Automatic filling and sealing equipment for special-shaped charging box

Abstract

The invention discloses automatic filling and sealing equipment for special-shaped charging boxes. The automatic filling and sealing equipment comprises an automatic special-shaped charging box feeding module, an automatic material feeding module, an automatic weighing module, an automatic filling module, an automatic gluing module, an automatic curing module, an automatic sewing module, an automatic detection module and a conveying line module, aiming at irregular shapes of special-shaped material boxes and particularity of small-opening charging boxes, the charging boxes are orderly loaded by using the special-shaped matching tool through automatic design, the problem of orderly loading requirements in the automatic production process of the special-shaped material boxes is solved, the charging boxes in different shapes can be compatible by quickly replacing the tool, and the production efficiency is improved. The utilization efficiency is improved.

Description

Technical Field

[0001] This invention belongs to the field of automated filling process methods for energetic materials, and particularly relates to an automated filling and sealing device for irregularly shaped filling boxes. Background Technology

[0002] In the fields of pharmaceutical packaging and explosives production, the filling and sealing of irregularly shaped containers (such as containers with multi-curved structures, irregular openings, or asymmetrical geometric shapes) has long relied on manual operation, which is labor-intensive, has poor controllability in the filling and sealing process, low efficiency, and high labor costs.

[0003] The traditional process mainly involves: manually handling irregularly shaped boxes, manually orienting and arranging the boxes, manually weighing the filling materials, manually filling, manually applying glue to the opening, clamping and sealing, and manually sewing. A more detailed process is as follows: First, the material container holding the filling box is manually moved to the loading station. Then, the box is removed and manually adjusted before being placed into the fixture. The fixture with the box is then transferred to the filling station via the conveyor line. The filling process involves manually inserting a filling funnel into the filling opening of the box. During filling, the box needs to be shaken to allow the filling material to enter. The amount of filling material varies for different products or batches. For larger batches, the box is filled more fully, and the filling material height is close to the neck of the filling opening. Therefore, when the filling is almost finished, the funnel needs to be slowly pulled out while vibrating to allow the filling material to descend slowly; otherwise, the filling material will spill out. The gluing and clamping process involves manually applying a ring of glue to the filling opening with a brush, pinching the opening closed, clamping it, and placing it on the box holder for curing. The sewing process involves manually operating a sewing machine to sew the filling opening shut.

[0004] For filling irregularly shaped material containers, existing technologies mostly employ methods such as large-opening filling followed by extrusion plastic shrinkage and sealing, or pneumatic conveying tube filling. These technologies suffer from drawbacks such as extruding the filling material, the filling material being heated, large errors in filling weight, and low yield of finished products. In special industries, the filling of energetic materials is particularly dangerous.

[0005] To address the issues of manual operation throughout the entire process and the limitations of existing technologies, an automated filling and sealing method for irregularly shaped boxes with minimal human intervention is proposed. Summary of the Invention

[0006] The purpose of this invention is to provide an automated filling and sealing device for irregularly shaped boxes. By decoupling the current manual production process and applying the design concept of automation, a device suitable for automated filling and sealing of irregularly shaped boxes is developed and a new process flow method is formed, thereby reducing the intensity of manual labor, labor costs, and improving production efficiency.

[0007] The technical solution to achieve the purpose of this invention is: an automated filling and sealing device for irregularly shaped material boxes, including an automatic feeding module for irregularly shaped material boxes, used to transfer the irregularly shaped material boxes between the vibrating discharge port and the feeding module;

[0008] An automatic material feeding module is used to lift and dump materials;

[0009] The automatic weighing module is located below the automatic material feeding module and is used to weigh materials; one small hopper corresponds to two sets of conveyor channels and vibration exciter, thereby improving weighing efficiency.

[0010] The automatic filling module, located at the end of the automatic weighing module, is used to remove the irregularly shaped material box from the conveyor module, fill it with material, and then send the irregularly shaped material box back to the conveyor module.

[0011] The automatic gluing module, located at the end of the automatic filling module, applies glue to the filling opening of the irregularly shaped material box to prevent energetic materials from leaking out of the material box when it is turned over during subsequent sewing.

[0012] The automatic curing module, located at the end of the automatic glue application module, is used to cure the irregularly shaped filling box after glue application.

[0013] The automatic stitching module, located at the end of the automatic curing module, is used to stitch the filling opening of the irregularly shaped material box;

[0014] The automatic detection module, located at the end of the automatic sewing module, is used to detect the qualification of the irregularly shaped material box after sewing.

[0015] The conveyor module (09) runs through the entire shaped filling and sealing equipment for the shaped filling box, and is used for the shaped filling box to move between stations such as automatic feeding, automatic filling and automatic gluing.

[0016] The significant advantages of this invention compared to existing technologies are:

[0017] (1) In view of the irregular shape of the irregular material box and the special characteristics of the small opening of the material box, the material box is fed in an orderly manner by using the irregular fitting tooling through automated design, which solves the problem of orderly feeding in the automated production process of irregular material boxes. In addition, by quickly changing the tooling, it can be compatible with material boxes of different shapes, and improve the utilization efficiency.

[0018] (2) To address the problems of material leakage and alignment difficulties during rapid filling of small-opening material boxes, an automated design is adopted, using a vision camera for positioning, a servo module for alignment, and a support mechanism to fix the opening, thereby improving the efficiency and accuracy of filling.

[0019] (3) In view of the problem of dense personnel and high risk in the special industry of filling energetic materials, the technical solution of the present invention adopts a design with fewer personnel in the operation process. By using conveyor belts, servo modules and other transfer methods, the number of operators in the production process is reduced by more than 80%, which greatly improves the safety of personnel in the production process. Attached Figure Description

[0020] Figure 1 A schematic diagram of the manual filling process for irregularly shaped material boxes;

[0021] Figure 2 Schematic diagram of automated production equipment for irregularly shaped material boxes;

[0022] Figure 3 An automated filling and sealing method for irregularly shaped filling boxes;

[0023] Figure 4 An automated feeding module for irregularly shaped boxes;

[0024] Figure 5 Vibration sorting guide structure for irregularly shaped material boxes;

[0025] Figure 6 For automated material feeding module;

[0026] Figure 7 For automatic weighing modules;

[0027] Figure 8 For automated loading module;

[0028] Figure 9 For automatic glue application module;

[0029] Figure 10 It is an automatic curing module;

[0030] Figure 11 For automatic stitching module;

[0031] Figure 12 It is an automated online detection module;

[0032] Figure 13 Layout diagram of automatic curing module 06, automatic stitching module 07, and automatic detection module 08 Detailed Implementation

[0033] The terminology used in this invention is for illustrative purposes only and is not intended to limit the invention. The following description, in conjunction with the appendix, further clarifies this concept. Figure 1-11 The following is a detailed description of some embodiments of the present invention.

[0034] A special-shaped loading box automatic loading and sealing device, including a special-shaped material box automatic feeding module 01, a material automatic feeding module 02, an automatic weighing module 03, an automatic loading module 04, an automatic glue coating module 05, an automatic curing module 06, an automatic sewing module 07, an automatic detection module 08, a conveyor line module 09 and a special-shaped loading box 10.

[0035] The special-shaped material box automatic feeding module 01 includes two vibrating discs 101, two buffer hoppers 102, a rotary elevator 103, a special-shaped material box barrel 104, a flipping clamping jaw 105, a linear vibrator 106, a feeding servo module 107, a suction cup assembly 108, a frame 109, and a vibration sorting and guiding mechanism 110.

[0036] The vibrating discs 101 and the buffer hoppers 102 are fixedly installed on the frame 109 by screws. The buffer hoppers 102 and the vibrating discs 101 are installed parallel to the side of the frame 109. The elevator 103 is placed on the side of the buffer hopper 102. The special-shaped material box barrel 104 is clamped and fixed on the elevator 103 by the flipping clamping jaw 105. The linear vibrator 106 is installed at the discharge port of the vibrating disc 101. The feeding servo module 107 is arranged at the discharge port of the linear vibrator 106. The suction cup assembly 108 is installed on the feeding servo module 107. The vibration sorting and guiding mechanism 110 is installed at the outlet position of the vibrating disc 101.

[0037] The vibrating disc 101 consists of a vibrator, a hopper, and a chassis. The medicine boxes are rotated and vibrated out one by one through vibration, and the medicine boxes vibrated out are gradually sorted under the guiding mechanism 110.

[0038] The flipping clamping jaw 105 consists of a clamping cylinder, a claw hand, etc., and is mainly used for fixing during the lifting and flipping process of the special-shaped material box barrel.

[0039] The suction cup assembly 108 consists of vacuum suction cups and a suction cup holder. The suction cups are arranged in a "product" shape and are used to adsorb and transfer the special-shaped material box onto or off the conveyor line.

[0040] The rotary elevator 103 is mainly used to lift the barrel to a certain height and rotate it to the directly above the buffer hopper 102.

[0041] The feeding servo module 107 consists of an X, Y, and Z axis module and is used to transfer the special-shaped material box between the vibrating discharge port and the conveyor line module 09.

[0042] The special-shaped empty material box in this embodiment is a flat special-shaped material box. The special-shaped empty material box is in the special-shaped material box loading tooling 405, keeping its loading port facing directly upward, and the loaded material is an energetic material;

[0043] Its workflow is as follows: the rotary elevator 103 lifts the irregularly shaped material box 104, the flipping clamping claw 105 tilts the irregularly shaped material box 104 into the buffer hopper 102, the vibrating plate 101 vibrates the irregularly shaped empty material boxes out in an orderly manner, the straight vibrator 106 discharges the irregularly shaped material boxes in a directional manner, and the suction cup assembly 108, driven by the feeding servo module 107, accurately adsorbs the material boxes and places them on the conveyor line module 09.

[0044] The automatic material feeding module 02 includes a material hopper 201, a support frame 202, a rotating clamping claw 203, a material bucket 204, a cover assembly 205, and a material rotating elevator 206.

[0045] The support frame 202 is installed on the material rotary elevator 206 and moves up and down and rotates under the drive of the material rotary elevator 206; the rotary clamping claw 203 is installed on the material rotary elevator 206, and the material bucket 204 is clamped by the rotary clamping claw 203 and installed on the support frame 202; the cylinder in the cover assembly 205 is installed on the support frame 202 and is located directly above the opening of the material bucket 204; the cover in the cover assembly 205 is installed on the push rod of the cylinder and is used to move up and down under the action of the cylinder, thereby realizing the opening and closing of the material bucket opening; the material hopper 201 is arranged on the side of the material rotary elevator 206.

[0046] The workflow is as follows: the operator places the material bucket 204 containing the material on the support frame 202, the rotating clamping claw 203 clamps the material bucket 204, the cover 205 seals the opening of the material bucket under the action of the cylinder, the material rotating elevator 206 lifts the material, and when it reaches a certain height, the material bucket is flipped over and the material is poured into the material hopper 201.

[0047] The automatic weighing module 03 includes a clamp valve 301, a conveyor 302, a vibration exciter 303, a small hopper 304, a filling pot 305, a weighing system 306, a servo motor 307, and a support platform 308.

[0048] The clamp valve 301 is fixedly mounted on the support platform 308, and is installed directly below the material hopper 201 via a flange. The conveyor 302 is located between the clamp valve 301 and the vibration exciter 303. The vibration exciter 303 is fixedly mounted on the support platform 308 with screws. The small hopper 304 is installed below one end of the outlet of the conveyor 302, and the filling pot 305 is installed below the small hopper 304. The weighing system 306 is located below the filling pot 305 and is fixedly mounted on the support platform 308 with screws. The servo motor 307 is fixedly mounted on the support platform 308 with screws, and the motor output shaft is connected to the clamp valve 301 to control the opening and closing of the clamp valve.

[0049] For weighing energetic materials requiring high precision and fast cycle time, this invention employs a conveying and weighing method that switches between coarse and fine vibration. Specifically, a conveyor 302 and a vibration exciter 303 form a vibrating feeding unit, with two vibrating feeding units corresponding to a small hopper 304. When the required material weight is X, to improve weighing efficiency, one vibrating unit can rapidly feed 95% of the required weight with a larger amplitude and frequency. The remaining 5% is then fed slowly by the other vibrating feeding unit with a smaller amplitude and frequency, meeting the requirements for high-precision weighing. This design of switching between vibrating units significantly improves weighing efficiency and meets the demands of fast-paced automated production.

[0050] The pinch valve 301 addresses the risk of explosion posed by energetic materials under pressure, shearing, or friction. To mitigate this risk, the present invention employs a normally closed pneumatic stepless speed-regulating pinch valve. By utilizing the characteristic that the metal structure does not directly contact the energetic material during the opening and closing process of the pinch valve, the safety of the production process is improved.

[0051] In this invention, a vibration exciter 303 is designed to be combined with a conveyor 302 for conveying. The vibration exciter 303 is pneumatically driven to generate a certain amplitude and frequency. Through vibration, the material is conveyed, thereby reducing the risk of material being squeezed by the equipment during the conveying process.

[0052] The weighing system 306 includes a torsion ring explosion-proof load cell, a support module, and a signal processing module. It is used to weigh energetic materials that fall into the filling pot 305 via the vibrating feeding unit. When the weight of the material in the filling pot 305 is close to the required weight, a stop signal is sent and the vibration exciter 303 stops conveying.

[0053] Its working process is as follows: the servo motor 307 is controlled to rotate, opening the clamp valve 301 to control the amount of material flowing out. The material in the material hopper 201 flows out through the clamp valve 301 and falls onto the conveyor 302. The material on the conveyor 302 is conveyed to the small hopper 304 and falls into the filling pot 305 under the vibration of the vibrating exciter 303. The filling pot 305 is placed on the weighing system 306. When the material weight meets the requirements, the clamp valve 301 and the vibrator 303 stop sequentially, completing the weighing.

[0054] The automatic filling module 04 includes a clamping cylinder 401, a tilting cylinder 402, a filling funnel 403, a voice coil motor 404, a shaped material box filling fixture 405, a clamping module 406, a transfer module 407, a platform support 408, and a transfer module 409.

[0055] Clamping cylinder 401 clamps the outer periphery of filling container 305. Clamping cylinder 401 is mounted on top of tilting cylinder 402, which is fixedly mounted on transfer module 409. Filling funnel 403 is fixedly mounted on voice coil motor 404 with screws. Irregularly shaped material box filling fixture 405 is placed on platform support 408 but not fixedly connected. Clamping module 406 is fixedly mounted on transfer module 407 with screws.

[0056] The voice coil motor 404 is a special type of electromagnetically driven linear motor. Its function is to increase the material flow speed through small-displacement reciprocating linear motion.

[0057] The transfer module 407 is a pneumatic single-axis linear servo module, which is used to drive the clamping module 406 to transfer between the conveyor line 09 and the platform support 408.

[0058] The clamping module 406 consists of a telescopic cylinder, a clamping cylinder, etc. Its function is to clamp the filling fixture 405 containing the irregular material box 10 from the conveyor line 09 and place it on the platform support 408 under the drive of the transfer module 407, in preparation for filling energetic materials.

[0059] The automated process is as follows: Transfer module 407 clamps the irregularly shaped material box filling fixture 405 on conveyor module 09 offline via clamping module 406 and places it at the filling station. The outlet of filling funnel 403 is inserted into the filling port of irregularly shaped material box 10 under the action of telescopic cylinder. Clamping cylinder 401 clamps the weighed filling pot 305, and flipping cylinder 402 pours the material in the filling pot into filling funnel 403. The control program turns on voice coil motor 404, which is used to vibrate and accelerate the filling speed of filling funnel 403 and prevent material bridging (i.e., prevent material from being squeezed, agglomerated, and blocked in filling funnel) until filling is completed. Then the voice coil motor stops vibrating, and transfer module 407 sends the filled irregularly shaped material box 10 together with irregularly shaped material box filling fixture 405 back to conveyor module 09 via clamping module 406.

[0060] The automatic glue application module 05 includes a glue bucket 501, a brush 502, a three-axis servo module 503, a vision positioning camera 504, a glue bucket bracket 505, a module bracket 506, a brush bracket 507, a camera bracket 508, and a non-standard material box filling fixture 405.

[0061] The module bracket 506 is located on the side of the conveyor module 09. The three-axis servo module 503 is mounted on the module bracket 506 for implementation. The camera bracket 508 and the brush bracket 507 are fixed on the three-axis servo module 503. The glue bucket bracket 505 is fixed on the side of the conveyor module 09, and the glue bucket 501 is placed on the glue bucket bracket 505. The brush 502 is fixedly mounted on the brush bracket 507 by bolts. The vision positioning camera 504 is mounted and fixed on the three-axis servo module 503 by the camera bracket 508. The three-axis servo module is fixedly mounted on the module bracket 506.

[0062] The three-axis servo module 503 consists of X, Y, and Z axis linear servo modules, used to drive the brush to complete the glue application process.

[0063] The visual positioning camera 504 consists of a camera and a light source. It is used to identify the position of the filling port of the irregularly shaped material box 10, form position coordinates, and guide the three-axis servo module 503 to drive the brush 502 to apply glue.

[0064] The workflow is as follows: Conveyor line 09 transports the filled irregularly shaped material boxes to the gluing station. Vision positioning camera 504 detects the position of the filling opening of the filled material box and generates position coordinates. Based on these coordinates, the three-axis servo module 503 first drives brush 502 to apply glue to the glue tank 501. The glued brush, under program control, then applies glue to the filling opening of the irregularly shaped material box, completing the gluing process. This ensures that the material box is flipped during subsequent sewing, preventing energetic materials from leaking out.

[0065] The automatic curing module 06 includes a temperature sensor 601, a telescopic cylinder 602, a mold temperature controller 603, a curing module 604, a shaped material box after gluing 605, a temperature sensor bracket 606, a curing module bracket 607, a feeding servo module 107, and a suction cup assembly 108.

[0066] A set of feeding servo modules 107 is slidably mounted on the curing module 604. The suction cup assembly 108 is mounted below the feeding servo module 107. The curing module 604 and the curing module bracket 607 are fixed relative to each other. The temperature sensor 601 is fixedly mounted on the temperature sensor bracket 606 by screws. The temperature sensor bracket 606 and the mold temperature controller 603 are both fixedly mounted on the curing module bracket 607. The curing module 604 is arranged and mounted above the mold temperature controller 603.

[0067] Temperature sensor 601 is a non-contact temperature sensor used to measure the curing temperature in real time, preventing uncertain temperature parameters from affecting the curing quality.

[0068] The 603 mold temperature controller is an oil-based mold temperature controller used to provide a certain curing temperature for irregularly shaped molded boxes after gluing, thereby improving curing efficiency.

[0069] Its workflow is as follows: the feeding servo module 107 drives the suction cup assembly 108 to adsorb and transfer the glued irregular-shaped material box 605 to the mold temperature controller 603 and fix the position of the glued irregular-shaped material box 605. The telescopic cylinder 602 squeezes the opening of the material box. The mold temperature controller 603 heats the curing fixture to a certain temperature. The temperature sensor 601 detects the curing temperature in real time to achieve the best curing efficiency.

[0070] The automatic sewing module 07 includes a docking module 701, a sewing and feeding module 702, a special sewing machine 703, a support platform 704, a material collection box 705, and a high-speed conveyor chain 706.

[0071] The docking module 701 is arranged on one side of the special sewing machine 703, the sewing feeding module 702 is arranged and installed on the docking module 701, the special sewing machine 703 is fixedly installed on the support platform 704, the double speed conveyor chain 706 is arranged and installed on one side of the special sewing machine, and the collection box 705 is recycled on it.

[0072] The docking module 701 includes a pneumatic linear servo module, a telescopic cylinder, a horizontal rotary cylinder, and a suction cup assembly, used to remove the irregularly shaped material box 10 from the mold temperature controller.

[0073] The sewing and feeding module 702 includes a pneumatic linear servo module, a telescopic cylinder, a vertical rotation cylinder, and a suction cup assembly, which are used to connect the irregular material box 10 from the docking module 701 and rotate it vertically by 90°, and place it at the sewing position of the special sewing machine 703.

[0074] Specialized sewing machines are automated sewing equipment specifically designed for custom-made, irregularly shaped filling boxes.

[0075] The automated process is as follows: the pneumatic linear servo module in docking module 701 moves the suction cup assembly to align with the irregularly shaped material box 10, the telescopic cylinder extends, and the suction cup assembly installed on the telescopic cylinder push rod removes the irregularly shaped material box 10 from the mold temperature controller 603. The horizontal rotary cylinder in docking module 701 rotates 90° to transfer the irregularly shaped material box to the sewing loading module 702. The telescopic cylinder in sewing loading module 702 extends, and the suction cup assembly installed on the telescopic cylinder push rod removes the irregularly shaped material box 10 from docking module 701. The vertical rotary cylinder in sewing loading module 702 rotates 90° to transfer the irregularly shaped material box to the sewing location, completing the automated sewing.

[0076] The automated online detection module 08 includes a 3D detection camera 801, a detection servo module 802, and a detection suction cup assembly 803.

[0077] The detection suction cup assembly 803 is mounted on the detection servo module 802, and three three-dimensional detection cameras 801 are set above, below and to the side of the detection suction cup assembly 803.

[0078] The 3D inspection camera 801 mainly consists of three inspection cameras, a light source, and a mounting bracket. It is primarily used to inspect the pass rate of material boxes.

[0079] The detection servo module 802 consists of X, Y, and Z three-axis pneumatic servo modules, telescopic cylinders, etc., and is mainly used to drive the detection suction cup assembly 803 to achieve spatial position movement.

[0080] The automated process is as follows: the detection suction cup assembly 803, driven by the detection servo module 802, moves the sewn irregular-shaped material box 10 to the position of the three-dimensional detection camera 801. The three-dimensional detection camera automatically detects the defects of the material box. The qualified material box continues to flow with the conveyor line, while the unqualified material box is placed in the collection box 705 and transferred off the line with the double-speed conveyor chain 706.

[0081] Conveyor module 09 is a double-layer multiple chain conveyor line used for the transfer of irregularly shaped material boxes between stations such as automatic feeding, automatic filling, and automatic gluing.

[0082] The present invention discloses a process method for filling and sealing irregularly shaped filling boxes using automated filling and sealing equipment:

[0083] S1: Manually place the empty material box 104 and the material bucket 204 on the rotary elevator 103 and 206, then leave and remotely start the equipment.

[0084] S2: The rotary elevator 103 pours the irregularly shaped empty boxes into the buffer hopper 102, the vibrating plate 101 vibrates the irregularly shaped empty boxes out in an orderly manner, the straight vibrator 106 directionally discharges the irregularly shaped boxes, and the suction cup 108 accurately picks up the boxes under the drive of the feeding servo module 107 and places them on the conveyor module 09.

[0085] S3: The servo motor 307 rotates, opening the clamp valve 301 to control the amount of material flowing out. The material in the material hopper 201 flows out through the clamp valve 301 and falls onto the conveyor 302. The material on the conveyor 302 is conveyed to the small hopper 304 and falls into the filling pot 305 under the vibration of the vibrating exciter 303. The filling pot 305 is placed on the weighing system 306. When the material weight meets the requirements, the clamp valve 301 and the vibrator 303 stop in sequence to complete the weighing. The entire weighing module is placed on the support platform 308.

[0086] S4: Transfer module 407 uses clamping module 406 to clamp the irregularly shaped material box filling fixture on conveyor module 09 offline and place it at the filling station. Clamping cylinder 401 clamps the weighed filling container 305, and tilting cylinder 402 pours the material in the filling container into filling funnel 403. The control program activates voice coil motor 404, which vibrates to accelerate the filling speed and prevent material bridging until filling is complete, at which point the voice coil motor stops vibrating.

[0087] S5: When the vision camera 504 detects the opening position of the non-standard material box filling tool 405, the servo module 503 drives the brush 502 to apply glue in the glue bucket 501. After applying glue, the brush completes the glue application action under the program control.

[0088] S6: The feeding servo module 107 drives the suction cup assembly 108 to adsorb and transfer the glued irregularly shaped material box 605 to the curing fixture. The telescopic cylinder squeezes the opening of the material box 602. The mold temperature controller 603 heats the curing fixture to a certain temperature. The temperature sensor 601 detects the curing temperature in real time.

[0089] S7: The docking module 701 removes the cured material box from the curing fixture, and the sewing and feeding module 702 transfers the irregularly shaped material box 10 removed by the docking module to the special sewing machine 703, and completes the automated sewing with the sewing fixture.

[0090] S8: The detection suction cup assembly 803, driven by the detection servo module 802, moves the sewn irregular-shaped material box 10 to the position of the three-dimensional detection camera 801. The three-dimensional detection camera automatically detects the defects of the material box. Qualified material boxes continue to flow with the conveyor line, while unqualified material boxes are rejected.

[0091] S9: Loading complete, equipment shut down.

[0092] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention without departing from the principles and spirit of the present invention.

Claims

1. An apparatus for the automated filling and sealing of profiled charge boxes, characterized in that, The automatic loading module (01) is used to transfer the special-shaped material box between the vibrating discharge port and the conveying line module (09). The automatic material loading module (02) is used to lift and pour the material. The automatic weighing module (03) is located below the automatic material loading module (02) and is used to weigh the material. The automatic filling module (04) is located at the end of the automatic weighing module (03) and is used to take out the special-shaped material box (10) from the conveying line module (09) and fill the material, and then send the special-shaped material box (10) back to the conveying line module (09). The automatic gluing module (05) is located at the end of the automatic filling module (04) and is used to glue the filling port of the special-shaped material box (10) to prevent the energetic material from leaking out of the box during subsequent sewing. The automatic curing module (06) is located at the end of the automatic gluing module (05) and is used to cure the special-shaped material box (605) after gluing. The automatic sewing module (07) is located at the end of the automatic curing module (06) and is used to sew the filling port of the special-shaped material box. The automatic detection module (08) is located at the end of the automatic sewing module (07) and is used to detect the qualification of the special-shaped material box after sewing. The conveying line module (09) runs through the entire automatic filling and sealing device of the special-shaped material box and is used for the flow of the special-shaped material box between the automatic loading, automatic filling, and automatic gluing stations.

2. The automatic filling and sealing apparatus of the profiled charge box according to claim 1, characterized in that, The automatic loading module (01) includes a vibrating disc (101), a buffer hopper (102), a rotary elevator (103), a special-shaped material box barrel (104), a turnover clamping jaw (105), a straight vibrator (106), a loading servo module (107), a suction cup assembly (108), a rack (109), and a vibrating sorting guide mechanism (110). The vibrating disc (101) and the buffer hopper (102) are fixedly installed on the rack (109), and the buffer hopper (102) is installed parallel to the side of the rack (109). The elevator (103) is placed beside the buffer hopper (102), the special-shaped material box barrel (104) is clamped and fixedly installed on the elevator (103) by the turnover clamping jaw (105), the straight vibrator (106) is installed at the discharge port of the vibrating disc (101), the loading servo module (107) is arranged at the discharge port of the straight vibrator (106) and is used to transfer the special-shaped material box between the vibrating discharge port and the conveying line, the suction cup assembly (108) is installed on the loading servo module (107), and the vibrating sorting guide mechanism (110) is installed at the outlet position of the vibrating disc (101).

3. The automated filling and sealing apparatus of the profiled charge box according to claim 1, characterized in that, The automatic material feeding module (02) comprises a material hopper (201), a support frame (202), a rotating clamping claw (203), a material barrel (204), a cover assembly (205), and a material rotary elevator (206). The support frame (202) is installed on the material rotary elevator (206) and moves up and down and rotates under the driving of the material rotary elevator (206). The rotating clamping claw (203) is installed on the material rotary elevator (206), the material barrel (204) is clamped by the rotating clamping claw (203) and installed on the support frame (202), the cylinder in the cover assembly (205) is installed on the support frame (202) and located directly above the opening of the material barrel (204), the cover in the cover assembly (205) is installed on the push rod of the cylinder and moves up and down under the action of the cylinder, thereby realizing the opening and closing of the opening of the material barrel, and the material hopper (201) is arranged on the side of the material rotary elevator (206).

4. The automated filling and sealing apparatus of the profiled charge box according to claim 1, characterized in that, The automatic weighing module (03) comprises a pipe clamp valve (301), a conveying channel (302), a vibration exciter (303), a small hopper (304), a filling kettle (305), a weighing system (306), a servo motor (307), and a support platform (308). The pipe clamp valve (301) is arranged and installed below the material hopper (201) through a flange, the conveying channel (302) is arranged between the pipe clamp valve (301) and the vibration exciter (303), the vibration exciter (303) is fixedly installed on the support platform (308), the small hopper (304) is installed below the outlet of one end of the conveying channel (302), and the filling kettle (305) is arranged and installed below the small hopper (304). The weighing system (306) is located below the filling kettle (305) and is fixedly installed on the support platform (308). The servo motor (307) is fixedly installed on the support platform (308), the motor output shaft is connected with the pipe clamp valve (301), and the pipe clamp valve is controlled to open and close. One small hopper (304) corresponds to two groups of conveying channels (302) and vibration exciters (303), so as to improve the weighing efficiency. The vibration exciter (303) combines the conveying channel (302) to convey materials through vibration, thereby reducing the risk of material extrusion in the conveying process.

5. The irregular shaped charge can automation filling and sealing apparatus according to claim 1, wherein, The automatic filling module (04) comprises a clamping cylinder (401), a turnover cylinder (402), a filling funnel (403), a voice coil motor (404), a special-shaped material box filling tool (405), a clamping module (406), a transfer module (407), a platform support (408), and a transfer module (409). The clamping cylinder (401) is clamped on the periphery of the filling kettle (305), the clamping cylinder (401) is installed on the upper part of the turnover cylinder (402), the turnover cylinder (402) is fixedly installed on the transfer module (409), the filling funnel (403) is fixedly installed on the voice coil motor (404), the voice coil motor (404) is used for vibrating to accelerate the filling speed of the filling funnel (403) and prevent the material from bridging; The special-shaped material box filling tool (405) is placed on the platform support (408) and is not fixedly connected; The clamping module (406) is fixedly installed on the transfer module (407) through screws.

6. The irregular shaped charge can automation filling and sealing apparatus according to claim 1, wherein, The automatic gluing module (05) comprises a glue barrel (501), a brush (502), a three-axis servo module (503), a visual positioning camera (504), a glue barrel support (505), a module support (506), a brush support (507), a camera support (508), and a special-shaped material box filling tool (405). The module support (506) is arranged on the side of the conveying line module (09), the three-axis servo module (503) is installed on the module support (506), the camera support (508) and the brush support (507) are fixed on the three-axis servo module (503), the glue barrel support (505) is fixed on the side of the conveying line module (09), the glue barrel (501) is placed on the glue barrel support (505), the brush (502) is fixedly installed on the brush support (507) through bolts, the visual positioning camera (504) is fixedly installed on the three-axis servo module (503) through the camera support (508), and the three-axis servo module is fixedly installed on the module support (506).

7. The irregular shaped charge can automation filling and sealing apparatus according to claim 1, wherein, The automatic curing module (06) comprises a temperature sensor (601), a telescopic cylinder (602), a mold temperature machine (603), a curing module (604), a glued special-shaped material box (605), a temperature sensor support (606), a curing module support (607), a feeding servo module (107), and a suction cup assembly (108). A group of feeding servo modules (107) are slidably installed on the curing module (604), the suction cup assembly (108) is installed below the feeding servo module (107), the curing module (604) is relatively fixed between the position of the curing module support (607), the temperature sensor (601) is fixedly installed on the temperature sensor support (606), the temperature sensor support (606) and the mold temperature machine (603) are fixedly installed on the curing module support (607), and the curing module (604) is arranged and installed above the mold temperature machine (603).

8. The irregular shaped charge can automation filling and sealing apparatus according to claim 1, wherein, The automatic sewing module (07) comprises a butt joint module (701), a sewing feeding module (702), a special sewing machine (703), a support platform (704), a collection box (705), and a speed-up conveying chain (706). The docking module (701) is arranged on one side of the special sewing machine (703) and used for taking out the special-shaped material box (10) from the mold temperature machine; the sewing feeding module (702) is arranged and installed on the docking module (701) and used for connecting the special-shaped material box (10) from the docking module (701) and rotating (90)° vertically, and placing the special-shaped material box (10) at the sewing position of the special sewing machine (703); the special sewing machine (703) is fixedly installed on the support platform (704), the multiple-speed conveying chain (706) is arranged and installed on one side of the special sewing machine, the collecting box (705) is installed on the multiple-speed conveying chain (706), and the collecting box (705) is recycled.

9. The irregular shaped charge can automation filling and sealing apparatus according to claim 1, wherein, The automatic online detection module (08) comprises a three-dimensional detection camera (801), a detection servo module (802) and a detection suction cup assembly (803); the detection suction cup assembly (803) is arranged and installed on the detection servo module (802), the three-dimensional detection camera (801) is arranged above, below and on the side of the detection suction cup assembly (803); the three-dimensional detection camera (801) is mainly used for detecting the qualified rate of the material box; and the detection servo module (802) is used for driving the detection suction cup assembly (803) to realize the movement of the spatial position.

10. The automated filling and sealing apparatus of contoured charge cases according to claim 2, wherein, The vibrating disc (101) comprises a vibrator, a hopper and a bottom disc, and the medicine boxes are rotated and vibrated out one by one through vibration, and the medicine boxes are gradually sorted under the guiding mechanism (110).

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