Assembling device and assembling method for energetic grain rubber protective sleeve

Abstract

The invention relates to the technical field of sleeve assembly, and provides an assembly device and method for an energetic grain rubber protective sleeve, and a supporting frame, an assembly platform is arranged below the assembly device, and the assembly device further comprises an inner-layer rubber sleeve stacking station and an outer-layer rubber sleeve stacking station which are arranged on the assembly platform, have the same structure and are adjacent to each other; a negative pressure sleeve taking assembly; an opening assembly; the wrapping and sleeving assembly and the opening assembly are devices of the same structure; an overturning assembly; and the working areas of the inner-layer rubber sleeve stacking station, the outer-layer rubber sleeve stacking station, the negative-pressure sleeve taking assembly, the opening assembly, the sleeve wrapping assembly and the overturning assembly are located on the same vertical reference plane. The first XY-axis moving mechanism is matched with the negative pressure sleeve taking assembly, the second XY-axis moving mechanism is matched with the sleeve wrapping assembly, the inner-layer rubber sleeve and the outer-layer rubber sleeve are expanded through the expanding assembly, the overturning assembly is used for overturning, and the integrated sleeve wrapping process is achieved.

Description

Technical Field

[0001] This invention relates to the field of protective sleeve assembly technology, specifically to an assembly device and assembly method for a rubber protective sleeve containing energetic propellant charges. Background Technology

[0002] Large-diameter cylindrical and conical structural components are commonly used basic parts in the field of industrial equipment. For such components with low hardness, poor thermal stability, and high surface quality requirements, such as energetic propellant cartridges, thin-walled cylindrical rubber protective sleeves are often installed on their outer surfaces to prevent damage to the structural components caused by mutual friction due to inertial impact during transportation and normal use.

[0003] Energetic propellant charges typically refer to propellant charges containing explosive or flammable substances, which have wide applications in military, industrial, and other fields. To ensure the safety of these propellant charges during storage, transportation, and use, they are usually encased in a rubber protective sleeve. The rubber protective sleeve significantly improves the safety of energetic propellant charges. During the production and use of the propellant charges, the rubber protective sleeve prevents physical damage such as collisions and friction that could potentially destroy the internal structure of the propellant charge or trigger an accidental explosion.

[0004] In most existing assembly processes, the assembly of protective sleeves is carried out manually, or the related equipment is completed with manual assistance. For example, in application number CN201810026728.X, "Cylindrical Rubber Protective Sleeve Assembly Device and Assembly Method", manual assistance is required in steps 1 and 4 of the method. However, in the assembly of energetic propellant, it is necessary to reduce direct human intervention, avoid operators being exposed to high-risk propellant, and prevent safety accidents caused directly by operator misoperation. Summary of the Invention

[0005] One object of the present invention is to solve at least the above-mentioned problems and / or defects, and to provide at least the advantages described below.

[0006] To achieve these objectives and other advantages of the present invention, an assembly device for a rubber protective sleeve containing an energetic propellant charge is provided. The device includes a support frame with an assembly platform below it, and further comprises: an inner rubber sleeve stacking station and an outer rubber sleeve stacking station arranged adjacent to each other on the assembly platform; a negative pressure sleeve-grabbing assembly for gripping the rubber protective sleeves at the inner or outer rubber sleeve stacking station, located directly above the assembly platform and on the Y-axis lead screw of a first XY-axis moving mechanism, the X-axis base of which is mounted on the support frame; and a device for assembling the rubber protective sleeves. The spreading component for spreading operations is set on the assembly platform, and the spreading component is stacked adjacent to the outer rubber sleeve stacking station; the sheathing component for putting the spread rubber protective sleeve onto the medicine column of the flipping component is located directly above the assembly platform and on the Y-axis lead screw of the second XY-axis moving mechanism, the X-axis base of the second XY-axis moving mechanism is mounted on the support frame, and the sheathing component and the spreading component are devices with the same structure; the flipping component for flipping the medicine column after the rubber protective sleeve has been wrapped is installed on the rotating platform of the rotating support column, and the flipping component is set adjacent to the spreading component; The working areas of the inner sleeve stacking station, the outer sleeve stacking station, the negative pressure sleeve removal assembly, the spreading assembly, the sleeve wrapping assembly, and the flipping assembly are all located on the same vertical reference plane.

[0007] Preferably, the structure of the inner sleeve stacking station includes: a first disc base, which is fixedly installed on the assembly platform, and the first disc base has at least 3 sets of first sliding grooves that are evenly distributed in a circle, and the movement trajectory of each first sliding groove coincides with the radius of the first disc base; and a vertical limiting block group, the lower end of which is slidably installed on each first sliding groove.

[0008] Preferably, the structure of the sheath assembly includes: a second disc base, one side of which is mounted on the Y-axis lead screw of the second XY-axis moving mechanism; at least three sets of second sliding grooves are uniformly distributed circumferentially on the second disc base; the second sliding grooves are parallel double-groove structures, and the movement trajectory of each second sliding groove coincides with the radius of the second disc base; a third disc base, one side of which is mounted on the Y-axis lead screw of the second XY-axis moving mechanism, and the third disc base is located directly above the second disc base; both the second and third disc bases have openings at their centers; a first electric cylinder is mounted on the third disc base, the piston rod of the first electric cylinder passes through the central opening, and a first suction cup is provided on the piston rod; a first clamping turntable is mounted directly below the third disc base via bearings, and the first... The first clamping turntable has a first sector-shaped tooth on its inner ring; a third sliding groove, of which at least three sets are arranged through and evenly distributed circumferentially on the first clamping turntable, the third sliding groove having a semi-arc structure; a first drive motor, which is mounted on the base of the third disc, and the output shaft of the first drive motor is provided with a first gear, the first gear meshing with the first gear with sector-shaped teeth; a first sliding finger group, which is evenly distributed circumferentially, and at least three sets are slidably mounted on the sleeve assembly, the structure of the first sliding finger group including: a first guide rail group, which is fixedly mounted on the base of the second disc, and the first guide rail group is located between the two grooves of the second sliding groove; a first moving slider, the lower half of which passes through the second sliding groove, and the first moving slider is slidably connected to the first guide rail group; a first follower, which is disposed on the upper end of the first moving slider, and the first follower is slidably connected to the third sliding groove.

[0009] Preferably, the first sliding finger group further includes: a first sliding finger, which is fixedly installed on the lower half of the first movable slider, and a first flat belt idler wheel and a second flat belt idler wheel are rotatably provided at the upper and lower ends of the first sliding finger, respectively; A belt is attached to the surface of the first sliding finger. One end of the belt is slidably connected to the first flat belt idler pulley, and the other end is slidably connected to the second flat belt idler pulley.

[0010] Preferably, the negative pressure sleeve removal assembly includes: a fourth disc base, one side of which is mounted on the Y-axis lead screw of the first XY-axis moving mechanism; a second clamping turntable, which is mounted above the center of the fourth disc base via bearings, and the edge of the second clamping turntable is provided with second sector teeth; a fourth sliding groove, which is provided with at least four sets and is evenly distributed circumferentially on the second clamping turntable, the fourth sliding groove being a straight line along the circumferential direction; and a second drive motor, which is mounted on the fourth disc base, and the output shaft of the second drive motor is provided with a second gear, the second gear meshing with the second clamping turntable; A fifth circular base is mounted on one side of the Y-axis lead screw of the first XY-axis moving mechanism, and is located directly below the fourth circular base. Four sets of fifth sliding grooves are evenly distributed circumferentially on the fifth circular base, and the movement trajectory of each fifth sliding groove coincides with the radius of the fifth circular base. A negative pressure suction cup is evenly distributed circumferentially, with at least four sets. The negative pressure suction cup includes: a suction cup buffer rod, which is slidably mounted in the fifth sliding groove. One end of the suction cup buffer rod is slidably connected to the fourth sliding groove via a second follower, and the other end is provided with a second suction cup; a second guide rail group, which is mounted on the fifth circular base and located to the side of the fifth sliding groove; and a second movable slider, which is slidably mounted on the second guide rail group, with the suction cup buffer rod and the second movable slider fixedly connected.

[0011] Preferably, the structure of the rotating support column includes: a support structure on which a third drive motor is mounted; An electric rotary support plate is connected to the output shaft of a third drive motor, and a flipping plate is provided on the rotating platform of the electric rotary support plate, with the flipping assembly mounted on the flipping plate.

[0012] Preferably, the structure of the flipping assembly includes: two sets of left and right clamping assemblies symmetrically arranged about the central axis of the flipping plate and slidably mounted on the flipping plate; a rotating motor located at the axis of the flipping plate, the output shaft of the rotating motor being connected to the movable adjustment end of the left and right clamping assemblies; an upper and lower clamping assembly composed of a first clamping plate and a second clamping plate with identical structures and arranged opposite each other, both of which can be rotatably mounted on the flipping plate; and two sets of telescopic electric cylinders staggered about the central axis of the flipping plate, the piston rod of each telescopic electric cylinder being connected to the movable end of the upper and lower clamping assemblies on the same side.

[0013] Preferably, the structure of the left and right clamping components includes: a third gear mounted on the output shaft of a rotating motor; a third guide rail assembly symmetrically arranged on both sides of the third gear; a first gripper with a first clamping block at one end, the other end of the first gripper being slidably connected to the third guide rail assembly on the same side via a first slider, and a first rack extending from one side of the first slider, the lower end of the first rack meshing with the upper end of the third gear; and a second gripper with a second clamping block at one end, the other end of the second gripper being slidably connected to the third guide rail assembly on the same side via a second slider, and a second rack extending from one side of the first slider, the upper end of the second rack meshing with the lower end of the third gear.

[0014] Preferably, the structure of the first clamping plate includes: an L-shaped guide groove symmetrically arranged on the upper half of the flipping plate; a circular clamping plate with right-angled triangular flipping support plates on both sides, and a rotating roller mounted on the first acute angle end of each right-angled triangular flipping support plate, the right-angled triangular flipping support plate being rotatably connected to the L-shaped guide groove on the same side via the roller; a vertical fourth guide rail assembly mounted on the flipping plate; a third movable slider slidably mounted on the vertical fourth guide rail assembly, and a mountain-shaped component connected to the third movable slider, the mountain-shaped component having a fixing pin connected inside, and the fixing pin extending out of the mountain-shaped component; the right-angle end of the right-angled triangular flipping support plate being rotatably connected to the fixing pin outside the mountain-shaped component via a bearing; and a pull ring mounted on the piston rod of the telescopic electric cylinder, the pull ring being rotatably connected to the fixing pin inside the mountain-shaped component.

[0015] The present invention also provides an assembly method for a rubber protective sleeve containing energetic propellant, employing the assembly device for the rubber protective sleeve containing energetic propellant as described above, comprising the following steps: A1. Preparation: Fold the outer and inner rubber sleeves and place them on the corresponding inner and outer rubber sleeve stacking stations, and place the pharmacopoeia that needs to be wrapped at the flipping assembly. A2. The first XY axis moving mechanism drives the negative pressure sleeve picking component to pick up the folded inner sleeve on the inner sleeve stacking station and send it to the spreading component, which spreads the inner sleeve open. A3. The second XY axis moving mechanism carries the sleeve assembly to grasp the already opened inner sleeve; at the same time, the first XY axis moving mechanism drives the negative pressure sleeve-removing assembly to grasp the folded outer sleeve on the outer sleeve stacking station. A4. The second XY axis moving mechanism drives the sheathing assembly to complete the installation of the inner layer of the drug cartridge sheath; the first XY axis moving mechanism drives the negative pressure sheath removal assembly to the spreading assembly, and the spreading assembly spreads open the outer layer of the sheath. A5. The second XY axis moving mechanism, carrying the sheath assembly, completes the gripping of the already opened outer sheath. During this process, the flipping assembly completes the 180-degree flipping of the drug cartridge. At the same time, the first XY axis moving mechanism drives the negative pressure sheath-removing assembly to complete the gripping of the next round of inner sheaths folded on the inner sheath stacking station. A6. The second XY axis moving mechanism drives the sheathing assembly to complete the application of the outer sheath of the drug cartridge, and the inner and outer sheaths of the drug cartridge are completed. The first XY axis moving mechanism drives the negative pressure sheathing assembly to send the gripped folded inner sheath to the spreading assembly, which spreads the inner sheath open to enter the next cycle.

[0016] The present invention has at least the following beneficial effects: This invention utilizes a first XY-axis moving mechanism in conjunction with a negative pressure sleeve-removing component, and a second XY-axis moving mechanism in conjunction with a sleeve-wrapping component. The spreading component spreads open the inner and outer rubber sleeves, and the flipping component flips them over, achieving an integrated sleeve-wrapping process. This reduces manual assistance, avoids operators being exposed to high-risk drug cartridges, and prevents human-caused safety accidents. At the same time, the assembly device has a simple and clear structure, high efficiency, and can adapt to the process and efficiency requirements of modular mass production.

[0017] Other advantages, objectives and features of the present invention will become apparent in part from the following description, and in part from those skilled in the art through study and practice of the invention. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the process steps s1-s7 of the present invention; Figure 3 This is a schematic diagram of the process steps s8-s13 of the present invention; Figure 4 This is a schematic diagram of the process steps s14-s18 of the present invention; Figure 5 This is a schematic diagram of the overall structure of the assembly platform of the present invention; Figure 6 This is a schematic diagram of the overall structure of the support frame of the present invention; Figure 7 For the present invention Figure 6 Enlarged structural diagram at point A; Figure 8 This is a schematic cross-sectional view of the third disc base of the present invention; Figure 9 This is a schematic cross-sectional view of the second disc base of the present invention; Figure 10 For the present invention Figure 9 Enlarged structural diagram at point B; Figure 11 This is a schematic diagram of the initial state of the sheath assembly of the present invention; Figure 12 This is a schematic diagram showing the maximum radius adjustment of the sheathing component of the present invention; Figure 13 For the present invention Figure 6 Enlarged structural diagram at point B; Figure 14 For the present invention Figure 13 Side sectional view; Figure 15 This is a schematic diagram of the cross-sectional structure of the second clamping turntable of the present invention; Figure 16 This is a schematic cross-sectional view of the fifth disc base of the present invention; Figure 17 This is a schematic diagram of the initial state of the negative pressure sleeve removal assembly of the present invention; Figure 18 This is a schematic diagram showing the maximum radius adjustment of the negative pressure sleeve removal component of the present invention; Figure 19 This is a schematic diagram of the rotating support column structure of the present invention; Figure 20 This is a schematic diagram of the flip component structure of the present invention; Figure 21 For the present invention Figure 20 Enlarged structural diagram at point C; Figure 22 This is a cross-sectional view of the left and right clamping components of the present invention in their initial state. Figure 23 This is a cross-sectional view of the left and right clamping components of the present invention in the clamping state; Figure 24 For the present invention Figure 20 Side sectional view; Figure 25 This is a schematic diagram of the structure of the flipping component of the present invention during the flipping process; Figure 26 For the present invention Figure 25 Side sectional view; Figure 27 For the present invention Figure 26 Enlarged structural diagram at point D; Figure 28 This is a schematic diagram of the clamping state of the flipping component of the present invention; Figure 29 This is a schematic diagram of the structure of the expansion component of the present invention; Figure 30 This is a schematic cross-sectional view of the sixth disc base of the present invention; Figure 31 This is a schematic cross-sectional view of the seventh disc base of the present invention; Figure 32 This is a schematic diagram of the right-angled triangular flip support plate of the present invention; The diagram shows: 1. Assembly platform; 2. Support frame; 21. First XY axis moving mechanism; 22. Second XY axis moving mechanism; 3. Inner layer rubber sleeve stacking station; 31. First disc base; 32. First slide groove; 33. Vertical limiting block assembly; 4. Outer layer rubber sleeve stacking station; 5. Spreading assembly; 6. Flipping assembly; 61. Left and right clamping assembly; 611. Third gear; 612. Third guide rail assembly; 613. First gripper; 614. First clamping block; 615. First slider; 616... 6. First rack; 617. Second gripper; 618. Second clamping block; 619. Second slider; 620. Second rack; 62. Rotating motor; 63. Upper and lower clamping assembly; 64. First clamping plate; 641. L-shaped guide groove; 642. Circular clamping plate; 643. Right-angled triangular flipping support plate; 644. Roller; 645. Vertical fourth guide rail assembly; 646. Third moving slider; 647. Pull ring; 65. Second clamping plate; 66. Telescopic electric cylinder; 67. Weighing sensor; 7. 71. Rotary support column; 72. Third drive motor; 73. Electric rotary support plate; 8. Tilting plate; 9. Negative pressure sleeve removal assembly; 81. Fourth disc base; 82. Second clamping turntable; 83. Fourth slide groove; 84. Second drive motor; 841. Second gear; 85. Fifth disc base; 86. Fifth slide groove; 87. Negative pressure suction cup; 871. Suction cup buffer rod; 872. Second follower; 873. Second suction cup; 874. Second guide rail assembly; 875. Second moving slider; 91. Encasing assembly; 92. Second disc base; 93. Second slide groove; 94. Third disc base; 95. First electric cylinder; 96. First suction cup; 97. First clamping turntable; 98. Third slide groove; 99. First drive motor; 981. First gear; 99. First sliding finger assembly; 991. First guide rail assembly; 992. First moving slider; 993. First follower; 994. First sliding finger; 995. Flat belt idler wheel I; 996. Second flat belt idler wheel; 997. Belt. Detailed Implementation

[0021] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0022] It should be understood that terms such as “having,” “comprising,” and “including” as used herein do not exclude the presence or addition of one or more other elements or combinations thereof.

[0023] It should be noted that in the description of this invention, the orientations or positional relationships indicated by terms are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention. In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this invention, unless otherwise explicitly specified and limited, the terms "installed", "equipped", "sleeved / connected", "connected", etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0025] Furthermore, in this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Moreover, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0026] See Figures 1-4 As shown, an assembly device for a rubber protective sleeve containing an energetic drug cartridge according to the present invention includes: a support frame 2, with an assembly platform 1 disposed below it; and further includes: an inner rubber sleeve stacking station 3 and an outer rubber sleeve stacking station 4 with the same structure and disposed adjacent to each other on the assembly platform 1; a negative pressure sleeve picking assembly 8 for picking up the rubber protective sleeves on the inner rubber sleeve stacking station or the outer rubber sleeve stacking station, which is located directly above the assembly platform 1 and on the Y-axis lead screw of the first XY-axis moving mechanism 21, and the X-axis base of the first XY-axis moving mechanism 21 is mounted on the support frame 2; The spreading component 5, used for spreading the rubber protective sleeve, is mounted on the assembly platform 1 and is positioned adjacent to the outer rubber sleeve stacking station 4. The sheathing component 9, used for placing the spread rubber protective sleeve onto the medicine column of the flipping component, is located directly above the assembly platform 1 and on the Y-axis lead screw of the second XY-axis moving mechanism 22. The X-axis base of the second XY-axis moving mechanism 22 is mounted on the support frame 2. The sheathing component 9 and the spreading component 5 are structurally identical. The flipping component 6, used for flipping the medicine column after it has been covered with the rubber protective sleeve, is mounted on the rotating platform of the rotating support column 7 and is positioned adjacent to the spreading component 5. The working areas of the inner rubber sleeve stacking station 3, the outer rubber sleeve stacking station 4, the negative pressure sleeve removal component 8, the spreading component 5, the sheathing component 9, and the flipping component 6 are all located on the same vertical reference plane.

[0027] Working principle: S1. Preparation: Fold the outer and inner rubber sleeves to be used and place them on the corresponding inner rubber sleeve stacking station 3 and outer rubber sleeve stacking station 4, and place the medicine column to be wrapped at the flipping component 6. S2. Operation begins. The first XY-axis moving mechanism 21 on the support frame 2 is started via an external power supply. The Y-axis lead screw of the first XY-axis moving mechanism 21 will drive the negative pressure sleeve-retrieving assembly 8 to move vertically downward, completing the gripping of the folded inner sleeve on the inner sleeve stacking station 3. After the inner sleeve is gripped, the Y-axis lead screw of the first XY-axis moving mechanism 21 will drive the negative pressure sleeve-retrieving assembly 8 to move vertically upward. During this process, since the folded part of the inner sleeve does not contact the negative pressure sleeve-retrieving assembly 8, the folded part will hang down naturally (refer to the process described above). Figure 2 (S2-S3) S3. The negative pressure sleeve removal assembly 8 is moved laterally to directly above the spreading assembly 5 via the X-axis moving end of the first XY-axis moving mechanism 21. The Y-axis lead screw of the first XY-axis moving mechanism 21 drives the negative pressure sleeve removal assembly 8 to move vertically downwards, placing the inner rubber sleeve onto the spreading assembly 5. During this process, the spreading assembly 5 spreads the inner rubber sleeve open (this process is described in reference). Figure 2 (S4-S6) S4. The X-axis moving end of the second XY-axis moving mechanism 22 moves the sleeve assembly 9 directly above the expansion assembly 5. The Y-axis lead screw of the second XY-axis moving mechanism 22 will carry the sleeve assembly 9 to complete the gripping of the already expanded inner rubber sleeve. Simultaneously, through the X-axis moving end of the first XY-axis moving mechanism 21, the negative pressure sleeve-removing assembly 8 is moved laterally to directly above the outer sleeve stacking station 4. The Y-axis lead screw of the first XY-axis moving mechanism 21 will drive the negative pressure sleeve-removing assembly 8 to complete the gripping of the folded outer sleeve on the outer sleeve stacking station 4; (This process is referenced) Figure 2 S7- Figure 3 (S8) S5. Using the X-axis moving end of the second XY-axis moving mechanism 22, the sheath assembly 9 is moved directly above the flipping assembly 6. The Y-axis lead screw of the second XY-axis moving mechanism 22 will drive the sheath assembly 9 to move vertically downwards, completing the installation of the inner layer of the medicine column sheath. Simultaneously, using the X-axis moving end of the first XY-axis moving mechanism 21, the negative pressure sheath removal assembly 8 is moved laterally to directly above the spreading assembly 5. The Y-axis lead screw of the first XY-axis moving mechanism 21 will drive the negative pressure sheath removal assembly 8 to move vertically downwards, placing the outer layer of the sheath on the spreading assembly 5. During this process, the spreading assembly 5 spreads open the outer layer of the sheath. (This process is referenced...) Figure 3 (S9-S12) S6. The flipping component 6 flips 180 degrees; simultaneously, the Y-axis screw of the second XY-axis moving mechanism 22, carrying the sleeve assembly 9, grasps the already opened outer sleeve; at the same time, the Y-axis screw of the first XY-axis moving mechanism 21 drives the negative pressure sleeve-removing component 8 to move vertically downward, completing the grasping of the inner sleeve on the inner sleeve stacking station 3; (This process is referenced) Figure 3 S13- Figure 4 (S14, S15). S7. The sleeve assembly 9 is moved to the top of the flipping assembly 6 by the X-axis moving end of the second XY-axis moving mechanism 22. The Y-axis lead screw of the second XY-axis moving mechanism 22 will drive the sleeve assembly 9 to move vertically downward to complete the sleeve of the outer rubber sleeve of the medicine column. The first inner and outer rubber sleeve covering is completed. Simultaneously, the negative pressure sleeve removal assembly 8 is moved laterally to directly above the spreading assembly 5 via the X-axis moving end of the first XY-axis moving mechanism 21. The Y-axis lead screw of the first XY-axis moving mechanism 21 drives the negative pressure sleeve removal assembly 8 to move vertically downward, placing the inner rubber sleeve onto the spreading assembly 5. During this process, the spreading assembly 5 spreads the inner rubber sleeve open, entering the next cycle (this process is referenced). Figure 4 (S16-S18) In actual use, after the packaging is completed, the transfer mechanism will move the drug column on the flipping component 6, and then the existing detection system (such as a 3D scanner) and the existing inkjet printer will perform detection and inkjet printing. The detection system and inkjet printer for monitoring and inkjet printing are well known technologies in the field and will not be described here. ②The negative pressure sleeve removal assembly 8 is moved laterally by the X-axis lead screw of the first XY-axis moving mechanism 21; the sleeve assembly 9 is moved laterally by the X-axis lead screw of the second XY-axis moving mechanism 22. In practical use, the servo motors for the Y-axis output of the first XY-axis moving mechanism 21 and the second XY-axis moving mechanism 22 should preferably be selected with the following characteristics: power ≥ 1kW, torque ≥ 3N・m, and speed ≥ 3000rpm. The reducer selected for use with the servo motor is a star reducer with a transmission ratio of 4:1. Y-axis ball screw modules should preferably be selected with: thrust ≥3000N, stroke ≥980mm, and screw φ25. In practical use, the servo motors for the X-axis output of the first XY-axis moving mechanism 21 and the second XY-axis moving mechanism 22 are preferably selected as follows: 750W, rated speed 3000rpm, rated torque 1.27N・m; The reducer to be used with the servo motor should have a reduction ratio of i=16 and a rated torque of ≥10N・m. X-axis ball screw modules should preferably be selected with: double groove, rated dynamic load ≥15kN; stroke: ≥1500mm; In summary, this invention achieves an integrated sleeve-making process by using a first XY-axis moving mechanism 21 in conjunction with a negative pressure sleeve-removing assembly 8, and a second XY-axis moving mechanism 22 in conjunction with a sleeve-making assembly 9. The spreading assembly 5 spreads the inner and outer sleeves, and the flipping assembly 6 flips them over. At the same time, the assembly device has a simple and clear structure, high efficiency, and can adapt to the process and efficiency requirements of modular mass production.

[0028] As in the above scheme, see Figure 5 As shown, the structure of the inner layer rubber sleeve stacking station 3 includes: a first disc base 31, which is fixedly installed on the assembly platform 1, and the first disc base 31 has at least 3 sets of first sliding grooves 32 that are evenly distributed in a circle, and the movement trajectory of each first sliding groove 32 coincides with the radius of the first disc base 31; and a vertical limiting block group 33, the lower end of which is slidably installed on each first sliding groove 32.

[0029] Working principle: First, based on the dimensions of the inner and outer rubber sleeves, the vertical limiting block group 33 is slid horizontally. The three vertical limiting block groups 33 move horizontally on the first slide groove 32 to adjust the radius of the placement area on the first disc base 31. After adjustment, the vertical limiting block group 33 is fixed with bolts. Then, the rubber sleeves are divided into inner rubber sleeves and outer rubber sleeves, and placed on the inner rubber sleeve stacking station 3 and the outer rubber sleeve stacking station 4, respectively. Each station can hold 28 rubber sleeves to ensure the usage within a single batch.

[0030] As in the above scheme, see Figures 6-12 As shown, the structure of the sheath assembly 9 includes: The second disc base 91 is mounted on one side of the Y-axis lead screw of the second XY-axis moving mechanism 22. At least three sets of second sliding grooves 92, evenly distributed circumferentially, are provided through the second disc base 91. The second sliding grooves 92 are parallel double-groove structures, and the movement trajectory of each second sliding groove 92 coincides with the radius of the second disc base 91. The third disc base 93 is mounted on one side of the Y-axis lead screw of the second XY-axis moving mechanism 22 and is located directly above the second disc base 91. Both the second disc base 91 and the third disc base 93 have openings at their centers. A first electric cylinder 94 is mounted on the third disc base 93. The piston rod of the first electric cylinder 94 passes through the central opening, and a first suction cup 95 is provided on the piston rod. A first clamping turntable 96 is mounted directly below the center of the third disc base 93 via bearings, and the inner ring of the first clamping turntable has first sector teeth 961. The third slide groove 97 has at least three sets of slide grooves that are evenly distributed circumferentially on the first clamping turntable 96. The third slide groove 97 has a semi-arc structure. The first drive motor 98 is mounted on the third disc base 93, and the output shaft of the first drive motor 98 is provided with a first gear 981, which meshes with a first gear with fan-shaped teeth. The first sliding finger group 99 is evenly distributed circumferentially, and at least three sets are slidably mounted on the sleeve assembly 9. The structure of the first sliding finger group 99 includes: a first guide rail group 991, which is fixedly mounted on the second disc base 91 and is located between the two grooves of the second slide groove 92; a first moving slider 992, the lower half of which passes through the second slide groove 92 and is slidably connected to the first guide rail group 991; and a first follower 993, which is located on the upper end of the first moving slider 992 and is slidably connected to the third slide groove 97.

[0031] Working principle: (1) The radius adjustment method of the sheath assembly 9 is as follows (during this process, the first clamping turntable 96, the first follower 993, and the first sliding finger group 99 change as referenced). Figure 8 , Figure 11 , Figure 12 ): The first drive motor 98 is started by an external power supply. The first drive motor 98 drives the first gear 981 to rotate, and the first gear 981 drives the first sector tooth 961 that meshes with it to rotate. When the first clamping turntable 96 on the third disc base 93 rotates, the first follower 993 will slide along the trajectory of the third slide groove 97, thereby driving the first moving slider 992 to move linearly along the first guide rail group 991 in the second slide groove 92. At this time, because the first sliding finger group 99 is evenly distributed in a circle, the relative movement between the first sliding finger groups 99 causes the space enclosed by the inner side of all the first sliding finger groups 99 to change, resulting in a change in diameter, thereby completing the adjustment of the radius of the sheath assembly 9. (2) In actual use, the radius of the sleeve assembly 9 is smaller than the radius of the expansion assembly 5, and the sleeve assembly 9 grips the inner rubber sleeve (or outer rubber sleeve) in the following way: The first electric cylinder 94 inside the sheath assembly 9 first drives the first suction cup 95 to move vertically downward until the first suction cup 95 adheres to the end face of the inner rubber sleeve (or outer rubber sleeve) on the expansion assembly 5, and the first sliding finger group 99 of the sheath assembly 9 is inserted into the edge of the inner rubber sleeve (or outer rubber sleeve) after it is expanded. At this time, the Y-axis lead screw of the second XY axis moving mechanism 22 continues to drive the sleeve assembly 9 to move vertically downward. The inner rubber sleeve (or outer rubber sleeve) will flip and adhere to the first sliding finger group 99 of the sleeve assembly 9, thereby completing the gripping of the inner rubber sleeve (or outer rubber sleeve). After the gripping is completed, the first electric cylinder 94 drives the first suction cup 95 back to the initial position.

[0032] (3) In actual use, the radius of the sheathing assembly 9 is larger than the radius of the propellant column. The sheathing assembly 9 completes the inner (or outer) sheathing of the propellant column in the following way: The second XY axis moving mechanism 22 drives the sheath assembly 9 to move above the flipping assembly 6. The sheath assembly 9 moves downward to the drug column. At this time, the inner end face of the inner rubber sleeve (or outer rubber sleeve) contacts the upper end face of the drug column first. As the second XY axis moving mechanism 22 drives the sheath assembly 9 to continue moving downward, the inner rubber sleeve (or outer rubber sleeve) will flip and adhere to the surface of the drug column. Since the inner rubber sleeve (or outer rubber sleeve) is always in a taut state during the sheathing process, the end face of the rubber sleeve contacts the end face of the drug column first, and then the side slowly wraps around it. This top-down sheathing design can avoid the problem of air bulging between the drug column and the rubber sleeve in the sheathing. (4) Since the sheathing component 9 and the spreading component 5 are devices with the same structure, in order to avoid the graphic structure being unclear, the contents of the spreading component 5 will be explained again here: A sixth disc base 51 is mounted on the assembly platform 1 on one side. At least three sets of sixth sliding grooves 511, evenly distributed circumferentially, are provided through the sixth disc base 51. Each sixth sliding groove 511 is a parallel double-groove structure, and the movement trajectory of each sixth sliding groove 511 coincides with the radius of the sixth disc base 51. A seventh disc base 52 is mounted on the assembly platform 1 on one side, and is located directly below the sixth disc base 51. Both the sixth and seventh disc bases have openings at their centers. A second electric cylinder 53 is mounted on the sixth disc base 51. The piston rod of the second electric cylinder 53 passes through the central opening, and a third suction cup 531 is provided on the piston rod. A third clamping turntable 54 is mounted directly above the sixth disc base 51 via bearings, and a third sector tooth 541 is provided on the inner ring of the third clamping turntable 54. The seventh slide groove 55 has at least three sets of grooves that are evenly distributed circumferentially on the third clamping turntable 54. The seventh slide groove 55 has a semi-arc structure. The fourth drive motor 56 is mounted on the sixth disc base 51, and the output shaft of the fourth drive motor 56 is provided with a fourth gear 561, which meshes with the third sector tooth 541. The second sliding finger group 57 is evenly distributed circumferentially, and at least three sets of sliding fingers are provided and slidably mounted on the spreading assembly 5. The structure of the second sliding finger group 57 includes: a fifth guide rail group 58, which is fixedly mounted on the sixth disc base 51 and is located between the two grooves of the sixth slide groove 511; a fourth moving slider 59, the upper half of which passes through the sixth slide groove 511 and is slidably connected to the fifth guide rail group 58; and a third follower 591, which is located at the lower end of the fourth moving slider 59 and is slidably connected to the sixth slide groove 511.

[0033] Working principle (for reference) Figures 29-31 ): When the first XY axis moving mechanism 21 drives the negative pressure sleeve removal assembly 8 to place the inner (or outer) rubber sleeve onto the spreading assembly 5, the second electric cylinder 53 is activated by an external power source. The third suction cup 531 rises with the second electric cylinder 53 until it adheres to the end face of the inner (or outer) rubber sleeve. The edge of the inner (or outer) rubber sleeve hangs freely and contacts the second sliding finger group 57. The first XY axis moving mechanism 21 drives the negative pressure sleeve removal assembly 8 to move upward and away. The spreading assembly 5 is spread open by activating the fourth drive motor 56 by an external power source. The fourth drive motor 56 drives the fourth gear 561 to rotate, and the fourth gear 561 drives... The third sector tooth 541 that meshes with it rotates; when the third clamping turntable 54 on the sixth disc base 51 rotates, the third follower 591 will slide along the trajectory of the sixth slide groove 511, thereby driving the fourth moving slider 59 to move linearly along the fifth guide rail group 58 in the sixth slide groove 511; at this time, because the second sliding finger group 57 is evenly distributed in a circle, the relative movement between the second sliding finger groups 57 causes the space enclosed by the inner side of all the second sliding finger groups 57 to change, resulting in a change in diameter, thereby completing the opening of the inner rubber sleeve (or outer rubber sleeve). After the opening is completed, the second electric cylinder 53 drives the third suction cup 531 back to the initial position.

[0034] (5) The attached drawings in this specification only show three sets of adjustment tracks in which the first follower 993 and the third slide 97 are slidably connected. In actual use, at least six sets are provided.

[0035] As shown in the above scheme, you can refer to Figure 10 As shown, the first sliding finger group 99 further includes: a first sliding finger 994, which is fixedly installed on the lower half of the first movable slider 992, and a first flat belt idler wheel 995 and a second flat belt idler wheel 996 are rotatably provided at the upper and lower ends of the first sliding finger 994 respectively; and a belt 997, which is attached to the surface of the first sliding finger 994, with one end of the belt 997 slidably connected to the first flat belt idler wheel 995 and the other end slidably connected to the second flat belt idler wheel 996.

[0036] Working principle: As the second XY axis moving mechanism 22 drives the sheath assembly 9 to continue moving downward, the inner rubber sleeve (or outer rubber sleeve) will flip and adhere to the surface of the drug cartridge. Since the first flat belt idler wheel 995 and the second flat belt idler wheel 996 on the first sliding finger 994 cooperate with the belt 997 to form a rolling manner, the belt 997 rolls and rubs against the rubber sleeve, protecting the rubber sleeve from damage.

[0037] As in the above scheme, see Figures 13-18 As shown, the structure of the negative pressure sleeve removal assembly 8 includes: A fourth disc base 81 is mounted on one side of the Y-axis lead screw of the first XY-axis moving mechanism 21; a second clamping turntable 82 is mounted above the center of the fourth disc base 81 via bearings, and the edge of the second clamping turntable 82 is provided with second sector teeth 821; a fourth sliding groove 83 is provided on one side with at least four sets, which are evenly distributed circumferentially on the second clamping turntable 82, and the fourth sliding groove 83 is a straight line along the circumferential direction; a second drive motor 84 is mounted on the fourth disc base 81, and the output shaft of the second drive motor 84 is provided with a second gear 841, which meshes with the second clamping turntable 82; a fifth disc base 85 is mounted on the Y-axis lead screw of the first XY-axis moving mechanism 21, and the fifth disc base 85 is located directly below the fourth disc base 81. The fifth disc base 85 has four sets of fifth sliding grooves 86 evenly distributed around its circumference, and the movement trajectory of each fifth sliding groove 86 coincides with the radius of the fifth disc base 85. A negative pressure suction cup 87 is also present, evenly distributed around its circumference, and at least four sets are provided. The structure of the negative pressure suction cup 87 includes: a suction cup buffer rod 871, which is slidably installed in the fifth sliding groove 86. One end of the suction cup buffer rod 871 is slidably connected to the fourth sliding groove 83 via a second follower 872, and the other end is provided with a second suction cup 873; a second guide rail group 874, which is installed on the fifth disc base 85 and located to the side of the fifth sliding groove 86; and a second movable slider 875, which is slidably installed on the second guide rail group 874, and the suction cup buffer rod 871 is fixedly connected to the second movable slider 875.

[0038] Working principle: (1) During this process, the second clamping turntable 82, the second follower 872, and the suction cup buffer rod 871 change as referenced. Figure 17 , Figure 18 First, the second drive motor 84 is started by an external power supply. The second drive motor 84 drives the second gear 841 to rotate, and the second gear 841 drives the second sector tooth 821 that meshes with it to rotate, which in turn drives the second clamping turntable 82 to rotate. When the second clamping turntable 82 on the fourth disc base 81 rotates, the second follower 872 slides along the straight fourth slide groove 83 with the suction cup buffer rod 871, which in turn drives the second moving slider 875 to move linearly along the second guide rail group 874 in the fifth slide groove 86. At this time, because the negative pressure suction cups 87 are evenly distributed in a circle, the relative movement between the negative pressure suction cups 87 causes the space enclosed by the inner side of all the negative pressure suction cups 87 to change, resulting in a change in diameter, thereby completing the adjustment of the radius of the negative pressure sleeve assembly 8. (2) Then, through the Y-axis lead screw of the first XY axis moving mechanism 21, the second suction cup 873 comes into contact with the edge end face of the inner or outer rubber sleeve, thereby realizing the gripping of the inner or outer rubber sleeve.

[0039] As in the above scheme, see Figures 19-20 As shown, the structure of the rotating support column 7 includes: a support structure on which a third drive motor 71 is mounted; an electric rotary support disk 72 connected to the output shaft of the third drive motor 71, and a flipping plate 73 is mounted on the rotating platform of the electric rotary support disk 72, and the flipping component 6 is mounted on the flipping plate 73.

[0040] Working principle: After the flipping assembly 6 has finished clamping the medicine column on all four sides, the third drive motor 71 is started by the external power supply. The third drive motor 71 drives the electric rotary support plate 72 to rotate, so that the flipping assembly 6 can complete a 180-degree flip, at which point the opposite side of the medicine column is facing up.

[0041] As in the above scheme, see Figure 20 , Figure 24 As shown, the structure of the flipping assembly 6 includes: two sets of left and right clamping assemblies 61, which are symmetrically arranged about the central axis of the flipping plate 73 and slidably mounted on the flipping plate 73; a rotating motor 62, which is located inside the flipping plate 73 and is located at the axial center, and the output shaft of the rotating motor 62 is connected to the movable adjustment end of the left and right clamping assemblies 61; an upper and lower clamping assembly 63, which is composed of a first clamping plate 64 and a second clamping plate 65 with the same structure and arranged opposite to each other, and both the first clamping plate 64 and the second clamping plate 65 can be rotatably mounted on the flipping plate 73; and two sets of telescopic electric cylinders 66, which are staggered vertically about the central axis of the flipping plate 73, and the piston rod of each telescopic electric cylinder 66 is connected to the movable end of the upper and lower clamping assembly 63 on the same side.

[0042] Working principle: In the initial state of the device, the left and right clamping components 61 are positioned on both sides, the flipping plate 73 of the upper and lower clamping components 63 is parallel to the first clamping plate 64, and the flipping plate 73 is perpendicular to the second clamping plate 65. In the initial state, the medicine column 100 is placed on the second clamping plate 65. After the inner rubber sleeve is fitted onto the medicine column by the aforementioned sleeve assembly, the rotating motor 62 is started by an external power source. The rotating motor 62 drives the left and right clamping components 61 to move, and after clamping the medicine column from both sides, the rotating motor 62 is turned off, and the left and right clamping components 61 no longer move. At this time, the telescopic electric cylinder 66 is started by an external power source, and the telescopic electric cylinder 66 drives the first clamping plate 65 to move. The plate 64 is flipped to press the end face of the medicine column. After the upper and lower clamping components 63 and the left and right clamping components 61 clamp the medicine column on all four sides, the drive motor is started by the external power supply. The drive motor drives the electric rotary support plate 72 to rotate, so that the flipping component 6 completes a 180-degree flip, at which point the bottom surface of the medicine column is facing upward. After the flipping is completed, the left and right clamping components 61 are opened, and the telescopic electric cylinder 66 is started by the external power supply. The telescopic electric cylinder 66 drives the second clamping plate 65 to flip until the second clamping plate 65 is parallel to the flipping plate 73. The telescopic electric cylinder 66 is then closed, and the outer rubber sleeve application operation at the bottom of the medicine column can continue through the sleeve assembly.

[0043] As in the above scheme, see Figures 21-24 As shown, the structure of the left and right clamping components 61 includes: a third gear 611, which is mounted on the output shaft of the rotating motor 62; a third guide rail group 612, which is symmetrically arranged on both sides of the third gear 611; a first gripper 613, one end of which is provided with a first clamping block 614, and the other end of the first gripper 613 is slidably connected to the third guide rail group 612 on the same side through a first slider 615, and a first rack 616 extends from one side of the first slider 615, the lower end of the first rack 616 meshing with the upper end of the third gear 611; a second gripper 617, one end of which is provided with a second clamping block 618, and the other end of the second gripper 617 is slidably connected to the third guide rail group 612 on the same side through a second slider 619, and a second rack 620 extends from one side of the first slider 615, the upper end of the second rack 620 meshing with the lower end of the third gear 611.

[0044] Working principle: The specific method by which the left and right clamping components 61 are moved by rotating the motor 62 is as follows (the process of changing the first rack 616 and the second rack 620 during this process is described in reference). Figure 22-23After the inner rubber sleeve of the medicine column is installed, the rotating motor 62 is started by an external power source. The rotating motor 62 will drive the third gear 611 to rotate. Since the lower end of the first rack 616 meshes with the upper end of the third gear 611, and the upper end of the second rack 620 meshes with the lower end of the third gear 611, the forward (reverse) rotation of the third gear 611 causes the first gear 981 and the second rack 620 to move inward synchronously. The first gear 981 and the second rack 620 will drive the first slider 615 and the second slider 619 to move inward synchronously, so that the first gripper 613 and the second gripper 617 move closer to the medicine column to clamp it. When the first clamping block 614 and the second clamping block 618 are pressed against the side wall of the medicine column, the rotating motor 62 is turned off, the third gear 611 stops rotating, and the left and right clamping components 61 no longer move.

[0045] Among them, ① in actual use, the first clamping block 614 and the second clamping block 618 are each equipped with two sets of weighing sensors 67. The weighing sensors 67 are connected to the processor, and the processor is connected to the rotating motor 62 to monitor the clamping force of the module in real time and ensure that the module is rotated smoothly. The real-time clamping force is transmitted to the processor by the load cell 67. The processor's data processing module compares the data. If the force is lower than the preset value, the data processing module sends a command to the processor. After processing, the processor starts the rotating motor 62, which further clamps the left and right clamping components 61. The parameters of the load cell 67 are shown in Table 1-1 below: Table 1-1 ② In actual use, soft pads are provided at the places where the first clamping block 614 and the second clamping block 618 come into contact with the medicine column to protect the medicine column.

[0046] As in the above scheme, see Figures 24-28 As shown, the structure of the first clamping plate 64 includes: an L-shaped guide groove 641, symmetrically arranged on the upper half of the flipping plate 73; a circular clamping plate 642, on both sides of which are right-angled triangular flipping support plates 643, and each right-angled triangular flipping support plate 643 has a roller 644 mounted on its first acute angle end, and the right-angled triangular flipping support plate 643 is rotatably connected to the L-shaped guide groove 641 on the same side through the roller 644; a vertical fourth guide rail group 645, which is mounted on the flipping plate 73; a third movable slider 646, which is slidably mounted on the vertical fourth guide rail group 645, and a mountain-shaped component 648 is connected to the third movable slider 646, and a fixing pin 649 is connected inside the mountain-shaped component 648, and the fixing pin extends out of the mountain-shaped component; the right-angled end of the right-angled triangular flipping support plate 643 is rotatably connected to the fixing pin outside the mountain-shaped component through a bearing; Pull ring 647 is mounted on the piston rod of telescopic electric cylinder 66, and pull ring 647 is rotatably connected to the fixing pin in the mountain-shaped part.

[0047] Working principle: (1) In the initial state, the medicine column 100 is placed on the second clamping plate 65. After the inner rubber sleeve is put on the medicine column by the above-mentioned sleeve assembly, the rotating motor 62 is started by the external power supply, and the telescopic electric cylinder 66 drives the first clamping plate 64 to flip. The specific process is as follows (in this process, the changes of the roller 644, the right-angled triangular flipping support plate 643, and the circular clamping plate 642 are described in reference). Figure 24 , Figure 27 , Figure 28 The pull ring 647 of the telescopic electric cylinder 66 pulls the third moving slider 646, which moves vertically downward along the fourth vertical guide rail group 645. The third moving slider 646 drives the right-angled triangular flip support plate 643 to move through the fixing pin. Since the right-angled triangular flip support plate 643 is connected to the L-shaped guide groove 641 on the same side by roller 644, the roller 644 will slide along the corner of the L-shaped guide groove 641, thereby realizing the change of angle. It should be noted that the roller 644 is installed on the first acute angle end of the right-angled triangular flip support plate 643, and the right angle end of the right-angled triangular flip support plate 643 is connected to the fixing pin outside the mountain-shaped part through a bearing (and the roller connection position 650 and the bearing rotation connection point 651 of the right angle end are not on the same horizontal line, the roller connection position is lower than the bearing rotation connection point of the right angle end; such as Figure 32 Therefore, during the vertical movement of the pull ring 647 of the telescopic electric cylinder 66, the tension applied to the right-angle end of the right-angled triangular flip support plate 643 can be decomposed to drive the roller to roll in the horizontal direction of the L-shaped guide groove 641, thereby realizing the transformation from the horizontal direction to the vertical direction within the L-shaped guide groove 641; thereby driving the circular clamping plate 642 of the first clamping plate 64 to complete a 90-degree rotation, the roller 644 continues to move along the L-shaped guide groove 641, and after the circular clamping plate 642 presses against the upper end face of the medicine column, the telescopic electric cylinder 66 is closed; (2) After the flipping is completed, open the left and right clamping components 61 and start the telescopic electric cylinder 66 through the external power supply. The telescopic electric cylinder 66 drives the second clamping plate 65 to flip. The specific process is as follows: the pull ring 647 of the telescopic electric cylinder 66 pushes the third moving slider 646 upward. The third moving slider 646 moves vertically upward along the vertical fourth guide rail group 645. The third moving slider 646 drives the right-angled triangle flipping support plate 643 to move through the fixing pin. Since the right-angled triangle flipping support plate 643 is connected to the L-shaped guide groove 641 on the same side through the roller 644, the roller 644 will slide along the corner of the L-shaped guide groove 641, thereby realizing the change of angle. Once the second clamping plate 65 has rotated 90 degrees, i.e. until the second clamping plate 65 is parallel to the flipping plate 73, close the telescopic electric cylinder 66, and the outer rubber sleeve application operation at the bottom of the medicine column can continue.

[0048] (3) In actual use, the motor is equipped with a self-locking brake and has an anti-fall function during the flipping process; soft pads are provided at the places where the circular clamping plate 642 contacts the medicine column to protect the medicine column; and it should be noted that the structure for flipping the first clamping plate 64 and the second clamping plate 65 is the same, that is, there are two sets of the telescopic electric cylinder 66, pull ring 647, third moving slider 646, fourth guide rail group 645, L-shaped guide groove 641, right-angled triangular flipping support plate 643, etc., to respectively realize the flipping of the first clamping plate 64 and the second clamping plate 65.

[0049] Example 1: An assembly method for a rubber protective sleeve containing energetic propellant charges, using an assembly device for the rubber protective sleeve containing energetic propellant charges, includes the following steps: (1) Preparation: First, adjust the size of the inner rubber sleeve stacking station 3 and the outer rubber sleeve stacking station 4 according to the size of the inner rubber sleeve and the outer rubber sleeve. Then divide the rubber sleeve into inner rubber sleeve and outer rubber sleeve and place them on the inner rubber sleeve stacking station 3 and the outer rubber sleeve stacking station 4 respectively. Each station can hold 28 rubber sleeves. Then place the medicine column that needs to be wrapped at the flipping component 6. The initial position of the negative pressure sleeve removal component 8 is directly opposite the inner rubber sleeve stacking station 3, and the initial position of the wrapping component 9 is directly opposite the spreading component 5 on the assembly platform 1. (2) The operation begins with the negative pressure sleeve-grabbing assembly 8 gripping the inner rubber sleeve: The first XY axis moving mechanism 21 on the support frame 2 is started by an external power supply. The Y-axis lead screw of the first XY axis moving mechanism 21 will drive the negative pressure sleeve assembly 8 to move vertically downward. During the movement, the second drive motor 84 drives the second gear 841 to rotate. The second gear 841 drives the second clamping turntable 82 meshing with it to rotate. When the second clamping turntable 82 on the fourth disc base 81 rotates, the second follower 872 slides along the straight third slide groove 97 with the suction cup buffer rod 871, thereby driving the second moving slider 875 to move linearly along the second guide rail group 874 in the fourth slide groove 83. At this time, because the negative pressure suction cups 87 are evenly distributed in a circle, the relative movement between the negative pressure suction cups 87 causes the space enclosed by the inner side of all the negative pressure suction cups 87 to change, resulting in a change in diameter, thereby completing the adjustment of the radius of the negative pressure sleeve assembly 8, and then grabbing the folded inner layer rubber sleeve on the inner layer rubber sleeve stacking station 3. (3) After the negative pressure sleeve-grabbing assembly 8 completes the gripping of the inner rubber sleeve: The Y-axis lead screw of the first XY axis moving mechanism 21 will drive the negative pressure sleeve removal assembly 8 to move vertically upward. During this process, since the inner rubber sleeve folded part does not contact the negative pressure sleeve removal assembly 8, the folded part will naturally droop down. The negative pressure sleeve removal component 8 is moved laterally to directly above the opening component 5 via the X-axis moving end of the first XY-axis moving mechanism 21. (4) The inner rubber sleeve is opened by the opening component 5: The Y-axis lead screw of the first XY-axis moving mechanism 21 drives the negative pressure sleeve-removing assembly 8 to move vertically downward, placing the inner rubber sleeve on the spreading assembly 5. The first suction cup-2 rises with the first electric cylinder-2 until it adheres to the end face of the inner rubber sleeve, and the edge of the inner rubber sleeve hangs freely and contacts the first sliding finger group-2. The first drive motor-2 is started by an external power supply, and the first drive motor-2 drives the first gear-2 to rotate. The first gear-2 drives the first clamping turntable-2 to rotate. When the first clamping turntable-2 on the third disc base-2 rotates, the first follower-2 will slide along the trajectory of the third slide groove-2, thereby driving the first moving slider-2 to move linearly along the first guide rail group-2 in the second slide groove-2. Because the first sliding finger group-2 is evenly distributed in a circle, the relative movement between the first sliding finger groups-2 causes the space enclosed by the inner sides of all the first sliding finger groups-2 to change, resulting in a change in diameter, thereby completing the spreading of the inner rubber sleeve. After spreading is completed, the first electric cylinder-2 drives the first suction cup-2 back to the initial position. (5) Before the inner rubber sleeve is gripped, the radius of the sleeve 9 component is adjusted; at the same time, the outer rubber sleeve is gripped by the negative pressure sleeve-grabbing component 8: ① The X-axis moving end of the second XY-axis moving mechanism 22 moves the sleeve assembly 9 directly above the expansion assembly 5. The Y-axis lead screw of the second XY-axis moving mechanism 22 drives the sleeve assembly 9 to move downward. The first drive motor 98 is started by an external power supply. The first drive motor 98 drives the first gear 981 to rotate. The first gear 981 drives the first clamping turntable 96 meshing with it to rotate. When the first clamping turntable 96 on the third disc base 93 rotates, the first follower 993 will slide along the trajectory of the third slide groove 97, thereby driving the first moving slider 992 to move linearly along the first guide rail group 991 in the second slide groove 92. At this time, because the first sliding finger group 99 is evenly distributed in a circle, the relative movement between the first sliding finger groups 99 causes the space enclosed by the inner side of all the first sliding finger groups 99 to change, resulting in a change in diameter, thereby completing the adjustment of the radius of the sleeve assembly 9. The radius of the sleeve assembly 9 after adjustment is smaller than the radius of the expansion of the rubber sleeve. ②The negative pressure sleeve-removing assembly 8 is moved laterally to the top of the outer sleeve stacking station 4 by the X-axis moving end of the first XY axis moving mechanism 21. The negative pressure sleeve-removing assembly 8 is moved vertically downward by the Y-axis lead screw of the first XY axis moving mechanism 21 to complete the grasping of the folded outer sleeve on the outer sleeve stacking station 4. (6) After the radius adjustment is completed, the sleeve assembly 9 grabs the inner rubber sleeve that has been stretched and sends it to the flipping assembly 6; at the same time, the negative pressure sleeve removal assembly 8 places the outer rubber sleeve on the stretching assembly 5. ① The first electric cylinder 94 first drives the first suction cup 95 to move vertically downward until the first suction cup 95 adheres to the end face of the inner rubber sleeve on the expansion component 5, and the first sliding finger group 99 of the sleeve component 9 is inserted into the edge after the inner rubber sleeve is expanded. The first electric cylinder 94 inside the sleeve assembly 9 first drives the first suction cup 95 to move vertically downward until the first suction cup 95 adheres to the end face of the inner rubber sleeve on the expansion assembly 5. The Y-axis screw of the second XY axis moving mechanism 22 continues to drive the sleeve assembly 9 to move vertically downward. The inner rubber sleeve will flip and adhere to the first sliding finger group 99 of the sleeve assembly 9, thereby completing the gripping of the inner rubber sleeve. After the gripping is completed, the first electric cylinder 94 drives the first suction cup 95 back to the initial position. The sleeve assembly 9 is moved to directly above the flipping assembly 6 through the X-axis moving end of the second XY axis moving mechanism 22. ②The negative pressure sleeve removal assembly 8 is moved laterally to the top of the opening assembly 5 by the X-axis moving end of the first XY axis moving mechanism 21. The Y-axis screw of the first XY axis moving mechanism 21 drives the negative pressure sleeve removal assembly 8 to move vertically downward, and the outer rubber sleeve is placed on the opening assembly 5. The opening assembly 5 opens the outer rubber sleeve (this step can be referred to (4)). (7) Installation of the inner rubber sleeve: The sheath assembly 9 moves downward to the pill column. At this time, the inner end face of the inner rubber sleeve contacts the upper end face of the pill column. As the second XY axis moving mechanism 22 drives the sheath assembly 9 to continue moving downward, the first flat belt idler wheel 995 and the second flat belt idler wheel 996 on the first sliding finger 994 cooperate with the belt 997 to form a rolling mechanism, so that the belt 997 and the rubber sleeve roll and rub against each other. The rubber sleeve slides and flips along the second flat belt idler wheel 996 at the lower end of the first sliding finger 994 and is fitted onto the surface of the pill column, completing the fitting of the inner rubber sleeve of the pill column. (8) Rotate component 6 180 degrees: During this process, after the inner rubber sleeve of the medicine column is installed, the rotating motor 62 is started by an external power source. The rotating motor 62 will drive the third gear 611 to rotate. Because the lower end of the first rack 616 meshes with the upper end of the third gear 611, and the upper end of the second rack 620 meshes with the lower end of the third gear 611, the forward (reverse) rotation of the third gear 611 causes the first gear 981 and the second rack 620 to move inward synchronously. The first gear 981 and the second rack 620 will drive the first slider 615 and the second slider 619 to move inward synchronously, so that the first gripper 613 and the second gripper 617 move closer to the medicine column to clamp it. When the first clamping block 614 and the second clamping block 618 are pressed against the side wall of the medicine column, the rotating motor 62 is turned off, the third gear 611 stops rotating, and the left and right clamping components 61 no longer move. The pull ring 647 of the telescopic electric cylinder 66 pulls the third moving slider 646, and the third moving slider 646 moves vertically. The fourth guide rail group 645 moves vertically downwards. The third moving slider 646 drives the right-angled triangular flipping support plate 643 to move through the fixed pin. Since the right-angled triangular flipping support plate 643 is connected to the L-shaped guide groove 641 on the same side through the roller 644, the roller 644 will slide along the corner of the L-shaped guide groove 641, thereby changing the angle. After the circular clamping plate 642 of the first clamping plate 64 completes a 90-degree rotation, the roller 644 continues to move along the L-shaped guide groove 641. After the circular clamping plate 642 presses against the upper end of the medicine column, the telescopic electric cylinder 66 is closed. The third drive motor 71 is started by the external power supply. The third drive motor 71 drives the electric rotary support plate 72 to rotate, so that the flipping component 6 completes a 180-degree flip, opens the left and right clamping components 61, and starts the telescopic electric cylinder 66 by the external power supply. The telescopic electric cylinder 66 drives the second clamping plate 65 to flip. At this time, the opposite side of the medicine column is facing up. (9) The outer sheath 9 component grips the stretched outer sheath; simultaneously, the negative pressure sheath-removing component 8 performs a new round of gripping the inner sheath and sends it to the stretching component 5: ① The first electric cylinder 94 first drives the first suction cup 95 to move vertically downward until the first suction cup 95 adheres to the end face of the outer rubber sleeve on the expansion component 5, and the first sliding finger group 99 of the sleeve component 9 is inserted into the edge of the outer rubber sleeve after it is expanded; the first electric cylinder 94 inside the sleeve component 9 first drives the first suction cup 95 to move vertically downward until the first suction cup 95 adheres to the end face of the outer rubber sleeve on the expansion component 5, and the Y-axis screw of the second XY axis moving mechanism 22 continues to drive the sleeve component 9 to move vertically downward, and the outer rubber sleeve will flip and adhere to the first sliding finger group 99 of the sleeve component 9, thereby completing the gripping of the outer rubber sleeve. After the gripping is completed, the first electric cylinder 94 drives the first suction cup 95 back to the initial position; through the X-axis moving end of the second XY axis moving mechanism 22, the sleeve component 9 is moved to directly above the flipping component 6; ② The negative pressure sleeve removal component 8 grabs the folded inner rubber sleeve on the inner rubber sleeve stacking station 3. Through the X-axis moving end of the first XY axis moving mechanism 21, the negative pressure sleeve removal component 8 is moved laterally to the top of the opening component 5. The Y-axis screw of the first XY axis moving mechanism 21 drives the negative pressure sleeve removal component 8 to move vertically downward, placing the inner rubber sleeve on the opening component 5. The opening component 5 opens the inner rubber sleeve (this step can be referred to (4)). (10) Installation of the outer rubber sleeve: The sheath assembly 9 moves downward to the pill cartridge. At this point, the inner end face of the sheath contacts the upper end face of the pill cartridge. As the second XY axis moving mechanism 22 drives the sheath assembly 9 to continue moving downward, the first flat belt idler wheel 995 and the second flat belt idler wheel 996 on the first sliding finger 994, together with the belt 997, form a rolling mechanism. This causes the belt 997 to roll and rub against the sheath. The sheath slides and flips along the second flat belt idler wheel 996 at the lower end of the first sliding finger 994, and is fitted onto the surface of the pill cartridge, completing the outer sheath fitting. The first inner and outer sheath covering is completed. The covered pill cartridge is removed by the transfer component, and a new pill cartridge to be covered is placed by the transfer component at the flipping assembly 6 to enter the next cycle. In practical use, the transfer components can be the grippers of existing or commercially available products.

[0050] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An assembly device for a rubber protective sleeve containing energetic propellant charges, comprising: The support frame, with an assembly platform below it, is characterized by further comprising: The assembly platform is provided with inner layer rubber sleeve stacking station and outer layer rubber sleeve stacking station that are identical in structure and arranged adjacent to each other; The negative pressure sleeve-grabbing assembly is used to grab the rubber protective sleeves on the inner layer rubber sleeve stacking station or the outer layer rubber sleeve stacking station. It is located directly above the assembly platform and on the Y-axis lead screw of the first XY axis moving mechanism. The X-axis base of the first XY axis moving mechanism is mounted on the support frame. The spreading assembly for spreading the rubber protective sleeve is set on the assembly platform, and the spreading assembly is set at the stacking station of the adjacent outer rubber sleeve. The sheath assembly, used to fit the expanded rubber protective sleeve onto the dart of the flipping component, is located directly above the assembly platform and on the Y-axis lead screw of the second XY-axis moving mechanism. The X-axis base of the second XY-axis moving mechanism is mounted on the support frame. The sheath assembly and the expansion assembly are devices with the same structure. A flipping assembly for flipping over a rubber-coated cartridge is mounted on a rotating platform of a rotating support column, and the flipping assembly is arranged adjacent to the spreading assembly. The working areas of the inner sleeve stacking station, the outer sleeve stacking station, the negative pressure sleeve removal assembly, the spreading assembly, the sleeve wrapping assembly, and the flipping assembly are all located on the same vertical reference plane.

2. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 1, characterized in that, The structure of the inner and outer rubber sleeve stacking stations includes: The first disc base is fixedly mounted on the assembly platform, and at least three sets of first sliding grooves are opened on the first disc base and are evenly distributed in a circle. The movement trajectory of each first sliding groove coincides with the radius of the first disc base. The vertical limiting block assembly has its lower end slidably mounted on each of the first sliding grooves.

3. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 1, characterized in that, The structure of the sheath assembly includes: The second disc base is mounted on the Y-axis lead screw of the second XY axis moving mechanism on one side. At least three sets of second sliding grooves are provided through the second disc base and are evenly distributed in a circle. The second sliding grooves are parallel double groove structures, and the moving trajectory of each second sliding groove coincides with the radius of the second disc base. The third disc base is mounted on one side of the Y-axis lead screw of the second XY axis moving mechanism, and the third disc base is located directly above the second disc base. Both the second and third disc bases have holes at their centers. The first electric cylinder is mounted on the third disc base. The piston rod of the first electric cylinder passes through the central opening and is equipped with a first suction cup. The first clamping turntable is mounted directly below the third disc base via a bearing, and the inner ring of the first clamping turntable is provided with a first sector tooth. The third slide groove has at least three sets arranged through it and is evenly distributed in a circle on the first clamping turntable. The third slide groove has a semi-arc structure. The first drive motor is mounted on the third disc base, and the output shaft of the first drive motor is provided with a first gear, which meshes with a first gear with sector teeth. The first sliding finger group is evenly distributed around the circumference, and at least three sets are slidably mounted on the sleeve assembly. The structure of the first sliding finger group includes: The first guide rail assembly is fixedly installed on the second disc base, and the first guide rail assembly is located between the two grooves of the second slide rail; The lower half of the first movable slider passes through the second slide groove, and the first movable slider is slidably connected to the first guide rail assembly; The first follower is disposed on the upper end of the first movable slider, and the first follower is slidably connected to the third slide groove.

4. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 3, characterized in that, The first sliding finger group also includes; The first sliding finger is fixedly installed on the lower half of the first movable slider. The upper and lower ends of the first sliding finger are respectively rotatably provided with a first flat belt idler wheel and a second flat belt idler wheel. A belt is attached to the surface of the first sliding finger. One end of the belt is slidably connected to the first flat belt idler pulley, and the other end is slidably connected to the second flat belt idler pulley.

5. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 1, characterized in that, The structure of the negative pressure sleeve removal assembly includes: The fourth disc base is mounted on one side of the Y-axis lead screw of the first XY-axis moving mechanism; The second clamping turntable is mounted on the center of the fourth disc base via a bearing, and the edge of the second clamping turntable is provided with a second sector tooth. The fourth slide groove has at least four sets that are evenly distributed in a circle on the second clamping turntable. The fourth slide groove is a straight line along the circumference. The second drive motor is mounted on the fourth disc base, and the output shaft of the second drive motor is provided with a second gear, which meshes with the second clamping turntable; The fifth disc base is mounted on one side of the Y-axis lead screw of the first XY axis moving mechanism, and the fifth disc base is located directly below the fourth disc base. Four sets of fifth sliding grooves are provided through the fifth disc base and are evenly distributed in a circle. The moving trajectory of each fifth sliding groove coincides with the radius of the fifth disc base. The negative pressure suction cups are evenly distributed around the circumference, and at least four sets are provided. The structure of the negative pressure suction cups includes: The suction cup buffer rod is slidably installed in the fifth slide groove. One end of the suction cup buffer rod is slidably connected to the fourth slide groove through the second follower, and the other end is provided with a second suction cup. The second guide rail assembly is mounted on the fifth disc base and is located to the side of the fifth slide groove. The second movable slider is slidably mounted on the second guide rail assembly, and the suction cup buffer rod is fixedly connected to the second movable slider.

6. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 1, characterized in that, The structure of the rotating support column includes: A supporting structure on which a third drive motor is mounted; An electric rotary support plate is connected to the output shaft of a third drive motor, and a flipping plate is provided on the rotating platform of the electric rotary support plate, with the flipping assembly mounted on the flipping plate.

7. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 5, characterized in that, The structure of the flipping component includes: The left and right clamping components are arranged symmetrically about the central axis of the flip plate in two sets, and are slidably mounted on the flip plate. A rotating motor is located at the center of the tilting plate, and the output shaft of the rotating motor is connected to the moving adjustment end of the left and right clamping components. The upper and lower clamping assembly consists of a first clamping plate and a second clamping plate with the same structure and arranged opposite to each other. Both the first clamping plate and the second clamping plate can be rotatably mounted on the flip plate. The telescopic electric cylinder has two sets of cylinders that are vertically offset about the central axis of the flipping plate. The piston rod of each telescopic electric cylinder is connected to the moving end of the upper and lower clamping assembly on the same side.

8. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 6, characterized in that, The structure of the left and right clamping components includes: The third gear is mounted on the output shaft of the rotating motor; The third guide rail assembly is symmetrically arranged on both sides of the third gear; The first gripper has a first clamping block at one end, and the other end of the first gripper is slidably connected to the third guide rail group on the same side through the first slider. A first rack extends from one side of the first slider, and the lower end of the first rack meshes with the upper end of the third gear. The second gripper has a second clamping block at one end, and the other end of the second gripper is slidably connected to the third guide rail group on the same side through the second slider. A second rack extends from one side of the first slider, and the upper end of the second rack meshes with the lower end of the third gear.

9. The assembly device for a rubber protective sleeve containing energetic propellant charge according to claim 7, characterized in that, The structure of the first clamping plate includes: L-shaped guide grooves are symmetrically arranged on the upper half of the flip plate; A circular clamping plate has right-angled triangular flip-up support plates on both sides, and a rotating roller is installed on the first acute angle end of each right-angled triangular flip-up support plate. The right-angled triangular flip-up support plates are connected to the L-shaped guide groove on the same side by the rollers. The fourth vertical guide rail assembly is mounted on the flip plate; The third movable slider is slidably mounted on the vertical fourth guide rail assembly, and a mountain-shaped component is connected to the third movable slider. A fixing pin is connected inside the mountain-shaped component, and the fixing pin extends out of the mountain-shaped component. The right-angle end of the right-angled triangular flip support plate is rotatably connected to the fixing pin outside the mountain-shaped component through a bearing. The pull ring is mounted on the piston rod of the telescopic electric cylinder, and the pull ring is rotatably connected to the fixing pin inside the mountain-shaped component.

10. A method for assembling a rubber protective sleeve containing energetic propellant charges, employing the assembly apparatus for a rubber protective sleeve containing energetic propellant charges as described in any one of claims 1-9, characterized in that, Includes the following steps: A1. Preparation: Fold the outer and inner rubber sleeves and place them on the corresponding inner and outer rubber sleeve stacking stations, and place the pharmacopoeia that needs to be wrapped at the flipping assembly. A2. The first XY axis moving mechanism drives the negative pressure sleeve picking component to pick up the folded inner sleeve on the inner sleeve stacking station and send it to the spreading component, which spreads the inner sleeve open. A3. The second XY axis moving mechanism carries the sleeve assembly to grasp the already opened inner sleeve; at the same time, the first XY axis moving mechanism drives the negative pressure sleeve-removing assembly to grasp the folded outer sleeve on the outer sleeve stacking station. A4. The second XY axis moving mechanism drives the sheathing assembly to complete the installation of the inner layer of the drug cartridge sheath; the first XY axis moving mechanism drives the negative pressure sheath removal assembly to the spreading assembly, and the spreading assembly spreads open the outer layer of the sheath. A5. The second XY axis moving mechanism, carrying the sheath assembly, completes the gripping of the already opened outer sheath. During this process, the flipping assembly completes the 180-degree flipping of the drug cartridge. At the same time, the first XY axis moving mechanism drives the negative pressure sheath-removing assembly to complete the gripping of the next round of inner sheaths folded on the inner sheath stacking station. A6. The second XY axis moving mechanism drives the sheathing assembly to complete the application of the outer sheath of the drug cartridge, and the inner and outer sheaths of the drug cartridge are completed. The first XY axis moving mechanism drives the negative pressure sheathing assembly to send the gripped folded inner sheath to the spreading assembly, which spreads the inner sheath open to enter the next cycle.

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