Energetic grain online detection and automatic weight balancing device

Abstract

The invention discloses an energetic grain online detection and automatic weight balancing device which comprises a conveying line assembly used for horizontally and stably conveying an energetic grain; the on-line detection assembly is used for clamping the overturning device to clamp the grain; the unqualified grain collecting assembly is used for guiding and transferring the lifted grains to the conveying belt assembly and stably conveying the grains to a collecting device; the grain transferring assembly is used for transferring the grain to a counterweight and shearing station through the grain adsorbing and clamping assembly and the moving assembly; the on-line weighing counterweight assembly is used for realizing rapid and accurate counterweight of the grain; the grain cut-off assembly is used for cutting off the grain and guaranteeing that the counter weight reaches the standard; and the electrical control base assembly is used for monitoring and controlling the whole on-line detection and automatic counterweight device of the energetic grain in real time. Compared with the prior art, the method has the advantages that damage and flaws of the appearance of the energetic grain can be efficiently and accurately detected, accurate weight balance is achieved, and the packaging quality and the production efficiency of the energetic grain are improved.

Description

Technical Field

[0001] This invention relates to the field of energetic drug column packaging technology, and in particular to an online detection and automatic counterweight device for energetic drug columns. Background Technology

[0002] In the packaging and production of energetic drug cartridges, the stability of cartridge quality is crucial to the performance and safety of subsequent products. Currently, the appearance inspection and weight counterweighting of energetic drug cartridges are mostly carried out manually. Manual inspection is inefficient, prone to omissions, and has limited accuracy, making it difficult to meet the increasingly stringent production quality requirements.

[0003] Some existing automated testing equipment lacks specific design for the detection and balancing of the special shape of energetic drug cartridges, which are long and thin cylindrical. It cannot accurately and efficiently detect damage and defects in the appearance of energetic drug cartridges or accurately balance their weight, thus affecting the overall quality and performance consistency of the energetic drug cartridges after packaging. Summary of the Invention

[0004] The purpose of this invention is to provide an online detection and automatic counterweight device for energetic propellant columns, which automates the appearance inspection and weight counterweight of energetic propellant columns, greatly improves production efficiency, and reduces errors and missed detection risks caused by manual operation.

[0005] The technical solution for achieving the objective of this invention is: an online detection and automatic counterweight device for energetic propellant columns, comprising,

[0006] The conveyor assembly is used to first horizontally and smoothly transport the energetic propellant column, and then the inclined conveyor line transports the propellant column to a specific height and distributes it evenly at a certain distance.

[0007] The online detection component is installed below the inclined conveyor line of the conveyor assembly. It is used to clamp the medicine column with the flipping device and lift it off the conveyor line, thereby detecting the quality of the medicine column.

[0008] The defective drug column collection assembly is installed on both sides of the conveyor line assembly to guide the removed drug columns onto the conveyor belt assembly and smoothly transport them to the collection device.

[0009] The drug column transfer assembly is installed at the end of the online weighing and counterweight assembly. It is used to transfer the drug column to the work station through the drug column adsorption clamping assembly and the moving assembly, and to complete the automatic cutting and automatic counterweighting of the drug column.

[0010] The online weighing and counterweight assembly is installed directly above the electrical control base assembly and at the end of the conveyor assembly. It is used by the weighing sensor to measure the weight of the medicine column in real time and provide feedback. Based on the counterweight target value, the material is cut to achieve rapid and accurate counterweighting of the medicine column.

[0011] The drug cartridge cutting assembly, installed above the electrical control base assembly, is used to cut off the drug cartridge to ensure that the counterweight meets the requirements;

[0012] The electrical control base assembly, installed at the end of the conveyor assembly, is used for real-time monitoring and control of the entire energetic propellant column online detection and automatic counterweight device, realizing online monitoring and automatic counterweight of the energetic propellant column.

[0013] The significant advantages of this invention compared to existing technologies are:

[0014] (1) The present invention achieves a significant increase in production efficiency and reduces errors and missed detection risks caused by manual operation through an automated scheme for appearance inspection and weight counterweight of energetic drug columns.

[0015] (2) This invention uses a high-precision detection and measurement module combined with a precise algorithm calculation scheme to accurately detect defects in the appearance of the drug column and accurately balance the weight, thereby ensuring the quality stability and consistency of the energetic drug column after packaging and improving product performance and safety.

[0016] (3) The present invention has a device scheme with a compact structure, coordinated operation of each module and clear process flow, which makes it easy to integrate and apply on the production line of energetic drug column, and has good promotion and application value. Attached Figure Description

[0017] Figure 1 A schematic diagram of the layout of the online detection and automatic counterweight device for energetic propellant columns provided by the present invention;

[0018] Figure 2 A schematic diagram of the propellant cutting component of the energetic propellant online detection and automatic counterweight device provided by the present invention;

[0019] Figure 3 A partially enlarged schematic diagram of the support frame for the explosive propellant column online detection and automatic counterweight device provided by the present invention;

[0020] Figure 4 A schematic diagram of the online weighing and counterweight components of the energetic propellant column online detection and automatic counterweight device provided by the present invention;

[0021] Figure 5 A cross-sectional schematic diagram of the online weighing and counterweight component of the online detection and automatic counterweight device for energetic propellant columns provided by the present invention;

[0022] Figure 6 A partially enlarged schematic diagram of the lifting and weighing component of the online weighing counterweight assembly of the online detection and automatic counterweight device for energetic propellant columns provided by the present invention;

[0023] Figure 7 This is a schematic diagram of the propellant transfer component of the energetic propellant online detection and automatic counterweight device provided by the present invention;

[0024] Figure 8 A partially enlarged schematic diagram of the propellant gripping component of the propellant transfer assembly in the online detection and automatic counterweight device for energetic propellant columns provided by the present invention.

[0025] Figure 9 A schematic diagram of the defective propellant collection component of the online detection and automatic counterweight device for energetic propellant propellants provided by the present invention;

[0026] Figure 10 A schematic diagram of the online detection component of the energetic propellant column online detection and automatic counterweight device provided by the present invention;

[0027] Figure 11 A partially enlarged schematic diagram of the online detection component of the energetic propellant column flipping in the online detection and automatic counterweight device provided by the present invention;

[0028] Figure 12 A schematic diagram of the conveyor line assembly of the energetic propellant column online detection and automatic counterweight device provided by the present invention.

[0029] Figure 13 This is a partially enlarged schematic diagram of the visual inspection of the conveyor line assembly of the energetic propellant column online detection and automatic counterweight device provided by the present invention.

[0030] 1. Electrical control base assembly; 2. Drug column cutting assembly; 3. Online weighing and counterweight assembly; 4. Drug column transfer assembly; 5. Defective drug column collection assembly; 6. Online detection assembly; 7. Conveyor line assembly; 2-1 Linear movement module; 2-2 Collection box bracket; 2-3 Drug residue collection box; 2-4 Cutter; 2-5 Servo motor; 2-6 Three-jaw cylinder; 2-7 First drive shaft; 2-8 Rotary separator; 2-9 Flange fixing seat; 2-10 Rotary support flange; 2-11 Fixed support; 2-12 Support rod; 2-13 Synchronous pulley one; 2-14 First fixed bracket; 2-15 Gear motor assembly; 2-16 Synchronous pulley; 2-17 Motor bracket; 2-18 Synchronous pulley II; 3-1 Fixed base plate; 3-2 Support frame assembly I; 3-3 First linear guide rail; 3-4 Support seat; 3-5 First bracket; 3-6 Through-beam switch; 3-7 Pillar lifting seat I; 3-8 Weighing counterweight conveyor line assembly I; 3-9 Weighing counterweight conveyor line assembly II; 3-10 Support frame assembly II; 3-11 Pillar lifting seat II; 3-12 First guide shaft; 3-13 First fixed plate; 3-14 Weighing upper fixed plate; 3-15 Weighing sensor; 3-16 Weighing lower fixed plate; 3-17 First lifting cylinder; 3-18 First limit ring; 3-19 First linear bearing; 4-1 Right support column; 4-2 Left support column; 4-3 Spring; 4-4 Vacuum nozzle; 4-5 Second linear bearing; 4-6 Second fixed bracket; 4-7 Upper fixed plate; 4-8 Y-axis moving module; 4-9 Support plate; 4-10 Second guide shaft; 4-11 First clamping cylinder; 4-12 Y-axis cable chain lower fixed plate; 4-13 Lifting cylinder; 4-14 Z-axis cable chain; 4-15 Module bracket; 4-16 Fifth bracket; 4-17 Y-axis cable chain; 4-18 Z-axis moving module; 4-19 Cable chain bracket; 4-20 Second bracket; 4-21 Cable chain bracket two; 4-22 Z-axis servo motor; 4-23 X-axis cable chain; 4-24 Cable chain bracket three; 4-25 X-axis servo module; 4-26 Y-axis servo motor; 4-27 First moving plate; 5-1 Guide plate; 5-2 Third bracket; 5-3 Support frame four; 5-4 Belt conveyor assembly; 5-5 Defective medicine column collection box; 5-6 Collection box bracket; 5-7 Second fixing plate; 6-1 Support base; 6-2 Fourth bracket; 6-3 Coupling; 6-4 Gear; 6-5 Third fixing plate; 6-6 Rotating shaft; 6-7 Push-pull cylinder; 6-8 First connecting bracket; 6-9 Clamping seat; 6-10 Rack; 6-11 Second lifting cylinder; 6-12 Third guide shaft; 6-13 Second limit ring; 6-14 Fourth fixing plate; 6-15 Third linear bearing; 6-16 Second drive shaft; 6-17 Synchronous pulley one; 6-18 Synchronous belt; 6-19 Synchronous pulley two; 6-20 Support frame five; 6-21 Second clamping cylinder; 6-22 Second linear guide rail; 6-23 Limiting screw;6-24 First cylinder bracket; 6-25 First light source; 6-26 First vision camera; 6-27 First vision camera bracket; 6-28 L-shaped bracket; 6-29 First light source bracket; 6-30 Second moving plate; 7-1 Support frame one; 7-2 Horizontal conveyor assembly; 7-3 Support frame two; 7-4 Support frame three; 7-5 Climbing conveyor assembly; 7-6 Cylinder connecting plate; 7-7 Second cylinder bracket; 7-8 Removal cylinder; 7-9 Removal push rod; 7-10 Second connecting bracket; 7-11 Second vision camera bracket; 7-12 Fifth bracket; 7-13 Second vision camera; 7-14 Second light source; 7-15 Second light source bracket; 7-16 Through-beam photoelectric sensor. Detailed Implementation

[0031] 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 1-13 The following is a detailed description of some embodiments of the present invention.

[0032] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0033] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments of the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or other combinations.

[0034] Schematic diagram of the equipment layout for the online detection and automatic counterweight device for energetic propellant columns (see) Figure 1 As shown in the figure, the present invention provides an online detection and automatic counterweight device for energetic drug columns. Taking into full account the safety characteristics of energetic drug columns, such as prohibiting violent vibration and impact, eliminating electrostatic sparks, and avoiding high temperatures during cutting, the device is used to achieve efficient and accurate detection of appearance damage and defects of energetic drug columns, as well as precise weight counterweighting, thereby improving the packaging quality and production efficiency of energetic drug columns.

[0035] The energetic propellant column online detection and automatic counterweight device includes:

[0036] The conveyor assembly 7, fixed to the ground with expansion bolts, is used to horizontally and smoothly transport the energetic propellant charges. The inclined conveyor then transports the charges to a specific height and distributes them evenly. Pneumatic soft pushers 7-9 on the conveyor line are installed to prevent damage to the charges from hard contact during removal and to prevent damage from vibration or impact during transport. The charges are then identified by a vision inspection component and removed by a screening device. Finally, a laser rangefinder precisely measures the length of the charges.

[0037] The defective drug column collection assembly 5, which is fixed on the left and right sides of the conveyor assembly 7 opposite the rejection device, is used to guide the removed drug column to the conveyor belt assembly and smoothly convey it to the collection device. The collection path is made of anti-static material to avoid static sparks generated by friction.

[0038] The online inspection component 6, installed below the inclined conveyor line assembly 7, is used to clamp and rotate the pill cartridges via a gripping and turning device, and then lift them off the conveyor line to inspect their quality. The gripping and rotating device is equipped with an anti-static silicone buffer layer to prevent damage to the pill cartridges due to excessive clamping. Subsequently, the gripping and rotating device rotates the pill cartridge, and a 360° visual inspection captures images, which are then analyzed by an algorithm to identify any surface defects. The rotation process is precisely controlled by a servo motor to ensure smooth, vibration-free rotation of the pill cartridge.

[0039] The electrical control base assembly 1, installed at the end of the conveyor assembly 7, is used to monitor key parameters in real time, quickly feed back data, and precisely adjust the actuators through algorithm analysis to achieve full closed-loop control. The electrical control unit is integrated into an explosion-proof control cabinet, and the internal circuit adopts an anti-static grounding design. All motors and sensors are selected as explosion-proof equipment to avoid static electricity accumulation and the generation of electric sparks.

[0040] The online weighing counterweight assembly 3, installed directly above the electrical control base assembly 1, is used by the weighing sensor to measure the weight of the medicine column in real time and provide feedback. The system calculates based on the target value and feedback data, instructs relevant components to precisely cut the material, and achieves rapid and accurate counterweighting of the medicine column.

[0041] The propellant cutting assembly 2, installed on the lower left side above the electrical control base assembly 1, receives the propellant cutting length command from the system. Based on feedback from key parameters such as the blade position, it precisely controls the cutting, efficiently cutting the propellant and ensuring the counterweight meets the requirements. The circumferential cutter is made of anti-static, high thermal conductivity material to avoid safety risks to the propellant caused by high temperature and static electricity accumulation. During the cutting process, the three-jaw cylinder uses a constant force clamping mode to prevent cracks in the propellant due to uneven force.

[0042] The drug cartridge transfer assembly 4, installed above the electrical control base assembly 1 and at the end of the online weighing and counterweight assembly 3, receives instructions from the control system based on weighing detection data. It uses a high-precision moving module to accurately position the drug cartridge, and then transfers it to the corresponding workstation via a drug cartridge adsorption clamping assembly and a moving assembly, thus completing the automatic cutting and automatic counterweighting of the drug cartridge. The vacuum nozzle uses anti-static adsorption material, and a pressure sensor monitors the adsorption force in real time during the gripping process to ensure stable transfer of the drug cartridge without the risk of it falling.

[0043] Further, see Figure 2 The drug column cutting assembly 2 includes: a linear movement module 2-1, a collection box bracket 2-2, a drug residue collection box 2-3, a ring cutter 2-4, a servo motor 2-5, a three-jaw cylinder 2-6, a first drive shaft 2-7, a rotary separator 2-8, a flange fixing seat 2-9, a rotary support flange 2-10, a first fixing bracket 2-11, a support rod 2-12, a first synchronous pulley 2-13, a transition fixing seat 2-14, a reduction motor assembly 2-15, a second synchronous pulley 2-16, a motor bracket 2-17, and a second synchronous pulley 2-18.

[0044] A first fixed bracket 2-11 is used to provide fixation, and is fixedly mounted on the upper surface of the electrical control base assembly 1. The linear motion module 2-1 is connected to the upper part of the first fixed bracket 2-11 by screws. A servo motor 2-5 is fixed to the side of the linear motion module 2-1 by screws. The servo motor 2-5 drives the transmission mechanism to move, thereby converting rotational motion into linear motion, realizing the linear motion of the linear motion module 2-1. A transition fixed seat 2-14 is fixed to the sliding block of the linear motion module 2-1 by screws and pins. A motor bracket 2-17 is fixed to the transition fixed seat 2-14 by screws on a support rod 2-12. A flange fixed seat 2-9 is screwed and connected to the transition fixed seat 2-14. A rotating support flange 2-10 passes through the positioning hole of the transition fixed seat 2-14 and is fixed by screws. The fixed end of the rotating separator 2-8 is fixedly connected to the flange fixed seat 2-9 by screws. The first drive shaft 2-7 is rotatably connected to the rotary separator 2-8, the rotary support flange 2-10, and the motor bracket 2-17 via a deep groove ball bearing. The first drive shaft 2-7 is fixedly connected to the first synchronous pulley 2-13. The geared motor assembly 2-15 is fixed on the motor bracket 2-17, and the output shaft of the geared motor assembly 2-15 is fixedly connected to the second synchronous pulley 2-18. The first synchronous pulley 2-13 and the second synchronous pulley 2-16 are connected by a synchronous belt 2-16 to transmit power. When the output shaft of the geared motor assembly 2-15 rotates, it drives the second synchronous pulley 2-18 to rotate, which in turn drives the first synchronous pulley 2-13 to rotate, which in turn drives the first drive shaft 2-7 to rotate.

[0045] The three-jaw cylinder 2-6 is locked to the first drive shaft 2-7 by screws, and its clamping force is controlled in the 0.1 N / mm² range via a proportional valve. During clamping, it first approaches the propellant at a low speed of 0.5 mm / s, and then clamps with constant force upon contact, eliminating frictional heat and mechanical impact during the clamping process. The ring cutter 2-4 is made of wear-resistant ceramic alloy and is locked to the moving slide on the three-jaw cylinder 2-6 by screws. During cutting, a nitrogen cooling device ensures that the cutting temperature is ≤50℃, preventing the propellant from exploding due to high temperatures.

[0046] The collection box bracket 2-2 is screwed and fixed to the left end of the first fixed bracket 2-11. The dregs collection box 2-3 is placed inside the collection box bracket 2-2 against the side. The dregs collection box 2-3 is made of anti-static PVC material and has a conductive fiber filter inside. It collects the dregs generated during cutting in real time and releases static electricity through a grounding wire to avoid the accumulation of dregs and the risk of static electricity buildup.

[0047] In terms of structural adaptation, the claws of the three-jaw cylinders 2-6 adopt a modular design. The contact end of each claw uses a detachable arc-shaped or V-shaped gasket. According to the diameter of the propellant, the corresponding gasket can be quickly replaced to ensure that the three-jaw cylinder can stably clamp propellant of different shapes and avoid cutting deviation caused by unstable clamping. At the same time, the cutting head of the ring cutter 2-4 adopts a rotatable and adjustable angle structure. The cutting head can rotate within a certain range to achieve precise angle cutting.

[0048] Action process: Upon receiving the cutting command, the three-jaw cylinder 2-6 drives the ring cutter 2-4 to open. The linear motion module 2-1 drives the three-jaw cylinder 2-6 to move to the corresponding position. The geared motor adopts an explosion-proof design, and the speed is monitored in real time by an encoder during operation to ensure smooth cutting action. The geared motor assembly 2-15 drives the ring cutter 2-4 to rotate, while the three-jaw cylinder 2-6 slowly retracts and clamps under the control of the proportional valve. The clamping force is fed back in real time by a pressure sensor to avoid excessive clamping force that could damage the drug cartridge, and finally completes the cutting of the drug cartridge.

[0049] Further, see Figure 3 The online weighing counterweight assembly 3 includes: a fixed base plate 3-1, a support frame assembly 1 3-2, a first linear guide rail 3-3, a support seat 3-4, a first bracket 3-5, a photoelectric switch 3-6, a pill lifting seat 1 3-7, a weighing counterweight conveyor line assembly 1 3-8, a weighing counterweight conveyor line assembly 2 3-9, a support frame assembly 2 3-10, a pill lifting seat 2 3-11, a first guide shaft 3-12, a first fixed plate 3-13, an upper weighing fixed plate 3-14, a weighing sensor 3-15, a lower weighing fixed plate 3-16, a first lifting cylinder 3-17, a first limit ring 3-18, and a first linear bearing 3-19.

[0050] Two sets of first linear guide rails 3-3 are fixed to the upper surface of the electrical control base assembly 1. A fixed base plate 3-1 is fixed to the slider of the first linear guide rails 3-3, thereby enabling the movement of the fixed base plate 3-1 and the components mounted on it. Support frame assemblies 3-2 and 3-10 are fixed to both sides of the fixed base plate 3-1 with screws. Weighing and counterweight conveyor assembly 3-8 is fixed to support frame assembly 3-2 with screws. Weighing and counterweight conveyor assembly 3-9 is fixed to support frame assembly 3-10 with screws. Both conveyor lines are covered with an anti-static coating to prevent static electricity from friction between the propellant and the conveying surface; anti-static synchronous belts are used, and the drive motor is equipped with an electromagnetic compatibility filter to suppress electrical sparks. First brackets 3-5 are fixed to both sides of weighing and counterweight conveyor assembly 3-8 with screws. Through-beam switches 3-6 are fixed to the first brackets 3-5 with screws. Through-beam switches 3-6 detect the propellant at the current position to ensure that the propellant is in place and to guarantee the effectiveness of weighing a single propellant at the next position.

[0051] Two lower weighing plates 3-16 are fixed to the base plate 3-1 with screws, and are located below the weighing counterweight conveyor assembly one 3-8 and the weighing counterweight conveyor assembly two 3-9, respectively. The load cell 3-15 is fixed to the lower weighing plate 3-16 with screws. An anti-static shield is installed around the load cell 3-15, and it is grounded to the main body of the equipment via a grounding terminal to prevent electrostatic interference and sparks. The upper weighing plate 3-14 is fixed to the load cell 3-15 with screws. The fixing plate 3-13 is screwed and fixed to the weighing upper fixing plate 3-14. The first linear bearing 3-19 is fixedly installed on the support base 3-4. One end of the first guide shaft 3-12 is fixed to the fixing plate 3-13, and the other end is slidably connected to the support base 3-4 through the first linear bearing 3-19. The first limiting ring 3-18 is fixedly installed on the first guide shaft 3-12, and the two limiting rings are located on the upper and lower sides of the support base 3-4. The first limiting ring 3-18 is used to limit the displacement of the weighing upper fixing plate 3-14 on the first guide shaft 3-12. The first lifting cylinder 3-17 is screwed and fixed to the first fixing plate 3-13, and the guide rod of the first lifting cylinder 3-17 is fixedly connected to the bottom of the support base 3-4. The support base 3-4 is moved up and down by the push rod of the first lifting cylinder 3-17. The first lifting cylinder 3-17 has its own damping structure, and the rising / falling speed can be controlled within 10mm / s. The surfaces of the first and second pill column lifting seats 3-7 and 3-11 are covered with anti-static rubber buffer pads and are fixed to the upper part of the two support seats 3-4 by screws.

[0052] Weighing and counterweight conveyor assembly 1 (3-8) is a belt conveyor with a groove specifically for fixing a single drug cartridge. Weighing and counterweight conveyor assembly 2 (3-9) is a belt conveyor with a groove specifically for fixing a group of drug cartridges.

[0053] Operation Process: The medication column is smoothly conveyed to the top of the medication column lifting seat 3-7 via the weighing and counterweight conveyor assembly 3-8. The surface of the conveyor line is covered with an anti-static coating to prevent static electricity from being generated by friction between the medication column and the conveyor surface. The first lifting cylinder 3-17 drives the medication column lifting seat 3-7 to rise, and the weight of the medication column is weighed by the weighing sensor 3-15. After weighing, the first lifting cylinder 3-17 drives the medication column lifting seat 3-7 to fall, and the weighing and counterweight conveyor assembly 3-8 moves the medication column to the end of the conveyor line. After being precisely cut by the drug column cutting component 2, the drug column is transferred by the drug column transfer component 4 to the weighing and counterweight conveyor assembly 3-9. When the number of a set of drug columns reaches the set quantity, the weighing and counterweight conveyor assembly 3-9 moves the set of drug columns to the weighing position. The first lifting cylinder 3-17 located below the weighing and counterweight conveyor assembly 3-9 drives the drug column lifting seat 3-11 to lift the drug column. The lifting process adopts uniform speed lifting control to avoid the drug column from colliding with the weighing platform. Then, the weighing sensor 3-15 weighs the total weight of the drug column to ensure that the weight of a set of drug columns meets the requirements.

[0054] Further reference Figure 4 The drug delivery assembly 4 includes: a moving assembly and a drug adsorption clamping assembly;

[0055] The moving components include: right support column 4-1, left support column 4-2, Y-axis moving module 4-8, Y-axis cable chain lower fixing plate 4-12, Z-axis cable chain 4-14, module bracket 4-15, fifth bracket 4-16, Y-axis cable chain 4-17, Z-axis moving module 4-18, cable chain bracket one 4-19, cable chain bracket two 4-21, Z-axis servo motor 4-22, X-axis cable chain 4-23, cable chain bracket three 4-24, X-axis servo module 4-25, and Y-axis servo motor 4-26.

[0056] X-axis servo module 4-25 is fixed to the right support column 4-1 and left support column 4-2 with screws. Module bracket 4-15 is fixed to the movable base of X-axis servo module 4-25 with screws. Y-axis moving module 4-8 is fixed to module bracket 4-15 with screws. Y-axis servo motor 4-26 is fixed to the back of Y-axis moving module 4-8 with screws and is directly connected to Y-axis moving module 4-18. Y-axis cable chain lower fixing plate 4-12 is fixed to the back of module bracket 4-15 with screws. Cable chain bracket 4-19 and Z-axis moving module 4-18 are fixed to the moving slide of Y-axis moving module 4-8 with screws. The Z-axis servo motor 4-22 is secured to the side of the Z-axis moving module 4-18 with screw 4-22, and is directly connected to the Z-axis moving module 4-18. The fifth bracket 4-16 is fixed to the moving slide of the Y-axis moving module 4-8. Cable chain bracket three 4-24 is secured to the left support column 4-2 with screw 4-24, and cable chain bracket two 4-21 is fixed to the module bracket 4-15. One end of the Y-axis cable chain 4-17 is secured to the lower fixing plate 4-12 of the Y-axis cable chain with screw 4-24, and the other end is secured to cable chain bracket one 4-19. One end of the Z-axis cable chain 4-14 is fixed to the fifth bracket 4-16, and the other end is fixed to the moving slide of the Z-axis moving module 4-18. One end of the X-axis cable chain 4-23 is fixed to cable chain bracket three 4-24, and the other end is fixed to cable chain bracket two 4-21. Cable chain bracket two 4-21 is secured to the module bracket 4-15 with screw 4-21.

[0057] The adsorption and clamping assembly for the drug column includes: spring 4-3, vacuum nozzle 4-4, second linear bearing 4-5, second fixed bracket 4-6, upper fixed plate 4-7, support plate 4-9, second guide shaft 4-10, first clamping cylinder 4-11, lifting cylinder 4-13, second bracket 4-20, and first moving plate 4-27.

[0058] The second fixed bracket 4-6 is screwed and fixed to the slide of the Z-axis moving module 4-18. One end of the second guide shaft 4-10 is fixed to the second fixed bracket 4-6 and passes through the through holes on the upper fixed plate 4-7 and the first moving plate 4-27, while the other end is fixed to the support plate 4-9. The lifting cylinder 4-13 is fixed to the upper fixed plate 4-7, and the telescopic rod is fixed to the first moving plate 4-27. The second linear bearing 4-5 passes through the first moving plate 4-27 and is fixed with screws. The vacuum nozzle 4-4 is made of anti-static silicone material and integrates a pressure sensor to monitor the adsorption force in real time (adjustable from 10-20 kPa) to ensure that the drug column is firmly adsorbed without compression damage. It is fixed to the middle of the support plate 4-9 by threaded locking. The spring 4-3 passes through the second guide shaft 4-10 and is located between the first moving plate 4-27 and the support plate 4-9. The first clamping cylinder 4-11 is equipped with a buffer limit device. The inner side of the clamping second bracket 4-20 is provided with an elastic buffer sheet. When it contacts the medicine column, it first makes soft contact and then clamps rigidly to avoid collisions during the clamping process. It is fixed to the upper fixing plate 4-7 by screws. The second bracket 4-20 is locked and fixed to the first clamping cylinder 4-11.

[0059] Y-axis cable chain 4-17 is made of anti-static nylon material, and the internal cables are shielded and grounded to eliminate the risk of static electricity accumulation and mechanical friction during the transfer process (X-axis cable chain 4-23 and Z-axis cable chain 4-14 use the same configuration).

[0060] Action process: The first clamping cylinder 4-11 drives the second bracket 4-20 to unfold. The X / Y / Z servo motor drives the moving module, which adopts linear guide rails and shock-absorbing pads. During the movement, the speed is ≤200mm / s and the acceleration is ≤0.5g to ensure that the medicine column is transferred smoothly without shaking or vibration. It drives the second fixed bracket 4-6 to move above the medicine column. The vacuum nozzle 4-4 adsorbs the medicine column. At the same time, the first clamping cylinder 4-11 drives the second bracket 4-20 to clamp, realizing the clamping and transfer of the medicine column.

[0061] Further reference Figure 5 The defective drug column collection assembly 5 includes:

[0062] The fourth support frame 5-3 is used for fixing, and the second fixing plate 5-7 is fixed to the fourth support frame 5-3 with screws. The third bracket 5-2 and the collection box bracket 5-6 are fixed to the fourth support frame 5-3 and the second fixing plate 5-7 with screws. The guide plate 5-1, the belt conveyor assembly 5-4 and the defective medicine column collection box 5-5 are arranged in sequence. The belt conveyor assembly 5-4 is fixed and locked to the third bracket 5-2. The defective medicine column collection box 5-5 is made of explosion-proof and anti-static metal material, with a conductive sponge buffer layer inside, and is fixed to the collection box bracket 5-6 with screws. The guide plate 5-1 is fixed to the profile frame of the belt conveyor assembly 5-4 with screws. Specifically, profile nuts (T-nuts, slider nuts, etc. that match the slide) are pre-installed in the slide groove. The guide plate 5-1 is initially fixed by screws passing through its mounting holes and threaded onto the profile nut in the slide groove. When position adjustment is needed, the screws are loosened, allowing the profile nut to slide freely along the slide groove with the guide plate 5-1. Once in position, the screws are tightened again to adjust its position on the profile. The guide plate 5-1 is made of anti-static material with a smooth surface and is grounded to prevent static electricity or friction damage when the propellant drops. The surface is designed with a 30° gentle slope to ensure that the removed propellant drops travel along the guide plate without impact.

[0063] Operation process: NG (Not Qualified) drug cartridges are visually identified and pushed out by the screening and rejection mechanism onto the guide plate 5-1, where they are transferred to the belt conveyor assembly 5-4 and smoothly transported to the non-qualified drug cartridge collection box 5-5, thus completing the collection of NG drug cartridges.

[0064] Further reference Figure 6 The online inspection component 6 includes: a support component, a gripping and flipping device, and a vision inspection component;

[0065] The support assembly includes: a support base 6-1, a fourth bracket 6-2, a second lifting cylinder 6-11, a third guide shaft 6-12, a second limiting ring 6-13, a fourth fixing plate 6-14, a third linear bearing 6-15, and a synchronous pulley 6-17.

[0066] The support base 6-1 is fixed to the ground with expansion bolts. The fourth bracket 6-2 is fixed to the left side of the support base 6-1 with screws. The fourth fixing plate 6-14 is fixed to the center of the support base 6-1 with screws. The second lifting cylinder 6-11 and the third guide shaft 6-12 are fixed to the fourth fixing plate 6-14 with screws. The guide rod of the second lifting cylinder 6-11 is fixed to the support frame 6-20 with screws, thereby driving the support frame 6-20 to move up and down. Four third linear bearings 6-15 pass through the positioning holes of the support frame 6-20 and are fixed to the support frame 6-20 with screws. The third guide shaft 6-12 passes through the third linear bearings 6-15 and is fixed to the top and lower center of the third guide shaft 6-12 with the second limiting ring 6-13.

[0067] The clamping and flipping device includes: gear 6-4, third fixing plate 6-5, rotating shaft 6-6, push-pull cylinder 6-7, first connecting bracket 6-8, clamping seat 6-9, rack 6-10, second transmission shaft 6-16, synchronous pulley one 6-17, synchronous belt 6-18, synchronous pulley two 6-19, support frame five 6-20, second clamping cylinder 6-21, second linear guide rail 6-22, first cylinder bracket 6-24, and limiting screw 6-23.

[0068] One end of the second drive shaft 6-16 passes through a deep groove ball bearing embedded in the shaft hole of the right support frame 6-20 (the second drive shaft 6-16 is rotatably connected to the right support frame 6-20), and is locked and fixed to the synchronous pulley 6-17 on one side by a set screw. The other end is locked and fixed to the gear 6-4.

[0069] One end of the rotating shaft 6-6 passes through a deep groove ball bearing embedded in the shaft hole of the left support frame 6-20 (the rotating shaft 6-6 is rotatably connected to the left support frame 6-20), and is locked to the synchronous pulley 6-17 on the other side by a set screw. The rotating shaft 6-6 and the second drive shaft 6-16 are connected by a coupling 6-3.

[0070] Synchronous pulley 6-19 is locked to one end of a transition shaft that passes through the deep groove ball bearings embedded in the left and right holes on the upper side of the fourth fixed plate 6-14. The other end of the transition shaft is locked to the second clamping cylinder 6-21. That is, the rotation of synchronous pulley 6-19 drives the second clamping cylinder 6-21 to rotate. The clamping seat 6-9 is fixed on the sliding seat of the second clamping cylinder 6-21. The clamping of the clamping seat 6-9 is achieved by the opposing clamping of the sliding seats. The second clamping cylinder 6-21 is a parallel finger clamp type. Synchronous belt 6-18 connects synchronous pulley 6-17 and synchronous pulley 6-19.

[0071] The third fixing plate 6-5 is fixed to the inner side of the left vertical plate of the support frame 6-20. The first cylinder bracket 6-24 is fixed to the third fixing plate 6-5. The push-pull cylinder 6-7 is locked to the first cylinder bracket 6-24 by its external threads. The upper limit screw 6-23 is installed in the threaded hole of the first cylinder bracket 6-24 to limit the starting and stopping positions of the first connecting bracket 6-8. The rack 6-10 is screwed to the lower side of the second moving plate 6-30 and meshes with the gear 6-4. By adding a preload to the rack during installation, the gear and rack mesh without gaps is ensured, ensuring no vibration during the rotation of the drug column. The guide rail of the second linear guide 6-22 is fixed to the bottom of the first cylinder bracket 6-24, and the slider is locked to the second moving plate 6-30. One end of the first connecting bracket 6-8 is locked to the second moving plate 6-30, and the other end is locked to the push rod head of the push-pull cylinder 6-7. The clamping seat 6-9 is screwed onto the second clamping cylinder 6-21. The inner surface of the clamping seat 6-9 that contacts the drug cartridge is provided with an anti-static silicone buffer layer to avoid damage to the drug cartridge surface caused by rigid clamping.

[0072] The visual inspection component includes: a first light source 6-25, a first visual camera 6-26, a first visual camera bracket 6-27, and an L-shaped bracket 6-28; the first visual camera 6-26, in conjunction with the light provided by the first light source 6-25, is used to inspect the propellant column;

[0073] The L-shaped bracket 6-28 is secured to the fourth bracket 6-2 on the left side by screws. The first vision camera bracket 6-27 is secured to the L-shaped bracket 6-28 by screws. The first vision camera 6-26 is secured to the first vision camera bracket 6-27 by screws. The first light source 6-25 uses a low-heat LED cold light source and is secured to the first light source bracket 6-29 by screws, and together they are fixed to the L-shaped bracket 6-28 to achieve precise angle illumination, providing stable and controllable lighting to ensure clear imaging and discernible details.

[0074] Operation Process: The propellant cartridge is transferred to the online detection position on the conveyor line. The second clamping cylinder 6-21 clamps the cartridge, driving the clamping seat 6-9 to hold it in place. The second lifting cylinder 6-11 extends, causing the support frame 6-20 to rise, thus lifting the cartridge off the conveyor line. The push-pull cylinder 6-7 extends, driving the connecting support 6-8, which in turn drives the rack 6-10 along the second linear guide 6-22. Utilizing the gear and rack meshing transmission principle, this drives the gear 6-4 to rotate, thereby rotating the second transmission shaft 6-16, which in turn rotates the synchronous pulleys 6-17 and 6-19. This, in turn, rotates the second clamping cylinder 6-21, ultimately achieving a 360° uniform and stable rotation of the cartridge. Simultaneously, the first vision camera 6-26 identifies surface defects in the cartridge online.

[0075] Further reference Figure 7 The conveyor assembly 7 includes: support frame 1 7-1, horizontal conveyor assembly 7-2, support frame 2 7-3 and support frame 3 7-4, climbing conveyor assembly 7-5, cylinder connecting plate 7-6, second cylinder bracket 7-7, rejection cylinder 7-8, rejection push rod 7-9, second connecting bracket 7-10, second vision camera bracket 7-11, fifth bracket 7-12, second vision camera 7-13, second light source 7-14, second light source bracket 7-15 and through-beam photoelectric sensor 7-16.

[0076] Support frame 1 (7-1) is fixed to the horizontal plane with expansion bolts. Horizontal conveyor assembly 7-2 is fixed to support frame 1 (7-1) with screws. Support frames 2 (7-3) and 3 (7-4) are fixed to the horizontal plane with expansion bolts. Climbing conveyor assembly 7-5 is fixed to support frames 7-3 and 3 (7-4) with screws. Cylinder connecting plate 7-6 is fixed to both sides of climbing conveyor assembly 7-5 with screws. Second cylinder bracket 7-7 is fixed to cylinder connecting plate 7-6 with screws, and rejection cylinder 7-8 is fixed to second cylinder bracket 7-7 with screws. Rejection push rod 7-9 is threaded onto the telescopic push rod of rejection cylinder 7-8; rejection push rod 7-9 is used to reject defective cartridges. The second connecting bracket 7-10 is fixed to the bottom of the climbing conveyor assembly 7-5 with screws. The fifth bracket 7-12 is fixed to the second connecting bracket 7-10 with screws. The second vision camera bracket 7-11 is fixed to the fifth bracket 7-12 with screws. The second vision camera 7-13 is fixed to the second vision camera bracket 7-11 with screws. The second light source bracket 7-15 is fixed to the fifth bracket 7-12 with screws. The second light source 7-14 is fixed to the second light source bracket 7-15 and is used to adjust the illumination parameters to provide support for capturing clear images. Through-beam photoelectric sensors 7-16 are fixed to both sides of the profile of the climbing conveyor assembly 7-5 to detect the length of the propellant charge.

[0077] The horizontal conveyor assembly 7-2 is a continuous belt conveyor; the climbing conveyor assembly 7-5 is a chain-plate stepped conveyor. The upper chain plate of the climbing conveyor assembly 7-5 has equidistant grooves on its surface to position and separate the drug cartridges, ensuring a fixed distance between adjacent cartridges and preventing displacement or collisions due to mutual compression during transport. The grooves are made of anti-static material with rounded edges to prevent cartridge jamming or collisions. The conveyor drive motor is an explosion-proof servo motor, ensuring stable operation without sparks.

[0078] The removal process using push rods 7-9 employs a pneumatic soft push rod to avoid hard contact that could damage the propellant.

[0079] Operation Process: The horizontal conveyor assembly 7-2 smoothly transports the densely packed pharmacopoeia to the climbing conveyor assembly 7-5, where the pharmacopoeia are evenly distributed on the conveyor line through its equidistant grooves. First, the pharmacopoeia are transported to the vision inspection station, where NG (non-compliant) pharmacopoeia are removed and recycled by the rejection mechanism (rejection pusher 7-9). Next, the pharmacopoeia are transported to the through-beam photoelectric sensor 7-16 for pharmacopoeia length detection. Finally, the pharmacopoeia are transported to the pharmacopoeia transfer assembly's gripping belt and pharmacopoeia cutting station.

[0080] Furthermore, the electrical control base assembly 1 includes an explosion-proof control cabinet, a PLC system, a servo control system, a proportional valve control system, a solenoid valve, a position detection sensor controller, an industrial computer, etc.

[0081] The explosion-proof control cabinet has a conductive coating on its surface and is reliably grounded (grounding resistance ≤1Ω). The servo control system receives control signals from the PLC system and precisely adjusts the speed, direction, and displacement of the servo motor. The proportional valve control system adjusts the opening of the proportional valve according to PLC system instructions, precisely controlling the flow rate and pressure of the medium in the pneumatic pipeline. The solenoid valve responds to the switching signals of the PLC system to achieve on / off control of the pneumatic circuit. The position detection sensor controller collects the position signal of the energetic propellant column on the delivery path in real time, ensuring that the counterweight process proceeds in an orderly manner according to the preset logic. The industrial control computer, as the human-machine interaction and data processing center, stores the counterweight parameters of the energetic propellant column and displays the system operating status in real time.

[0082] By monitoring various parameters in real time, the safe, stable and reliable operation of the automatic online identification and automatic counterweight of the energetic propellant column feeding process is ensured.

[0083] The working principle of an online detection and automatic counterweight device for energetic propellant columns is as follows: Based on the above device, the specific steps are as follows:

[0084] S1, Stable delivery of the propellant and adjustment of the spacing

[0085] The energetic propellant charges are transported at a constant speed of ≤0.3m / s by the anti-static conveyor belt of the delivery module, and are evenly distributed (spacing error ≤±2mm) through the flexible partition grooves of the inclined conveyor line. During the transport process, vibration sensors under the conveyor belt monitor the vibration amplitude in real time (threshold ≤0.1g). If the vibration exceeds the threshold, the servo motor damping buffer mode is triggered to ensure that the propellant charges do not collide or slide into the detection area.

[0086] S2, 360° intelligent recognition of appearance defects;

[0087] After the propellant column arrives at the inspection station, a lifting cylinder smoothly lifts it at a low speed of 5mm / s, separating it from the conveyor line. A clamping and rotating device drives the propellant column to rotate at a constant speed of ≤5rpm. A high-definition vision camera (resolution ≥5 million pixels) combined with a low-heat LED cold light source captures at least ≥12 360° circumferential images. These images are analyzed using a convolutional neural network (CNN) algorithm to identify defects such as cracks, dents, and burrs. The judgment rules are as follows:

[0088] ①Qualified: The defect area accounts for less than 1% and there is no penetrating damage;

[0089] ② Non-compliant: Trigger the rejection cylinder to push the propellant cartridge into the anti-static buffer collection tank, where it slides down the PE guide plate without impact into the explosion-proof collection box. (Data flow: Test results are uploaded to the industrial control computer in real time, generating a test log for archiving.)

[0090] S3, high-precision closed-loop weight measurement;

[0091] Qualified drug cartridges are transferred from the transfer assembly to the weighing module:

[0092] ① First-stage weighing: The lifting seat 3-7 is slowly raised by a gas-liquid damping cylinder (speed ≤10mm / s). After the propellant cartridge contacts the anti-static rubber pad, the weighing sensor (accuracy ±0.1g) collects the initial weight. ;

[0093] ② Data processing: The control module will With target weight Compare and calculate the weight difference: = - ;

[0094] like If the tolerance is ≤ ±0.5g, proceed directly to the next workstation;

[0095] like > 0 (overweight), proceed to S4 for trimming and weight reduction;

[0096] like <0 (underweight), proceed to S4' to add counterweight (see below for further details).

[0097] S4, length calculation based on density-volume relationship;

[0098] According to the mass formula (where L is the material density and L is the length), the length adjustment amount corresponding to the weight difference can be obtained:

[0099]

[0100] ① Current length measurement: The real-time length of the propellant charge is measured by a through-beam laser sensor. ;

[0101] ② Target length calculation: When the weight is excessive, the required length needs to be cut. If the weight is insufficient, the length of the medicine column needs to be increased. (During this process, the cutting speed is ≤50mm / min, and the ceramic cutting tool is air-cooled to ≤50℃ to prevent the high temperature from igniting the propellant charge.)

[0102] S5, dual-mode precision cutting and weight adjustment;

[0103] Mode 1: Overweight cropping ( >0)

[0104] The circumferential cutter approaches the drug cartridge at a low speed of 0.5 mm / s. A three-jaw cylinder controls the clamping force (0.1-0.3 N / mm²) via a proportional valve to ensure no crushing damage. A servo motor drives the cutter to rotate (speed ≤200 rpm), while a linear module completes the cutting at a constant speed. The weight of the drug cartridge after cutting is... ;

[0105] Mode 2: Underweight Compensation ( <0), optional options)

[0106] Cut from the spare medicine column using a robotic arm The length segment, placed together with the original medicine column, has a total weight of ;

[0107] Closed-loop re-inspection: The cut medicinal column is weighed twice. If the error exceeds the threshold, an automatic correction program is triggered, allowing a maximum of two correction cycles. If the number of cycles is exceeded, the product is marked as defective.

[0108] 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 online detection and automatic counterweight device for energetic propellant columns, characterized in that, include, The conveyor assembly (7) is used to first horizontally and smoothly convey the energetic propellant column, and then the inclined conveyor line conveys the propellant column to a specific height and distributes it evenly at a distance. The online detection component (6) is installed below the inclined conveyor line of the conveyor line component (7) and is used to clamp the medicine column with the flipping device and lift it off the conveyor line to detect the quality of the medicine column. The defective drug column collection assembly (5) is installed on both sides of the conveyor assembly (7) to guide the removed drug columns to the conveyor belt assembly and smoothly transport them to the collection device. The drug column transfer assembly (4) is installed at the end of the online weighing and counterweight assembly (3) and is used to cut and counterweight the transferred drug column through the drug column adsorption clamping assembly and the moving assembly, so as to complete the automatic cutting and automatic counterweighting of the drug column. The online weighing counterweight assembly (3) is installed directly above the electrical control base assembly (1) and at the end of the conveyor assembly (7). It is used to measure the weight of the medicine column in real time by the weighing sensor and provide feedback. Based on the counterweight target value, the material is cut to achieve counterweight of the medicine column. The drug column cutting component (2) is installed above the electrical control base assembly (1) to cut off the drug column and ensure that the counterweight meets the standard. The electrical control base assembly (1) is installed below the online weighing counterweight assembly (3) for real-time monitoring and control of the entire energetic drug column online detection and automatic counterweight device, so as to realize the online monitoring and automatic counterweight of the energetic drug column.

2. The online detection and automatic counterweight device for energetic propellant columns according to claim 1, characterized in that, The drug column cutting assembly (2) includes: a linear motion module (2-1), a collection box bracket (2-2), a drug residue collection box (2-3), a ring cutter (2-4), a servo motor (2-5), a three-jaw cylinder (2-6), a first drive shaft (2-7), a rotary separator (2-8), a flange fixing seat (2-9), a rotary support flange (2-10), a first fixed bracket (2-11), a support rod (2-12), a first synchronous pulley (2-13), a transition fixing seat (2-14), a geared motor assembly (2-15), a second synchronous pulley (2-16), a motor bracket (2-17), and a second synchronous pulley (2-18). The linear motion module (2-1) is fixed to the upper part of the first fixed bracket (2-11); the first fixed bracket (2-11) is fixedly installed on the upper surface of the electrical control base assembly 1; the servo motor (2-5) is fixed to the side of the linear motion module (2-1), and the servo motor (2-5) drives the transmission mechanism to move, thereby converting the rotational motion into linear motion, thus realizing the linear motion module (2-1). The linear motion; the transition fixed seat (2-14) is fixed on the moving slider of the linear motion module (2-1); the motor bracket (2-17) is fixed on the transition fixed seat (2-14) by the support rod (2-12); the flange fixed seat (2-9) is fixedly connected to the transition fixed seat (2-14); the rotating support flange (2-10) is fixed after passing through the positioning hole of the transition fixed seat (2-14); the fixed end of the rotating separator (2-8) is fixedly connected to the flange fixed seat (2-9); the first drive shaft (2-7) is rotatably connected to the rotating separator (2-8), the rotating support flange (2-10) and the motor bracket (2-17); the first drive shaft (2-7) is fixedly connected to the first synchronous pulley (2-13); the geared motor assembly 2-15 is fixed on the motor bracket. On (2-17), the output shaft of the geared motor assembly 2-15 is fixedly connected to the second synchronous pulley (2-18), and the synchronous pulleys 1 (2-13) and 2 (2-16) are connected by a synchronous belt (2-16) to transmit power; the output shaft of the geared motor assembly (2-15) rotates, driving the second synchronous pulley (2-18) to rotate, which in turn drives the first synchronous pulley (2-13) to rotate, which in turn drives the first transmission shaft (2-7) to rotate; the three-jaw cylinder (2-6) is locked to the first transmission shaft (2-7); the ring cutter (2-4) is fixedly connected to the movable slide on the three-jaw cylinder (2-6); the collection box bracket (2-2) is fixed to the left end of the first fixed bracket (2-11); the dregs collection box (2-3) is placed inside the collection box bracket (2-2) against the side.

3. The online detection and automatic counterweight device for energetic propellant columns according to claim 1, characterized in that, The online weighing counterweight assembly (3) includes: a fixed base plate (3-1), a support frame assembly one (3-2), a first linear guide rail (3-3), a support seat (3-4), a first bracket (3-5), a through-beam switch (3-6), a pill lifting seat one (3-7), a weighing counterweight conveyor line assembly one (3-8), a weighing counterweight conveyor line assembly two (3-9), a support frame assembly two (3-10), a pill lifting seat two (3-11), a first guide shaft (3-12), a first fixed plate (3-13), an upper weighing fixed plate (3-14), a weighing sensor (3-15), a lower weighing fixed plate (3-16), a first lifting cylinder (3-17), a first limit ring (3-18), and a first linear guide rail. Linear bearing (3-19); two sets of first linear guide rails (3-3) are fixed on the upper surface of electrical control base assembly 1, and the fixed base plate (3-1) is fixed on the slider of the first linear guide rail (3-3), thereby realizing the movement of the fixed base plate (3-1) and the parts installed on the fixed base plate (3-1); support frame assembly one (3-2) and support frame assembly two (3-10) are fixed on both sides of the fixed base plate (3-1); weighing counterweight conveyor assembly one (3-8) is fixed on the support frame assembly (3-2); weighing counterweight conveyor assembly two (3-9) is fixed on the support frame assembly (3-10); the first bracket (3-5) is fixed on both sides of weighing counterweight conveyor assembly one (3-8); Through-beam switches (3-6) are screwed and fixed to the first bracket (3-5); through-beam switches (3-6) detect the drug cartridge at the current position; two weighing lower fixing plates (3-16) are fixed to the fixed base plate (3-1) and are located below the weighing counterweight conveyor assembly one (3-8) and the weighing counterweight conveyor assembly two (3-9) respectively; the weighing sensor (3-15) is fixed to the weighing lower fixing plate (3-16), and the weighing upper fixing plate (3-14) is screwed and fixed to the weighing sensor (3-15); the fixing plate (3-13) is fixed to the weighing upper fixing plate (3-14); the first linear bearing (3-19) is fixedly installed on the support base (3-4); the first guide shaft... One end of 3-12 is fixed to the fixed plate (3-13), and the other end is slidably connected to the support base (3-4) through the first linear bearing (3-19); the first limiting ring (3-18) is fixedly set on the first guide shaft 3-12 and the two limiting rings are located on the upper and lower sides of the support base (3-4). The first limiting ring (3-18) is used to limit the displacement of the weighing upper fixed plate (3-14) on the first guide shaft 3-12; the first lifting cylinder (3-17) is screwed and fixedly fixed to the first fixed plate (3-13), and the guide rod of the first lifting cylinder (3-17) is fixedly connected to the bottom of the support base (3-4). Through the push rod of the first lifting cylinder (3-17), the support base (3-4) is driven to move up and down;The surfaces of the first and second propellant column lifting seats (3-7 and 3-11) are covered with anti-static rubber cushioning pads and are fixed to the upper part of the two support seats (3-4) by screws.

4. The online detection and automatic counterweight device for energetic propellant columns according to claim 1, characterized in that, The drug delivery assembly (4) includes: a moving assembly and a drug adsorption clamping assembly; The moving components include: right support column (4-1), left support column (4-2), Y-axis moving module (4-8), Y-axis drag chain lower fixing plate (4-12), Z-axis drag chain (4-14), module bracket (4-15), fifth bracket (4-16), Y-axis drag chain (4-17), Z-axis moving module (4-18), drag chain bracket one (4-19), drag chain bracket two (4-21), Z-axis servo motor (4-22), X-axis drag chain (4-23), drag chain bracket three (4-24), X-axis servo module (4-25), and Y-axis servo motor (4-26). The X-axis servo module (4-25) is fixed to the right support column (4-1) and the left support column (4-2). The module bracket (4-15) is fixed to the movable seat of the X-axis servo module (4-25). The Y-axis moving module (4-8) is fixed to the module bracket (4-15). The Y-axis servo motor (4-26) is fixed to the back of the Y-axis moving module (4-8). The Y-axis drag chain lower fixing plate (4-12) is fixed to the back of the module bracket (4-15). The drag chain bracket one (4-19) and the Z-axis moving module (4-18) are fixed to the moving slide of the Y-axis moving module (4-8). The Z-axis servo motor (4-22) is fixed to the side of the Z-axis moving module (4-18). The fifth bracket (4-16) is fixed to the Y-axis moving module (4-25). On the moving slide of the axis moving module (4-8); the third drag chain bracket (4-24) is fixed on the left support column 4-2, and the second drag chain bracket (4-21) is fixed on the module bracket (4-15); one end of the Y-axis drag chain (4-17) is fixed on the lower fixing plate (4-12) of the Y-axis drag chain, and the other end is locked and fixed on the first drag chain bracket (4-19); one end of the Z-axis drag chain (4-14) is fixed on the fifth bracket (4-16), and the other end is fixed on the moving slide of the Z-axis moving module (4-18); one end of the X-axis drag chain (4-23) is fixed on the third drag chain bracket (4-24), and the other end is fixed on the second drag chain bracket (4-21); the second drag chain bracket (4-21) is fixed on the module bracket (4-15); The adsorption and clamping assembly for the drug column includes: a spring (4-3), a vacuum nozzle (4-4), a second linear bearing (4-5), a second fixed bracket (4-6), an upper fixed plate (4-7), a support plate (4-9), a second guide shaft (4-10), a first clamping cylinder (4-11), a lifting cylinder (4-13), a second bracket (4-20), and a first moving plate (4-27). The second fixed bracket (4-6) is fixed on the slide of the Z-axis moving module (4-18); one end of the second guide shaft (4-10) is fixed to the second fixed bracket (4-6) and passes through the through holes on the upper fixed plate (4-7) and the first moving plate (4-27), and the other end is fixed to the support plate (4-9); the cylinder body of the lifting cylinder (4-13) is fixed on the upper fixed plate (4-7), and the telescopic rod is fixedly connected to the first moving plate (4-27); the second linear bearing (4-5) passes through the first moving plate (4-27) and is fixed. The vacuum nozzle (4-4) is fixed in the middle of the support plate (4-9); the spring (4-3) passes through the second guide shaft (4-10) and is located between the first moving plate (4-27) and the support plate (4-9); the first clamping cylinder (4-11) is fixed on the upper fixed plate (4-7), and the second bracket (4-20) is locked and fixed on the first clamping cylinder (4-11). The inner side of the second bracket (4-20) is clamped with a fixed elastic buffer sheet, which is used to make soft contact first and then rigid clamping when contacting the drug column to avoid collision during the clamping process.

5. The online detection and automatic counterweight device for energetic propellant columns according to claim 1, characterized in that, The non-conforming drug column collection assembly (5) includes: a guide plate (5-1), a third bracket (5-2), a support frame four (5-3), a belt conveyor assembly (5-4), a non-conforming drug column collection box (5-5), a collection box bracket (5-6), and a second fixing plate (5-7). The second fixing plate (5-7) is fixed to the support frame four (5-3) by screws; the third bracket (5-2) and the collection box bracket (5-6) are fixed to the support frame four (5-3) and the second fixing plate (5-7) by screws; the guide plate (5-1), the belt conveyor assembly (5-4) and the unqualified medicine column collection box (5-5) are arranged in sequence, the belt conveyor assembly (5-4) is fixed and locked to the third bracket (5-2); the unqualified medicine column collection box (5-5) is fixed to the collection box bracket (5-6); the guide plate (5-1) is fixed to the profile frame of the belt conveyor assembly (5-4).

6. The online detection and automatic counterweight device for energetic propellant columns according to claim 1, characterized in that, The online inspection component (6) includes: a support component, a gripping and flipping device, and a vision inspection component; The support components include: a support base (6-1), a fourth bracket (6-2), a second lifting cylinder (6-11), a third guide shaft (6-12), a second limiting ring (6-13), a fourth fixing plate (6-14), a third linear bearing (6-15), and a first synchronous pulley (6-17). The support base (6-1) is locked and fixed to the ground; the fourth bracket (6-2) is fixed to the left side of the support base (6-1); the fourth fixing plate (6-14) is fixed to the center of the support base (6-1); the second lifting cylinder (6-1) and the third guide shaft (6-12) are fixed to the fourth fixing plate (6-14); the guide rod of the second lifting cylinder (6-11) is fixed to the support frame five (6-20), and the support frame five (6-20) is moved up and down by the second lifting cylinder (6-11); the four third linear bearings (6-15) pass through the positioning holes of the support frame five (6-20) and are fixed to the support frame five (6-20); the third guide shaft (6-12) passes through the third linear bearing (6-15) and is fixed to the top and lower middle position of the third guide shaft (6-12) by the second limiting ring (6-13); The clamping and flipping device includes: a gear (6-4), a third fixing plate (6-5), a rotating shaft (6-6), a push-pull cylinder (6-7), a first connecting bracket (6-8), a clamping seat (6-9), a rack (6-10), a second transmission shaft (6-16), a first synchronous pulley (6-17), a synchronous belt (6-18), a second synchronous pulley (6-19), a fifth support frame (6-20), a second clamping cylinder (6-21), a second linear guide rail (6-22), a first cylinder bracket (6-24), a limiting set screw (6-23), and a first cylinder bracket (6-24). The second drive shaft (6-16) is rotatably connected to the right support frame five (6-20), and is locked and fixed to the synchronous pulley one (6-17) on one side by a set screw. The other end is locked and fixed to the gear (6-4). The rotating shaft (6-6) is rotatably connected to the left support frame five (6-20), and is locked and fixed to the synchronous pulley one (6-17) on the other side by a set screw. The rotating shaft (6-6) and the second transmission shaft (6-16) are connected by coupling 6-3; the second synchronous pulley (6-19) is locked to one end of a transition shaft that passes through the deep groove ball bearings embedded in the left and right holes on the upper side of the fourth fixed plate (6-14), and the other end of the transition shaft is locked to the second clamping cylinder (6-21). That is, the rotation of the second synchronous pulley (6-19) drives the second clamping cylinder (6-21) to rotate, and the clamping seat (6-9) is fixed on the sliding seat of the second clamping cylinder (6-21). The clamping of the clamping seat (6-9) is achieved by the opposing clamping of the sliding seats; the second clamping cylinder (6-21) is a parallel finger clamp type. The synchronous belt (6-18) connects the first synchronous pulley (6-17) and the second synchronous pulley (6-19). The third fixing plate (6-5) is fixed to the inner side of the left vertical plate of the support frame five (6-20); the first cylinder bracket (6-24) is fixed to the third fixing plate (6-5), and the push-pull cylinder (6-7) is locked to the first cylinder bracket (6-24) by its external thread. The upper limit screw (6-23) is installed in the threaded hole of the first cylinder bracket (6-24) to limit the starting and stopping positions of the first connecting bracket (6-8); the rack (6-10) is screwed to the lower side of the second moving plate (6-30) and is connected to the gear. (6-4) Engagement; the guide rail of the second linear guide rail (6-22) is fixed to the bottom of the first cylinder bracket (6-24), and the slider is locked and fixed to the second moving plate (6-30); one end of the first connecting bracket (6-8) is locked and fixed to the second moving plate (6-30), and the other end is locked and connected to the push rod head of the push-pull cylinder (6-7); the clamping seat (6-9) screw is locked on the second clamping cylinder (6-21), and the inner surface of the clamping seat (6-9) in contact with the drug column is provided with an antistatic silicone buffer layer to avoid damage to the drug column surface caused by rigid clamping.

7. The online detection and automatic counterweight device for energetic propellant columns according to claim 1, characterized in that, The conveyor assembly (7) includes: support frame one (7-1), horizontal conveyor assembly (7-2), support frame two (7-3) and support frame three (7-4), climbing conveyor assembly (7-5), cylinder connecting plate (7-6), second cylinder bracket (7-7), rejection cylinder (7-8), rejection push rod (7-9), second connecting bracket (7-10), second vision camera bracket (7-11), fifth bracket (7-12), second vision camera (7-13), second light source (7-14), second light source bracket (7-15), and through-beam photoelectric (7-16). Support frame one (7-1) is fixed to the horizontal plane; the horizontal conveyor assembly (7-2) is locked to support frame one (7-1) with screws; support frame two (7-3) and support frame three (7-4) are fixed to the horizontal plane; the climbing conveyor assembly (7-5) is fixed to support frame (7-3) and support frame three (7-4); the cylinder connecting plate (7-6) is fixed on both sides of the climbing conveyor assembly (7-5); the second cylinder bracket (7-7) is locked to the cylinder connecting plate (7-6), and the rejection cylinder (7-8) is fixed to the second cylinder bracket 7-7; the rejection push rod (7-9) is fixed to the telescopic push rod of the rejection cylinder (7-8), and the rejection push rod (7-9) is used to reject the unqualified drug column; The second connecting bracket (7-10) is fixed below the climbing conveyor assembly (7-5). The fifth bracket (7-12) is fixed on the second connecting bracket (7-10). The second vision camera bracket (7-11) is screwed and fixed on the fifth bracket (7-12). The second vision camera (7-13) is fixed on the second vision camera bracket (7-11). The second light source bracket (7-15) is fixed on the fifth bracket (7-12). The second light source (7-14) is fixed on the second light source bracket (7-15) and used to adjust the illumination parameters to provide support for capturing clear images. The through-beam photoelectric sensor (7-16) is fixed on both sides of the profile of the climbing conveyor assembly (7-5) to detect the length of the propellant column.

8. The online detection and automatic counterweight device for energetic propellant columns according to claim 2, characterized in that, Each claw of the three-jaw cylinder (2-6) has an arc-shaped or V-shaped pad at its contact end. This is used to ensure that the three-jaw cylinder can stably clamp different shaped cartridges while quickly changing the corresponding pads, thus avoiding unstable clamping that could lead to cutting deviation.

9. The online detection and automatic counterweight device for energetic propellant columns according to claim 3, characterized in that, The conveyor surfaces of weighing and counterweight conveyor assembly one (3-8) and weighing and counterweight conveyor assembly two (3-9) are covered with an anti-static coating to prevent static electricity from being generated by friction between the drug cartridge and the conveying surface; and an anti-static synchronous belt is used, and the drive motor is equipped with an electromagnetic compatibility filter to suppress electrical sparks.

10. The online detection and automatic counterweight device for energetic propellant columns according to claim 6, characterized in that, The inner surface of the clamping seat (6-9) in contact with the drug cartridge is provided with an anti-static silicone buffer layer to avoid damage to the drug cartridge surface caused by rigid clamping.

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