Automatic filling equipment for square propellant bags of cannonballs and missiles

Abstract

The invention discloses automatic filling equipment for square propellant bags of cannonballs and missiles. The automatic filling equipment is sequentially provided with a square propellant bag feeding mechanism, a propellant bag feeding mechanism, a propellant bag sewing mechanism and a finished product discharging mechanism according to the machining process. The lower ends of the medicine bag feeding mechanisms are provided with medicine bag opening mechanisms corresponding to the medicine bag feeding mechanisms. An ammunition feeding mechanism for realizing feeding for the ammunition packaging mechanism is arranged at the feeding position of the ammunition packaging mechanism; a set of medicine bag transferring mechanisms are further arranged, and the medicine bag transferring mechanisms extend to the finished product discharging mechanism from the square medicine bag feeding mechanism. Automatic ammunition filling processing of square ammunition bags can be achieved, and the effects of automatic adjustment of feeding, automatic bag opening filling, automatic sewing and automatic discharging can be achieved; manual participation is not needed in the working process; the processing effect of accurate weighing and discharging can be achieved through the medicine package feeding mechanism; the filling weight precision of the filling work can be effectively ensured; and the overall machining efficiency, machining precision and machining quality are higher.

Description

Technical Field

[0001] This invention belongs to the field of missile propellant packing technology, and relates to an automatic filling device for square propellant packs of artillery shells and missiles. Background Technology

[0002] Currently, the filling of propellant charges in domestic missiles is mostly a semi-automated process; many parts require manual assistance, especially the two processing steps of opening the bag before filling and filling the propellant charge, which are all done manually. This processing method is not only inefficient, but also makes it difficult to guarantee the quality of the filling, and it is easy to make filling errors, which affects the production quality. Summary of the Invention

[0003] To solve the implementation technical problems, the present invention adopts the following technical solution:

[0004] An automatic loading device for square propellant charges of artillery shells and missiles is provided in the following order according to the processing flow: a square propellant charge feeding mechanism, a propellant charge packing mechanism, a propellant charge sewing mechanism, and a finished product discharging mechanism.

[0005] The lower end of each pharmaceutical packaging material mechanism is equipped with a corresponding pharmaceutical packaging opening mechanism;

[0006] The feeding position of the pharmaceutical packaging material mechanism is equipped with an ammunition feeding mechanism to supply materials to it;

[0007] A set of medicine bag transfer mechanism is also provided, which extends from the square medicine bag feeding mechanism to the finished product discharge mechanism;

[0008] The pharmaceutical packaging material mechanism includes: a weighing unit and a filling unit;

[0009] The weighing unit includes: a filling hopper connected to the ammunition feeding mechanism and a weighing platform; the weighing platform is located at the lower end of the discharge port of the filling hopper; and a vibrating discharge device is installed at the discharge port of the filling hopper, and the vibrating discharge device and the weighing platform work together in a linkage manner.

[0010] The filling unit includes: a material cup, a dispensing assembly, and a filling assembly;

[0011] The material pouring unit includes: a material guiding transverse shifting module set between the weighing platform and the filling group; the material guiding transverse shifting module is equipped with: a material pouring lifting module, a material pouring tilting cylinder installed on the material pouring lifting module, and a material cup gripper installed on the material pouring tilting cylinder.

[0012] The filling assembly includes: a set of vertically arranged filling lifting modules, on which a filling funnel is installed. The material tube of the filling funnel is designed to be extended and extends vertically downward.

[0013] As a further embodiment of the present invention: a sealing plate and a plate opening and closing cylinder are also provided on the filling funnel; the sealing plate is located at the inlet of the filling funnel, and one side of the sealing plate is hinged to the filling funnel, and the opening and closing of the sealing plate is controlled by the plate opening and closing cylinder.

[0014] The sealing material plate is provided with a filling air blowing hole, which is connected to an external air supply device.

[0015] As a further aspect of the present invention: the medicine bag opening mechanism includes: two sets of opening units disposed at the front and rear ends of the medicine bag transfer mechanism;

[0016] The bag opening unit includes: a set of bag opening moving modules that extend to the position of the medicine pack transfer mechanism, and a bag opening machine base is installed on the bag opening moving module; the bag opening machine base is provided with a film feeding roller, a film receiving roller, a plurality of tensioning guide wheels and a bag opening guide frame;

[0017] The opening guide extends towards the medicine pack transfer mechanism. The film roll is discharged from the film roll unloading roller, guided by the tension guide wheel, and then wound into the film roll take-up roller via the opening guide.

[0018] As a further aspect of the present invention: the ammunition feeding mechanism includes: a lifting device and a raw material hopper installed on the lifting device;

[0019] The discharge port of the raw material hopper is equipped with a discharge port baffle and a discharge port cylinder that drives the discharge port baffle to open and close.

[0020] As a further aspect of the present invention: the weighing unit's filling hopper is also provided with a receiving hopper, which is located between the filling hopper and the raw material hopper;

[0021] A guide pipe is provided at the discharge port of the receiving hopper, which extends into the filling hopper; a set of receiving cylinder modules is provided at the lower end of the receiving hopper; and a set of material dropping vibration motors is also installed on the receiving hopper.

[0022] As a further aspect of the present invention: the medicine package transfer mechanism includes: a set of transfer transverse modules extending from the square medicine package feeding mechanism to the finished product discharge mechanism;

[0023] A bag clamping base is installed on the material transfer transverse module. A pair of symmetrically arranged bag clamping cylinders are installed on the bag clamping base. Each bag clamping cylinder is equipped with a medicine bag clamping plate. The upper and lower edges of the medicine bag clamping plate are formed with bag pressing strips. Furthermore, the upper edge of the medicine bag clamping plate and the bag pressing strip on the upper edge are provided with bag opening clearance positions.

[0024] As a further aspect of the present invention, a set of medicine bag vibration motors are also installed on the bag base.

[0025] As a further aspect of the present invention: a set of material shaking moving modules are also provided on the material transfer transverse module, and the bag clamping base is installed on the material transfer transverse module through the material shaking moving modules.

[0026] As a further aspect of the present invention: the square medicine bag feeding mechanism includes: a material loading unit, a bag taking and flipping unit, and a bag clamping and transfer unit;

[0027] The material loading unit includes: a material loading plate, which has a plurality of parallel material loading positions, which are surrounded by a plurality of limiting rods;

[0028] The bag-taking and flipping unit includes: a bag-taking horizontal movement module, a bag-taking lifting module, a flipping cylinder, and a non-contact suction cup; the bag-taking horizontal movement module spans between the material loading unit and the bag clamping and transfer unit; the bag-taking lifting module is installed on the bag-taking horizontal movement module, the flipping cylinder is installed on the bag-taking lifting module, and the non-contact suction cup is installed in the flipping cylinder;

[0029] The bag-clamping transfer unit includes: a transfer lateral movement module, a bag-clamping lifting cylinder, and bag-clamping claws; the transfer lateral movement module and the medicine package transfer mechanism are arranged in parallel, the bag-clamping lifting cylinder is installed on the transfer lateral movement module, and the bag-clamping claws are installed on the bag-clamping lifting cylinder.

[0030] As a further aspect of the present invention: the material loading unit is also provided with a set of material loading transverse moving modules, the two ends of which are the loading position and the replenishing position, respectively;

[0031] The material carrier plate is installed on the material carrier transverse module, and the material carrier transverse module drives it to switch between the material loading position and the material replenishment position.

[0032] The beneficial effects of this invention are: it enables automatic ammunition filling processing of square medicine bags, achieving automatic adjustment of feeding, automatic bag opening and filling, automatic sewing, and automatic discharge; no manual intervention is required during the operation; and the medicine bag filling mechanism can achieve precise weighing and discharging processing; it can effectively ensure the filling weight accuracy of the filling work; and the overall processing efficiency, processing accuracy, and processing quality are higher. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of the present invention.

[0034] Figure 2 This is a schematic diagram of the structure of the Chinese medicine packaging material mechanism of the present invention.

[0035] Figure 3 This is another structural schematic diagram of the Chinese medicine packaging material mechanism of the present invention.

[0036] Figure 4 This is a schematic diagram of the ammunition feeding mechanism in this invention.

[0037] Figure 5 This is a schematic diagram of the structure of the medicine bag opening mechanism of the present invention.

[0038] Figure 6 This is a schematic diagram of the structure of the medicine package transfer mechanism in this invention.

[0039] Figure 7 This is a schematic diagram of the circular medicine bag feeding mechanism in this invention.

[0040] Figure 8 This is a schematic diagram of the finished product discharge mechanism in this invention. Detailed Implementation

[0041] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. It should be understood that this application is not limited to the exemplary embodiments disclosed herein. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0042] In the description of this invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and 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. Therefore, they should not be construed as limitations on this invention.

[0043] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0044] In the embodiments of this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0045] This invention provides reference to [the relevant document]. Figures 1-8 In this embodiment of the invention, an automatic filling device for square propellant charges of artillery shells and missiles is provided in sequence according to the processing flow as follows: a square propellant charge feeding mechanism 1, a propellant charge filling mechanism 2, a propellant charge sewing mechanism 4, and a finished product discharging mechanism 7.

[0046] Each of the pharmaceutical packaging material mechanism 2 has a corresponding pharmaceutical packaging opening mechanism 5 at its lower end;

[0047] The feeding position of the pharmaceutical packaging material mechanism 2 is equipped with an ammunition feeding mechanism 3 to supply materials to it;

[0048] A set of medicine bag transfer mechanism 6 is also provided, which extends from the square medicine bag feeding mechanism 1 to the finished product discharge mechanism 7.

[0049] In this embodiment, the square medicine bag to be filled (hereinafter referred to as the medicine bag) is placed in the square medicine bag feeding mechanism 1 for feeding. During processing, the medicine bag to be filled is fed into the medicine bag transfer mechanism 6 through the square medicine bag feeding mechanism 1. The medicine bag transfer mechanism 6 drives the medicine bag to the processing position of the medicine bag filling mechanism 2. The medicine bag opening mechanism 5 opens the bag opening of the medicine bag and pours the set weight of the active medicine directly into the inner bag. Then, the medicine bag transfer mechanism 6 drives the filled medicine bag to the processing position of the medicine bag sewing mechanism 4. The medicine bag sewing mechanism 4 sews the bag opening, thus completing the entire processing flow.

[0050] During the filling process, the medicine packaging material mechanism 2 can achieve a precise and uniform filling effect for the medicine package; and the medicine packaging material mechanism 2 specifically includes: a weighing unit 21 and a filling unit;

[0051] The weighing unit 21 includes a filling hopper 211 connected to the ammunition feeding mechanism 3 and a weighing platform 521. The weighing platform 521 is located at the lower end of the discharge port of the filling hopper 211. A vibrating discharge device 216 is installed at the discharge port of the filling hopper 211. The vibrating discharge device 216 and the weighing platform 521 work in conjunction. During the discharge process, the vibrating discharge device 216 discharges the ammunition from the filling hopper 514 by vibrating discharge. During the discharge process, the weighing platform 521 can accurately monitor the discharge weight. When the discharge weight of the vibrating discharge device 216 reaches the set value, the weighing platform 521 will provide timely feedback and control the vibrating discharge device 216 to stop the discharge action. This linkage discharge control method can significantly improve the control effect of automatic discharge, making it more stable and accurate, and resulting in higher filling accuracy of the ammunition pack.

[0052] The filling unit includes: a material cup 234, a dispensing assembly 23, and a filling assembly 22;

[0053] The material pouring group 23 includes: a material guiding transverse moving module 233 disposed between the weighing platform 521 and the filling group 22. The material guiding transverse moving module 233 is provided with: a material pouring lifting module 231, a material pouring tilting cylinder 232 mounted on the material pouring lifting module 231, and a material cup gripper 235 mounted on the material pouring tilting cylinder 232. When the weighing unit 21 is performing the material dropping and weighing operation, the material cup 234 is placed on the weighing platform 521. After the material discharge operation is completed, the material guiding transverse moving module 233 and the material pouring lifting module 231 work together to drive the material cup gripper 235 to remove the material cup 234 from the weighing platform 521 and convey it towards the filling group 22.

[0054] The filling assembly 22 includes: a vertically arranged filling lifting module 221, on which a filling funnel 224 is installed. The medicine bag transfer mechanism 6 will move the medicine bag to the lower end of the filling funnel 224. The filling lifting module 221 will move the filling funnel 224 downward, and the material tube 225 of the filling funnel 224 will be inserted into the medicine bag from the bag opening. The material tube 225 of the filling funnel 224 is designed to be extended, and the material tube 225 extends vertically downward. When the material tube 225 is inserted into the medicine bag, the material tube 225 will directly enter the bottom position of the medicine bag.

[0055] The loading process adopts a segmented loading method. After a certain amount of ammunition is loaded, the loading lifting module 221 will drive the loading funnel 224 to rise a certain distance. This process is repeated to achieve full and uniform loading of the ammunition pack.

[0056] Furthermore, in order to improve the processing efficiency of the filling operation, a sealing plate 223 and a plate opening and closing cylinder 222 are also provided on the filling funnel 224. The sealing plate 223 is located at the inlet of the filling funnel 224, and one side of the sealing plate 223 is hinged to the filling funnel 224. The opening and closing of the sealing plate 223 is controlled by the plate opening and closing cylinder 222.

[0057] The sealing plate 223 is provided with a filling air blowing hole 226, which is connected to an external air supply device. During the filling operation, the sealing plate 223 is driven by the opening and closing cylinder to close the filling funnel 224, and then the air supply device blows air through the filling air blowing hole 226 to quickly fill the ammunition in the filling funnel 224 into the explosive charge.

[0058] Furthermore, the medicine bag opening mechanism 5 includes: two sets of opening units 51 disposed at the front and rear ends of the medicine bag transfer mechanism 6;

[0059] The bag opening unit 51 includes: a bag opening moving module 57 extending to the position of the medicine pack transfer mechanism 6, on which a bag opening machine base 56 is installed; the bag opening machine base 56 is provided with a film feeding roller 53, a film receiving roller 55, a plurality of tensioning guide wheels 54 and a bag opening guide frame 52.

[0060] The opening guide frame 52 extends towards the medicine package transfer mechanism 6. The film roll is led out from the film roll unloading roller 53, guided by the tension guide wheel 54, and then wound into the film roll take-up roller 55 (the film roll take-up roller 55 is driven by a motor). When the medicine package is being filled, the medicine package transfer mechanism 6 drives the medicine package to the middle position between the two opening units 51.

[0061] Then, the opening module 57 drives the opening guide frame 52 to move towards the center position, so that the film on the opening guide frame 52 is adhered to the surface of the medicine bag. Then, the opening module 57 drives the opening guide frame 52 to move backward. Thus, the medicine bag is pulled open by the cooperation of the two sets of opening units 51, and the opening work is realized.

[0062] After the medicine bagging process is completed, the film take-up roller 55 will take in the film, pulling out a new roll of film to ensure that the part of the film in contact with the medicine bag is sticky.

[0063] Furthermore, the ammunition feeding mechanism 3 includes: a lifting device 32 and a raw material hopper 31 installed on the lifting device 32;

[0064] During the feeding process, the lifting device 32 lifts the outlet of the raw material hopper 31 to the upper end of the inlet of the filling hopper 211 to achieve the feeding effect; while during the replenishment process, the lifting device 32 lowers the raw material hopper 31 to the manual replenishment position.

[0065] The discharge port of the raw material hopper 31 is equipped with a discharge port baffle 34 and a discharge port cylinder 33 that drives the discharge port baffle 34 to open and close. The opening and closing of the discharge port of the raw material hopper 31 is controlled by the baffle 34, which is used to block the discharge port when replenishing materials and to control the discharge amount when discharging materials into the filling hopper 211.

[0066] Furthermore, to avoid material splashing due to excessive height difference during the feeding process from the raw material hopper 31 to the filling funnel 224, a receiving hopper 214 is also provided in the filling hopper 211 of the weighing unit 21, which is located between the filling hopper 211 and the raw material hopper 31.

[0067] A guide pipe 212 is provided at the discharge port of the receiving hopper 214, which extends into the filling hopper 211; and a set of receiving cylinder modules 215 is provided at the lower end of the receiving hopper 214; when receiving material, the receiving cylinder module 215 can drive the receiving hopper 214 to the discharge port of the raw material hopper 31 to receive material, thereby reducing the drop height difference of the material; when the raw material hopper 31 needs to be replenished, the receiving cylinder module 215 drives the receiving hopper 214 away from the raw material hopper 31, so that it can smoothly descend to achieve replenishment;

[0068] Furthermore, a set of material discharge vibration motors 213 are installed on the receiving hopper 214. The material discharge vibration motors 213 generate a vibration effect on the receiving hopper 214 to ensure that the ammunition does not accumulate or remain in the receiving hopper 214.

[0069] Furthermore, the medicine package transfer mechanism 6 includes: a transfer transverse module 61 extending from the square medicine package feeding mechanism 1 to the finished product discharge mechanism 7;

[0070] A bag clamping base 63 is installed on the material transfer module 61. A pair of symmetrically arranged bag clamping cylinders 65 are installed on the bag clamping base 63. Each bag clamping cylinder 65 is equipped with a medicine bag clamping plate 66. The upper and lower edges of the medicine bag clamping plate 66 are formed with bag pressing strips 67. The bag clamping transfer unit 12 feeds the medicine bag to the position between the two sets of bag clamping cylinders 65. Then, the clamping cylinder drives the medicine bag clamping plate 66 to move towards the center. The bag pressing strips 67 are used to clamp the upper and lower ends of the medicine bag.

[0071] In order to enable the opening and filling of the medicine bag while clamping it, the medicine bag clamp 66 and the bag pressing strip 67 on the upper edge of the medicine bag are provided with opening clearance positions 68 corresponding to the opening of the medicine bag; so that the upper bag opening and the middle bag position of the medicine bag will not be clamped; while under normal circumstances, the bag opening of the square structure medicine bag is set at the corner position.

[0072] A set of propellant pack vibration motors 64 are also installed on the pouch base 63. The propellant pack vibration motors 64 generate a vibration effect during the filling process to ensure that the ammunition can be smoothly poured into the propellant pack.

[0073] Furthermore, a set of material-shaking moving modules 62 are also provided on the material transfer transverse module 61, which is parallel to it. The bag clamping base 63 is installed on the material transfer transverse module 61 through the material-shaking moving module 62. When the medicine bag is filled, the material-shaking moving module 62 drives the medicine bag to move quickly left and right, simulating the effect of manual shaking, so that the ammunition in the medicine bag can be more evenly distributed.

[0074] Furthermore, the square medicine bag feeding mechanism 1 includes: a material loading unit 11, a bag picking and flipping unit 13, and a bag clamping and transfer unit 12;

[0075] The material loading unit 11 includes: a material loading plate 112, on which a plurality of parallel material loading positions 113 are provided, and each material loading position 113 is surrounded by a plurality of limiting rods 114; each material loading position 113 can hold a plurality of medicine packets in a stacked manner.

[0076] The bag-taking and flipping unit 13 includes: a bag-taking horizontal movement module 131, a bag-taking lifting module 132, a flipping cylinder 133, and a non-contact suction cup 134; the bag-taking horizontal movement module 131 spans between the material loading unit 11 and the bag clamping transfer unit 12; the bag-taking lifting module 132 is mounted on the bag-taking horizontal movement module 131, the flipping cylinder 133 is mounted on the bag-taking lifting module 132, and the non-contact suction cup 134 is mounted in the flipping cylinder 133;

[0077] The bag-picking horizontal movement module 131 and the bag-picking lifting module 132 drive the non-contact suction cup 134 to pick up the medicine bag from the material placement position in the feeding area, and the flipping cylinder 133 drives the medicine bag to flip, so that the medicine bag is vertical and set with the bag opening facing upward; thus completing the adjustment of the entire medicine bag; finally, the bag-picking horizontal movement module 131 sends the medicine bag to the clamping position of the bag clamping transfer unit 12.

[0078] The bag-clamping transfer unit 12 includes: a transfer horizontal movement module 121, a bag-clamping lifting cylinder 122, and a bag-clamping gripper 123. The transfer horizontal movement module 121 and the medicine bag transfer mechanism 6 are arranged in parallel. The bag-clamping lifting cylinder 122 is installed on the transfer horizontal movement module 121, and the bag-clamping gripper 123 is installed on the bag-clamping lifting cylinder 122. During the bag-clamping process, the transfer horizontal movement module 121 and the bag-clamping lifting cylinder 122 cooperate to first drive the bag-clamping gripper 123 to clamp the medicine bag from the non-contact suction cup 134 of the bag-taking and flipping unit 13, and it is necessary to ensure that the clamping position of the bag-clamping gripper 123 is the upper position of the medicine bag. Then, through the cooperation of the transfer horizontal movement module 121 and the bag-clamping lifting cylinder 122, the medicine bag is sent to the medicine bag transfer mechanism 6 to complete the medicine bag loading process.

[0079] Furthermore, the loading unit 11 is also provided with a loading transverse module 111, the two ends of which are the loading position and the replenishing position, respectively. The loading position is located within the processing range of the bag taking and flipping unit 13, while the replenishing position is used to facilitate manual replenishment of medicine packs.

[0080] The material carrier plate 112 is installed on the material carrier transverse module 111, and the material carrier transverse module 111 drives it to switch between the material loading position and the material replenishment position.

[0081] Preferably, the finished product discharging mechanism 7 includes: a discharging group 71 and a feeding box 72 for placing the finished medicine package;

[0082] The discharge assembly 71 includes: an X-axis feeding module 711, a Y-axis feeding module 712 mounted on the X-axis feeding module 711, and a discharge moving module 713 mounted on the Y-axis feeding module 712;

[0083] The discharge moving module 713 extends towards the medicine package transfer mechanism 2, and is equipped with a discharge lifting cylinder 714 and a discharge gripper 715 mounted on the discharge lifting cylinder 714. After the medicine package is processed, the discharge moving module 713 and the discharge lifting cylinder 714 cooperate to receive the medicine package from the medicine package transfer mechanism 2. Then, the X-axis feeding module 711 and the Y-axis feeding module 712 cooperate to drive the discharge gripper 715 to put the medicine package into the feeding box 72. During multiple feeding processes, the X-axis feeding module 711 and the Y-axis feeding module 712 will cooperate to drive the discharge gripper 715 to different feeding coordinate positions, thereby achieving the effect of uniform feeding of medicine packages.

[0084] It should also be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0085] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic loading device for square propellant charges of artillery shells and missiles, characterized in that, The following are arranged sequentially according to the processing flow: square medicine bag feeding mechanism, medicine bag filling mechanism, medicine bag sewing mechanism, and finished product discharge mechanism; The lower end of each pharmaceutical packaging material mechanism is equipped with a corresponding pharmaceutical packaging opening mechanism; The feeding position of the pharmaceutical packaging material mechanism is equipped with an ammunition feeding mechanism to supply materials to it; A set of medicine bag transfer mechanism is also provided, which extends from the square medicine bag feeding mechanism to the finished product discharge mechanism; The pharmaceutical packaging material mechanism includes: a weighing unit and a filling unit; The weighing unit includes: a filling hopper connected to the ammunition feeding mechanism and a weighing platform; the weighing platform is located at the lower end of the discharge port of the filling hopper; and a vibrating discharge device is installed at the discharge port of the filling hopper, and the vibrating discharge device and the weighing platform work together in a linkage manner. The filling unit includes: a material cup, a dispensing assembly, and a filling assembly; The material pouring unit includes: a material guiding transverse shifting module set between the weighing platform and the filling group; the material guiding transverse shifting module is equipped with: a material pouring lifting module, a material pouring tilting cylinder installed on the material pouring lifting module, and a material cup gripper installed on the material pouring tilting cylinder. The filling assembly includes: a set of vertically arranged filling lifting modules, on which a filling funnel is installed. The material tube of the filling funnel is designed to be extended and extends vertically downward.

2. The automatic loading device for square propellant charges of artillery shells and missiles according to claim 1, characterized in that, The filling funnel is also equipped with a sealing plate and a plate opening and closing cylinder; the sealing plate is located at the inlet of the filling funnel, and one side of the sealing plate is hinged to the filling funnel. The opening and closing of the sealing plate is controlled by the plate opening and closing cylinder. The sealing material plate is provided with a filling air blowing hole, which is connected to an external air supply device.

3. The automatic loading device for square propellant charges of artillery shells and missiles according to claim 1, characterized in that, The medicine package opening mechanism includes two sets of opening units located at the front and rear ends of the medicine package transfer mechanism; The bag opening unit includes: a set of bag opening moving modules that extend to the position of the medicine pack transfer mechanism, and a bag opening machine base is installed on the bag opening moving module; the bag opening machine base is provided with a film feeding roller, a film receiving roller, a plurality of tensioning guide wheels and a bag opening guide frame; The opening guide extends towards the medicine pack transfer mechanism. The film roll is discharged from the film roll unloading roller, guided by the tension guide wheel, and then wound into the film roll take-up roller via the opening guide.

4. The automatic loading device for square propellant charges of artillery shells and missiles according to claim 1, characterized in that, The ammunition feeding mechanism includes: a lifting device and a raw material hopper installed on the lifting device; The discharge port of the raw material hopper is equipped with a discharge port baffle and a discharge port cylinder that drives the discharge port baffle to open and close.

5. An automatic loading device for square propellant charges of artillery shells and missiles according to claim 4, characterized in that, The weighing unit is also equipped with a receiving hopper, which is located between the filling hopper and the raw material hopper. A guide pipe is provided at the discharge port of the receiving hopper, which extends into the filling hopper; a set of receiving cylinder modules is provided at the lower end of the receiving hopper; and a set of material dropping vibration motors is also installed on the receiving hopper.

6. The automatic loading device for square propellant charges of artillery shells and missiles according to claim 1, characterized in that, The medicine package transfer mechanism includes: a set of transfer transverse modules extending from the square medicine package feeding mechanism to the finished product discharge mechanism; A bag clamping base is installed on the material transfer transverse module. A pair of symmetrically arranged bag clamping cylinders are installed on the bag clamping base. Each bag clamping cylinder is equipped with a medicine bag clamping plate. The upper and lower edges of the medicine bag clamping plate are formed with bag pressing strips. Furthermore, the upper edge of the medicine bag clamping plate and the bag pressing strip on the upper edge are provided with bag opening clearance positions.

7. An automatic loading device for square propellant charges of artillery shells and missiles according to claim 6, characterized in that, A set of medicine bag vibration motors is also installed on the base of the medicine bag.

8. An automatic loading device for square propellant charges of artillery shells and missiles according to claim 6, characterized in that, The material transfer module is also equipped with a set of material shaking moving modules arranged parallel to it, and the bag clamping base is installed on the material transfer module through the material shaking moving modules.

9. An automatic loading device for square propellant charges of artillery shells and missiles according to claim 1, characterized in that, The square medicine bag feeding mechanism includes: a loading unit, a bag picking and flipping unit, and a bag clamping and transfer unit; The material loading unit includes: a material loading plate, which has a plurality of parallel material loading positions, which are surrounded by a plurality of limiting rods; The bag-taking and flipping unit includes: a bag-taking horizontal movement module, a bag-taking lifting module, a flipping cylinder, and a non-contact suction cup; the bag-taking horizontal movement module spans between the material loading unit and the bag clamping and transfer unit; the bag-taking lifting module is installed on the bag-taking horizontal movement module, the flipping cylinder is installed on the bag-taking lifting module, and the non-contact suction cup is installed in the flipping cylinder; The bag-clamping transfer unit includes: a transfer lateral movement module, a bag-clamping lifting cylinder, and bag-clamping claws; the transfer lateral movement module and the medicine package transfer mechanism are arranged in parallel, the bag-clamping lifting cylinder is installed on the transfer lateral movement module, and the bag-clamping claws are installed on the bag-clamping lifting cylinder.

10. An automatic loading device for square propellant charges of artillery shells and missiles according to claim 9, characterized in that, The material loading unit is also equipped with a set of material loading transverse transfer modules, with the loading position and the replenishment position at both ends of the material loading transverse transfer module; The material carrier plate is installed on the material carrier transverse module, and the material carrier transverse module drives it to switch between the material loading position and the material replenishment position.

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