and the width is equal. The width of the guide channel is adapted to the width of the loading tray.

[0057] Reference Figure 3 The pushing mechanism 4 includes a push plate 43, which is located above the second conveyor belt 12 on the side near the positioning mechanism 5. The side of the push plate 43 away from the positioning mechanism 5 is provided with a telescopic cylinder 41 for driving the displacement of the push plate 43. The fixed end of the telescopic cylinder 41 is connected to the frame of the second conveyor belt 11 through a fixing plate 42.

[0058] Reference Figure 7 The reversing mechanism 9 includes a second gripper 91, a second gripper mounting base 94, and a third gripper 96. Both the second gripper 91 and the third gripper 96 are located on the side closest to the robotic arm 6 and are staggered. The sides of the second gripper 91 and the third gripper 96 away from the robotic arm 6 are respectively connected to the second gripper mounting base 94 via gripper cylinders 92. A rotary cylinder 93 is installed on the side of the second gripper mounting base 94 away from the gripper cylinder 92. The rotary cylinder 93 is connected to the frame of the robotic arm 6 via a mounting rod 95.

[0059] Reference Figure 5The free end of the robotic arm 6 is provided with four sets of grippers 61. All four sets of grippers 61 are connected to the free end of the robotic arm 6 through gripper mounting bases 62. The four sets of grippers 61 are arranged in a square and the four sets of grippers 61 are located at the vertices of the square. The square formed by the four sets of grippers 61 is compatible with the square formed by the four adjacent loading chambers of the loading tray.

[0060] Reference Figure 1 , Figure 2 and Figure 4 The positioning mechanism 5 is equipped with a sensor 2 56 for detecting materials on the side near the lifting mechanism 8, a sensor 1 24 for detecting materials on the side near the discharge port of the conveyor belt 11, and a sensor 3 121 for detecting materials on the side near the discharge port of the conveyor belt 2 12.

[0061] Specifically, sensor 3121 provides an activation signal to the external audible and visual alarm mechanism. When sensor 3121 detects material, the audible and visual alarm mechanism is activated to remind the staff to remove the material, preventing the staff from forgetting to remove the material and causing the conveyor belt 212 to become full of material.

[0062] As another embodiment of this application, this embodiment proposes a method for operating a propellant grain delivery and transfer system, which includes any of the above-mentioned propellant grain delivery and transfer system schemes. The method steps are as follows:

[0063] S1: Conveyor belt 11 and conveyor belt 212 are working. Determine whether sensor 256 has detected the medicine loading tray. If so, proceed to step S2.

[0064] S2: The telescopic cylinder 355 extends to the preset stroke, the displacement clamp 54 clamps and positions the medicine tray, and it is determined whether the sensor 124 continuously detects the medicine tray within the preset time. If so, proceed to step S3.

[0065] S3: Conveyor belt 11 stops working, telescopic cylinder 2 53 extends to the preset stroke, positioning mechanism 5 moves to the high elevation, and step S4 is executed;

[0066] S4: The robotic arm 6 grabs four sets of pills to be processed and moves them to the designated position of the machine tool processing mechanism 3. The pills are fixed at the dual workstations of the machine tool processing mechanism 3. The robotic arm 6 moves to the preset position and executes step S5.

[0067] S5: The machine tool processing mechanism 3 starts working until the preset working time is reached, and then stops working after processing one end of the medicine column. Then, proceed to step S6.

[0068] S6: The robotic arm 6 moves to the preset position, takes out the two pills that have been processed at one end, and places the two sets of pills to be processed at the double station of the machine tool processing mechanism 3 to fix the pills. The robotic arm 6 moves to the preset position and executes step S7.

[0069] S7: The machine tool processing mechanism 3 starts working, and the robotic arm 6 places the two pills that have been processed at one end into the two jaws of the reversing mechanism 9 and fixes them until the preset time is reached. After the pills in the machine tool processing mechanism 3 are processed, the work stops. The pills fixed in the two jaws of the reversing mechanism 9 complete a 180° rotation and step S8 is executed.

[0070] S8: The robotic arm 6 will grab the completed rotating pill and replace the completed rotating pill in the machine tool processing mechanism 3, and then execute step S9;

[0071] S9: Repeat steps S7-S8. The two sets of pills gripped by the robotic arm 6 are pills with both ends processed. The pills in the machine tool processing mechanism 3 are pills with one end processed and the other end to be processed. Execute S10.

[0072] S10: The machine tool processing mechanism 3 starts working, and at the same time, the robotic arm 6 places the drug column with both ends processed into a preset position on the upper drug loading tray of the positioning mechanism 5 and clamps the two sets of unprocessed drug columns in the preset position in the drug loading tray until the preset time is reached. The machine tool processing mechanism 3 stops working and executes step S11.

[0073] S11: The robotic arm 6 replaces the original drug column in the machine tool processing mechanism 3 with the drug column in the robotic arm 6. The machine tool processing mechanism 3 starts to work. At the same time, the robotic arm 6 places the drug column with both ends processed at the preset position of the drug loading tray at the upper end of the positioning mechanism 5 and clamps the two sets of unprocessed drug columns at the preset position in the drug loading tray until the preset time is reached. The machine tool processing mechanism 3 stops working and executes step S12.

[0074] S12: The robotic arm 6 replaces the two sets of pills it carries with the pills in the machine tool processing mechanism 3. The machine tool processing mechanism 3 starts working. At the same time, the robotic arm 6 places the pills it carries at this time into the reversing mechanism 9. After the preset time is reached, the pills in the machine tool processing mechanism 3 complete the processing and stop working. The pills in the reversing mechanism 9 complete a 180° reversal. Step S13 is executed.

[0075] S13: The robotic arm 6 replaces the drug column in the reversing mechanism 9 with the drug column in the machine tool processing mechanism 3, and places the replaced drug column in the reversing mechanism 9 until the preset time is reached. Then the drug column in the machine tool processing mechanism 3 completes processing and stops working, and the drug column in the reversing mechanism 9 completes a 180° reversal. Step S14 is executed.

[0076] S14: The robotic arm 6 replaces the drug column in the reversing mechanism 9 with the drug column in the machine tool processing mechanism 3, places the replaced drug column at the preset position of the drug loading tray at the upper end of the positioning mechanism 5, and clamps the two sets of unprocessed drug columns at the preset position in the drug loading tray until the preset time is reached, the drug column in the machine tool processing mechanism 3 completes the processing and stops working, and executes step S15.

[0077] S15: Repeat steps S11-S14 until all the drug columns in the drug loading trays have been processed, then proceed to step S16.

[0078] S16: Telescopic cylinder 355 resets, push mechanism 4 works, the medicine tray is pushed to the upper end of lifting mechanism 8 and then push mechanism 4 resets, execute step S17;

[0079] S17: The lifting mechanism 8 descends to the bottom elevation, and the pushing mechanism 7 pushes the loading tray to the upper end of the conveyor belt 12 and then the pushing mechanism 7 resets, and step S18 is executed;

[0080] S18: After the positioning mechanism 5 is reset to the bottom elevation and the lifting mechanism 8 is reset to the high elevation, proceed to step S19.

[0081] S19: Repeat steps S1-S18 until all the drug columns on the drug loading trays have been processed.

Claims

1. A propellant delivery and transfer system, characterized in that: The system includes a conveying mechanism (1) for conveying a loading tray containing propellant grains, a robotic arm (6) for transferring the propellant grains to a target location, and a machine tool processing mechanism (3) for processing the propellant grains. The conveying mechanism (1) includes a first conveyor belt (11) and a second conveyor belt (12). The first conveyor belt (11) is located above the second conveyor belt (12). The robotic arm (6) is located on the side of the first conveyor belt (11) near the discharge port. A positioning mechanism (5) and a lifting mechanism (8) are sequentially provided between the first conveyor belt (11) and the robotic arm (6). The machine tool processing mechanism (3) is located on the side of the first conveyor belt (11) near the robotic arm (6). The positioning mechanism (5) has two sets of vertical elevations. The bottom elevation of the positioning mechanism (5) is the same as the elevation of the first conveyor belt (11). The high elevation of the mechanism (5) is close to the side of the first conveyor belt (11) and is provided with a pushing mechanism (4) for pushing the material to the upper end of the lifting mechanism (8). The lifting mechanism (8) has two sets of vertical elevations. The high elevation of the lifting mechanism (8) is the same as the high elevation of the positioning mechanism (5). The bottom elevation of the lifting mechanism (8) is located close to the feed inlet of the second conveyor belt (12). The bottom elevation of the lifting mechanism (8) is far away from the second conveyor belt (12) and is provided with a pushing mechanism (7) for pushing the material to the upper end of the second conveyor belt (12). The mechanical arm (6) is far away from the machine tool processing mechanism (3) and is provided with a reversing mechanism (9) for rotating the propellant column to a preset angle. The transfer range of the mechanical arm (6) covers the machine tool processing mechanism (3), the positioning mechanism (5) and the reversing mechanism (9).

2. The propellant delivery and transfer system according to claim 1, characterized in that: The positioning mechanism (5) is located at a low elevation and is provided with a positioning stop bar (51) on the side near the lifting mechanism (8) to block the movement of the loading tray. The positioning mechanism (5) includes a conveying roller (52). The lower end of the conveying roller (52) is provided with a telescopic cylinder two (53) for controlling the lifting of the conveying roller (52). The conveying roller (52) is provided with a positioning clamp (57) on the side along the material conveying direction to guide the movement of the loading tray. The conveying roller (52) is provided with a displacement clamp (54) on the side away from the positioning clamp (57). The displacement clamp (54) is provided with a telescopic cylinder three (55) on the side away from the positioning clamp (57) to drive the displacement clamp (54) to move and clamp the loading tray.

3. The propellant delivery and transfer system according to claim 1, characterized in that: The lifting mechanism (8) includes a second conveying roller (81). Below the second conveying roller (81) is a fourth telescopic cylinder (83) for controlling the lifting of the second conveying roller (81). The fourth telescopic cylinder (83) is fixed by a second fixing plate (82). The two ends of the second conveying roller (81) away from the positioning mechanism (5) are provided with positioning blocks (84) for blocking the movement of the medicine loading tray.

4. The propellant delivery and transfer system according to claim 1, characterized in that: A centering mechanism (2) is provided at the upper end of the discharge port near the first conveyor belt (11). The centering mechanism (2) includes two sets of centering rods (21) and two sets of guide rods (23). The two sets of centering rods (21) and the two sets of guide rods (23) are fixed to both sides of the frame of the first conveyor belt (11) by rod body fixing parts (22). The two sets of centering rods (21) form a centering channel, and the two sets of guide rods (23) form a guide channel. The inlet width of the centering channel is greater than or equal to the width of the first conveyor belt (11). The outlet of the centering channel is connected to the inlet of the guide channel and the width is equal. The width of the guide channel is adapted to the width of the loading tray.

5. The propellant delivery and transfer system according to claim 1, characterized in that: The first pushing mechanism (4) includes a push plate (43), which is located on the side above the second conveyor belt (12) near the positioning mechanism (5). The side of the push plate (43) away from the positioning mechanism (5) is provided with a telescopic cylinder (41) for driving the displacement of the push plate (43). The fixed end of the telescopic cylinder (41) is connected to the frame of the first conveyor belt (11) through a fixing plate (42).

6. The propellant delivery and transfer system according to claim 1, characterized in that: The reversing mechanism (9) includes a second gripper (91), a second gripper mounting base (94), and a third gripper (96). The second gripper (91) and the third gripper (96) are both located on the side close to the robotic arm (6) and are staggered. The side of the second gripper (91) and the third gripper (96) away from the robotic arm (6) are respectively connected to the second gripper mounting base (94) via a gripper cylinder (92). A rotary cylinder (93) is installed on the side of the second gripper mounting base (94) away from the gripper cylinder (92). The rotary cylinder (93) is connected to the frame of the robotic arm (6) via a mounting rod (95).

7. The propellant delivery and transfer system according to claim 1, characterized in that: The free end of the robotic arm (6) is provided with four sets of grippers (61). All four sets of grippers (61) are connected to the free end of the robotic arm (6) through gripper mounting base (62). The four sets of grippers (61) are arranged along a square and are located at the vertices of the square. The square formed by the four sets of grippers (61) is compatible with the square formed by the four adjacent loading cavities of the loading tray.

8. The propellant delivery and transfer system according to claim 1, characterized in that: The positioning mechanism (5) is provided with a sensor 2 (56) for detecting materials on the side near the lifting mechanism (8), a sensor 1 (24) for detecting materials on the side near the discharge port of the first conveyor belt (11), and a sensor 3 (121) for detecting materials on the side near the discharge port of the second conveyor belt (12).

9. A propellant delivery and transfer system according to claim 1, characterized in that: The machine tool processing mechanism (3) is a dual-station propellant column processing machine tool.

10. A method for operating a propellant delivery and transfer system, characterized in that: The method comprising the propellant delivery and transport system according to any one of claims 1-9 includes the following steps: S1: Conveyor belt one (11) and conveyor belt two (12) are working. Determine whether sensor two (56) has detected the medicine loading tray. If so, proceed to step S2. S2: The telescopic cylinder three (55) extends to the preset stroke, the displacement clamp (54) clamps and positions the medicine tray, and determines whether the sensor one (24) continuously detects the medicine tray within the preset time. If so, proceed to step S3. S3: Conveyor belt one (11) stops working, telescopic cylinder two (53) extends to the preset stroke, positioning mechanism (5) moves to the high elevation, and execute step S4; S4: The robotic arm (6) grabs four sets of drug columns to be processed and moves them to the designated position of the machine tool processing mechanism (3). The drug columns are fixed at the dual workstation of the machine tool processing mechanism (3). The robotic arm (6) moves to the preset position and executes step S5. S5: The machine tool processing mechanism (3) starts working until the working time reaches the preset time, and then stops working after completing the processing of one end of the medicine column. Then, step S6 is executed. S6: The robotic arm (6) moves to the preset position, takes out the two pills that have been processed at one end, and places the two sets of pills to be processed at the double station of the machine tool processing mechanism (3) to fix the pills. The robotic arm (6) moves to the preset position and executes step S7. S7: The machine tool processing mechanism (3) starts working and the robotic arm (6) places the two pills that have been processed at one end into the two jaws of the reversing mechanism (9) and fixes them until the preset time is reached. After the pills in the machine tool processing mechanism (3) are processed, the machine tool processing mechanism (3) stops working. The pills fixed in the two jaws of the reversing mechanism (9) complete a 180° rotation and step S8 is executed. S8: The robotic arm (6) grabs the completed rotating pill and replaces the completed rotating pill in the machine tool processing mechanism (3), and executes step S9; S9: Repeat steps S7-S8. The two sets of pills gripped by the robotic arm (6) are pills with both ends processed. The pills in the machine tool processing mechanism (3) are pills with one end processed and the other end to be processed. Execute S10. S10: The machine tool processing mechanism (3) starts working, and at the same time the robotic arm (6) places the drug column with both ends processed into a preset position on the upper drug loading tray of the positioning mechanism (5) and clamps the two sets of unprocessed drug columns in the preset position in the drug loading tray until the preset time is reached. Then the machine tool processing mechanism (3) stops working and executes step S11. S11: The robotic arm (6) replaces the original drug column in the machine tool processing mechanism (3) with the original drug column in the robotic arm (6). The machine tool processing mechanism (3) starts working. At the same time, the robotic arm (6) places the drug column with both ends processed at the preset position of the upper drug loading tray of the positioning mechanism (5) and clamps the two sets of unprocessed drug columns in the preset position of the drug loading tray until the preset time is reached. Then the machine tool processing mechanism (3) stops working and executes step S12. S12: The robotic arm (6) replaces the two sets of pills it carries with the pills in the machine tool processing mechanism (3). The machine tool processing mechanism (3) starts working. At the same time, the robotic arm (6) places the pills it carries at this time into the reversing mechanism (9). After the preset time is reached, the pills in the machine tool processing mechanism (3) finish processing and stop working. The pills in the reversing mechanism (9) complete a 180° reversal. Step S13 is executed. S13: The robotic arm (6) replaces the drug column in the reversing mechanism (9) with the drug column in the machine tool processing mechanism (3), and places the replaced drug column in the reversing mechanism (9) until the preset time is reached. Then the drug column in the machine tool processing mechanism (3) completes processing and stops working, and the drug column in the reversing mechanism (9) completes 180° reversal. Step S14 is executed. S14: The robotic arm (6) replaces the drug column in the reversing mechanism (9) with the drug column in the machine tool processing mechanism (3), places the replaced drug column at the preset position of the upper drug loading tray of the positioning mechanism (5), and clamps the two sets of unprocessed drug columns at the preset position in the drug loading tray until the preset time is reached. Then the drug column in the machine tool processing mechanism (3) is processed and stops working, and step S15 is executed. S15: Repeat steps S11-S14 until all the drug columns in the drug loading trays have been processed, then proceed to step S16. S16: The telescopic cylinder three (55) is reset, the push mechanism one (4) works, the medicine tray is pushed to the upper end of the lifting mechanism (8) and then the push mechanism one (4) is reset, and step S17 is executed; S17: The lifting mechanism (8) descends to the bottom elevation, and the pushing mechanism (7) pushes the loading tray to the upper end of the conveyor belt (12) and then the pushing mechanism (7) resets, and the step S18 is executed; S18: After the positioning mechanism (5) is reset to the bottom elevation and the lifting mechanism (8) is reset to the high elevation, step S19 is executed. S19: Repeat steps S1-S18 until all the drug columns on the drug loading trays have been processed.

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