Online visual inspection device for packing and arranging emulsion explosives

Abstract

This invention belongs to the field of emulsion explosive packaging technology and discloses an online visual inspection device for emulsion explosive packaging and arrangement. The device includes: a loading frame, internally divided into a flared area and a positioning area; the flared area is equipped with a guide ramp, the upper surface of which is inclined from the flared area towards the positioning area, causing the explosive rolls to roll down under gravity and form an arrangement in the positioning area; and a visual inspection unit, suspended above the loading frame, for surface inspection of the explosive rolls in the positioning area. This invention utilizes an eccentric active roller of a staggered rotation control mechanism in conjunction with a lifting drive assembly, causing the explosive rolls to simultaneously undergo vertical lifting and horizontal offset during the lifting process. This creates gaps between the originally arranged explosive rolls, allowing them to fall into the support area enclosed by the active and driven rollers, achieving stable rotation under rotational drive, thus facilitating the visual inspection unit to obtain more comprehensive surface inspection information.

Description

Technical Field

[0001] This invention belongs to the field of emulsion explosives packaging technology, specifically an online visual inspection device for emulsion explosives packaging and arrangement. Background Technology

[0002] As a major type of civilian blasting material, emulsion explosives typically require the cartridges to be transported and arranged in an array at the boxing station for easy packing. Online inspection of the cartridges' appearance quality before packing helps reduce the safety and quality risks associated with defective products entering the packaging process.

[0003] However, in existing technologies, to improve packing speed, explosive cartridges are often arranged closely side-by-side at assembly or positioning stations, which frequently leads to the following problems. First, in this arrangement, visual inspection often only acquires information from the top surface of the cartridges, leaving blind spots on the sides and bottom. If the cartridges are forced to rotate to obtain more surface information, the squeezing and friction between them makes it difficult for them to achieve independent and stable rotation, and they can easily affect adjacent cartridges, impacting the stability of the inspection process. Second, when a defective cartridge is found in a closely packed array, existing rejection methods often struggle to remove it at a fixed point. The rejection action can easily cause changes in the position of the emulsion explosive cartridges, thus affecting the continuous operation of subsequent packing stations. Summary of the Invention

[0004] The purpose of this invention is to provide an online visual inspection device for the packing and arrangement of emulsion explosives, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an online visual inspection device for the packing and arrangement of emulsion explosives, comprising:

[0006] The loading frame is divided into a flared area and a positioning area. The flared area is equipped with a guide ramp. The upper surface of the guide ramp is inclined from the flared area to the positioning area, so that the medicine rolls roll down under the action of gravity and form an arrangement in the positioning area.

[0007] A visual inspection unit, suspended above the loading frame, is used to perform surface inspection on the drug rolls within the positioning area;

[0008] A staggered self-rotation control mechanism is located below the positioning area and includes a lifting drive assembly, a support frame, and a pair of active rollers and driven rollers rotatably mounted on the support frame; the active rollers and driven rollers are initially hidden at the bottom of the loading frame.

[0009] A rejection unit is located on the side of the loading frame and is used to reject unqualified drug rolls;

[0010] The projection of the active roller in the horizontal direction is located on the eccentric side of the bottom of the initial arrangement position of the medicine roll; when the lifting drive assembly drives the support frame to rise, the active roller abuts against the medicine roll along the lower side of the medicine roll, pushing the medicine roll to produce vertical lifting and horizontal offset, so that the medicine rolls originally arranged in the positioning area separate from each other and fall into the support area enclosed by the active roller and the driven roller to rotate.

[0011] The loading frame has a discharge port on its side wall, and the height of the discharge port corresponds to the rotation detection position of the drug roll after it is lifted. The rejection unit is configured to drive a push plate through the discharge port on one side to move the unqualified drug roll located in the support area laterally along the axial direction of the discharge port.

[0012] Preferably, the bottom of the loading frame has several adapter openings, the length of which is smaller than the length of the medicine roll; the driving roller, driven roller and support frame are initially housed inside or below the adapter openings, and extend upward through the adapter openings via a lifting drive assembly.

[0013] Preferably, the lifting drive assembly includes an electric push rod fixedly connected to the bottom of the support frame; the staggered rotation control mechanism further includes a rotary drive motor disposed on the support frame, the rotary drive motor being connected to the drive roller for driving the drive roller to rotate; the rotary drive motor is raised and lowered synchronously with the support frame.

[0014] Preferably, the distance between the active roller and the driven roller is adapted to the diameter of the drug roll, and is configured such that when the drug roll falls into the support area, the bottom of the drug roll is suspended and only contacts the roller surfaces of the active roller and the driven roller; the offset of the active roller on the eccentric side of the drug roll is configured such that during the process of the active roller contacting and lifting the drug roll, a gap is forced between adjacent drug rolls.

[0015] Preferably, the outer surface of the drive roller is provided with raised ribs along the axial direction; the raised ribs are configured such that when the drive roller drives the medicine roll to rotate, the raised ribs periodically abut against the surface of the medicine roll, causing the medicine roll to generate slight vibration and positional displacement.

[0016] Preferably, the discharge ports are symmetrically located on opposite side walls of the loading frame, and the inner diameter of the discharge ports is larger than the diameter of the drug roll; the rejection unit includes several independently driven push plates and a pushing mechanism for driving the push plates to move, and the push plates are movably sleeved in the discharge port on one side; the pushing mechanism is configured to retract the push plates outside the discharge port in the non-rejection state, and drive the push plates to extend into the positioning area in the rejection state.

[0017] Preferably, the rejection unit is linked with the visual inspection unit; when the visual inspection unit determines that there is a defective drug roll in the support area, the push mechanism drives the push plate to extend into the positioning area from one side of the discharge port, push out the defective drug roll at the corresponding position and discharge it out of the loading frame through the other side of the discharge port.

[0018] Preferably, the device is configured such that after the rejection unit completes the rejection, the staggered self-rotation control mechanism descends and resets, so that the drug rolls to be tested in the flared area enter the positioning area under the action of gravity via the guide ramp and form an arrangement.

[0019] Preferably, it further includes a gripping unit installed on one side of the loading frame. The gripping unit includes a rotating arm base, a gripping arm, and a gripping part located at the bottom of the gripping arm. The bottom of the gripping part is provided with a gripping seat that matches the number of medicine rolls in the positioning area. The bottom of the gripping seat is provided with an arc-shaped groove adapted to the shape of the top of the medicine roll. The inner wall of the arc-shaped groove is provided with a flexible elastic layer. The gripping unit also includes a negative pressure pump suction mechanism connected to the gripping seat.

[0020] Preferably, the grasping unit and the vision detection unit are linked; the grasping unit is triggered to perform the whole row grasping and packing action only when the vision detection unit outputs a judgment result that all the medicine rolls in the positioning area are qualified.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. The present invention uses an eccentric active roller of a staggered self-rotation control mechanism in conjunction with a lifting drive assembly to make the medicine rolls simultaneously vertically lifted and horizontally offset during the lifting process. This causes the originally arranged medicine rolls to form gaps and fall into the support area enclosed by the active roller and the driven roller. Stable self-rotation is achieved under rotation drive, which makes it easier for the vision inspection unit to obtain more sufficient surface inspection information.

[0023] 2. Based on the above, the present invention introduces micro-vibration and orientation disturbance during the rotation of the drug roll by setting protruding ribs on the outer surface of the active roller, thereby changing the reflection state of the drug roll surface under the relative imaging angle and thus improving the stability of visual inspection in identifying minor surface defects.

[0024] 3. The present invention provides a discharge port on the side wall of the loading frame corresponding to the rotation detection position, and the rejection unit drives the push plate to pass through the discharge port to move the target drug roll in the support area axially, so as to realize the fixed-point rejection of unqualified drug rolls and reduce the interference of the rejection process on the arrangement of adjacent drug rolls; furthermore, after the staggered rotation control mechanism is reset, the drug rolls in the flared area can enter the positioning area under the action of gravity through the guide ramp and rearrange themselves to facilitate continuous detection and subsequent packing operations. Attached Figure Description

[0025] Figure 1This is a schematic diagram of the structure of the present invention;

[0026] Figure 2 This is a partial cross-sectional view of the present invention;

[0027] Figure 3 This is a schematic diagram of the loading frame of the present invention;

[0028] Figure 4 This is a schematic diagram of the rejection unit of the present invention;

[0029] Figure 5 This is a schematic diagram of the offset rotation control mechanism of the present invention;

[0030] Figure 6 This is a schematic diagram of the active roller of the present invention;

[0031] Figure 7 This is a schematic diagram of the grasping unit of the present invention.

[0032] In the diagram: 1. Loading frame; 2. Guide ramp; 3. Vision inspection unit; 4. Lifting drive assembly; 401. Electric push rod; 5. Support frame; 6. Drive roller; 7. Driven roller; 8. Rejection unit; 801. Push plate; 802. Pushing mechanism; 9. Discharge port; 10. Adapter port; 11. Rotary drive motor; 12. Raised rib; 13. Gripping unit; 1301. Rotating arm seat; 1302. Gripping arm; 1303. Gripping part; 1304. Gripping seat; 14. Arc groove. Detailed Implementation

[0033] Example 1

[0034] like Figures 1-7 As shown, this embodiment provides an online visual inspection device for the packing and arrangement of emulsion explosives, including a loading frame 1, a guide ramp 2, a visual inspection unit 3, a staggered rotation control mechanism, and a rejection unit 8; the loading frame 1 has discharge ports 9 on opposite sides, and an adapter port 10 at the bottom of the loading frame 1.

[0035] The loading frame 1 is fixedly installed on the production line frame. The interior of the loading frame 1 is divided into a flaring area and a positioning area along the direction of the drug roll entry. The flaring area is used to receive the drug rolls transported from upstream, and the positioning area is used to arrange the drug rolls and form an inspection station. The guide ramp 2 is set in the flaring area. The upper surface of the guide ramp 2 is inclined from the flaring area to the positioning area, so that the drug rolls roll into the positioning area under the action of gravity and form an arrangement.

[0036] Preferably, the width of the guide ramp 2 is greater than or equal to the layout width of the positioning area, so as to reduce the probability of jamming and stacking during the rolling of multiple drug rolls.

[0037] The visual inspection unit 3 is suspended above the loading frame 1 and located directly above the positioning area. The visual inspection unit 3 is used to image the outer surface of the drug roll in the inspection station and output the judgment result.

[0038] Preferably, the visual inspection unit 3 includes an industrial camera and a supplementary light source; the optical axis of the industrial camera is oriented toward the center of the positioning area, and the supplementary light source (not shown in the figure) is a ring light source or a strip light source set around the industrial camera or at an angle to obtain stable illumination.

[0039] Furthermore, the visual inspection unit 3 outputs a qualified signal or a failed signal; preferably, the output end of the visual inspection unit 3 is electrically connected to the drive end of the push mechanism 802 to realize the rejection action triggered by the failed signal, and both are conventional methods.

[0040] The staggered rotation control mechanism is located below the positioning area and includes a lifting drive assembly 4, a support frame 5, a drive roller 6, a driven roller 7, and a rotary drive motor 11. The support frame 5 is located below the bottom of the loading frame 1. The support frame 5 is preferably a frame structure and includes opposing side plates and a bottom cross plate. The roller shafts of the drive roller 6 and the driven roller 7 are respectively mounted on the side plates of the support frame 5 through bearing seats, and axially limited by limiting rings or end retaining rings to ensure smooth rotation of the rollers.

[0041] The lifting drive assembly 4 is used to drive the support frame 5 to move up and down in the vertical direction. Preferably, the lifting drive assembly 4 is an electric push rod 401; the output end of the electric push rod 401 is fixedly connected to the bottom of the support frame 5, and the electric push rod 401 is fixedly connected to the bottom of the loading frame 1 through an auxiliary assembly frame. When the electric push rod 401 extends, it drives the support frame 5 to rise, and when it retracts, it drives the support frame 5 to fall.

[0042] Several adapter ports 10 are provided at the bottom of the loading frame 1, located below the positioning area. The length of the adapter ports 10 is smaller than the length of the medication roll. These ports provide clearance for the drive roller 6 and driven roller 7 when the support frame 5 rises, and also accommodate the roller assembly when the support frame 5 descends. This ensures that the bottom surface of the positioning area forms a continuous support surface in the initial state, facilitating stable arrangement of the medication rolls within the positioning area. The drive roller 6, driven roller 7, and support frame 5 are initially concealed at the bottom of the loading frame 1, i.e., stored inside or below the adapter ports 10.

[0043] A rotary drive motor 11 is mounted on the support frame 5 and is connected to the drive roller 6 via a transmission. Preferably, the rotary drive motor 11 and the drive roller 6 are connected by a synchronous belt drive or a direct coupling. The rotary drive motor 11 moves up and down synchronously with the support frame 5 and drives the drive roller 6 to rotate.

[0044] Preferably, the outer surface of the drive roller 6 is provided with a friction layer, such as a rubber layer or a wear-resistant polyurethane layer, to improve the driving friction of the drug roll; the driven roller 7 preferably adopts a metal roller surface or a low-friction roller surface for support and guidance.

[0045] The driving roller 6 and driven roller 7 are arranged in pairs on the support frame 5, forming a support area between the two rollers. The distance between the driving roller 6 and driven roller 7 is adapted to the diameter of the drug roll, configured such that when the drug roll falls into the support area, the bottom of the drug roll is suspended and only contacts the roller surfaces of the driving roller 6 and driven roller 7, thereby reducing bottom friction and ensuring stable rotation. Preferably, the distance between the two rollers is smaller than the diameter of the drug roll, so that the drug roll falls stably on the two rollers and can rotate under the drive of the driving roller 6.

[0046] The projection of the drive roller 6 in the horizontal direction is located on the eccentric side of the bottom of the initial arrangement position of the pill rolls, that is, the drive roller 6 is horizontally offset relative to the axis of the initial arrangement of the pill rolls. When the lifting drive assembly 4 drives the support frame 5 to rise, the drive roller 6 first abuts against the pill rolls along the lower side and generates a lateral push, causing the pill rolls to shift horizontally while being vertically lifted, thereby separating the pill rolls originally arranged in the positioning area and forming gaps; then the pill rolls fall into the support area and rotate around their own axis under the drive of the drive roller 6.

[0047] The rejection unit 8 is located on the side of the loading frame 1, and the loading frame 1 has symmetrical discharge ports 9 on the two side walls. The opening size of the discharge port 9 is larger than the diameter of the medicine roll, and the height of the discharge port 9 corresponds to the axial height of the medicine roll after it is lifted and located in the support area, so that the medicine roll in the support area can be aligned with the discharge port 9.

[0048] Preferably, the opening size of the discharge port 9 is reserved with a gap relative to the diameter of the medicine roll, so as to ensure smooth discharge and reduce shaking.

[0049] The rejection unit 8 includes a push plate 801 and a pushing mechanism 802 that drives the push plate 801 to move. The push plate 801 is movably sleeved within one of the discharge ports 9, and the push plate 801 reciprocates along the axial direction of the discharge port 9. Preferably, the pushing mechanism 802 is an electric push rod or a cylinder; the output end of the pushing mechanism 802 is connected to the push plate 801. A guide sleeve or sliding guide surface is preferably provided between the push plate 801 and the discharge port 9 to ensure stable extension and retraction of the push plate 801. In the non-rejection state, the pushing mechanism 802 retracts the push plate 801 into one of the discharge ports 9. In the rejection state, it drives the push plate 801 to extend into the positioning area, pushes the unqualified drug rolls out of the support area, and discharges them out of the loading frame 1 through the other discharge port 9.

[0050] It should be noted that although the pills are initially arranged in a close-knit state in the positioning area, each set of active rollers 6 in the staggered rotation control mechanism has a specific progressive offset in the horizontal direction. When the support frame 5 rises, each set of active rollers 6 acts as a wedge-shaped guide, sequentially or simultaneously abutting against the lower side surface of the corresponding pills, pushing the originally close-knit pill array outward along the axial direction and redistributing it, eliminating the cumulative positional error, until all pills accurately fall into the support area with increased gaps.

[0051] The rejection linkage in this embodiment is as follows: when the visual detection unit 3 determines that there is an unqualified drug roll in the support area, the pushing mechanism 802 drives the push plate 801 to extend into the positioning area from one side discharge port 9, push the unqualified drug roll out of the support area, and discharge it out of the loading frame 1 through the other side discharge port 9.

[0052] After rejection, the staggered rotation control mechanism descends and resets, meaning the support frame 5 returns to its initial position under the drive of the lifting drive assembly 4, and the driving roller 6 and driven roller 7 are hidden at the bottom of the loading frame 1. When the staggered rotation control mechanism is in its initial state, the drug rolls to be tested on the guide ramp 2 roll into the positioning area under the action of gravity to fill the empty spaces after rejection and form an arrangement.

[0053] Example 2

[0054] Based on Embodiment 1, the outer surface of the active roller 6 is further provided with raised ribs 12 along the axial direction. The raised ribs 12 are preferably strip-shaped ribs or spaced-distributed protrusions; when the active roller 6 drives the drug roll to rotate, the raised ribs 12 periodically abut against the surface of the drug roll, causing the drug roll to vibrate slightly and shift its position, thereby changing the light reflection angle of the drug roll surface under the view of the visual inspection unit 3, reducing the occlusion effect of high light reflection on defect identification, and improving the detection stability.

[0055] Example 3

[0056] Based on Embodiment 1, the device further includes a gripping unit 13; the gripping unit 13 is installed on one side of the loading frame 1 and arranged adjacent to the positioning area; the gripping unit 13 includes a rotating arm seat 1301, a gripping arm 1302, and a gripping part 1303 disposed at the bottom of the gripping arm 1302. The bottom of the gripping part 1303 is provided with a plurality of gripping seats 1304, the number of gripping seats 1304 being consistent with the number of medicine rolls in the positioning area. Each gripping seat 1304 has an arc-shaped groove 14 at its bottom; the shape of the arc-shaped groove 14 is adapted to the top shape of the medicine roll, and the inner wall of the arc-shaped groove 14 is provided with a flexible elastic layer (not shown in the figure) to improve the fit and reduce the impact of hard contact on the packaging surface. The gripping unit 13 also includes a negative pressure pump suction mechanism that connects to the gripping seats 1304; the negative pressure pump suction mechanism is connected to each gripping seat 1304 through a pipeline, and provides negative pressure to the gripping seat 1304 to adsorb the medicine roll during gripping.

[0057] In this embodiment, the entire row of gripping and packing actions of the gripping unit 13 are triggered by the visual inspection unit 3's judgment that all the pills in the positioning area are qualified. When the visual inspection unit 3 outputs the qualified judgment result, the gripping arm 1302 drives the gripping part 1303 to move above the positioning area; the gripping part 1303 moves down so that the arc groove 14 fits with the top of the pill, and the negative pressure pump suction mechanism is activated to make the gripping seat 1304 adsorb the pill; then the gripping arm 1302 drives the pill away from the positioning area and moves to the box station to complete the packing. After the negative pressure is released, the pill falls into the box; the gripping unit 13 resets and enters the next cycle.

[0058] Working principle

[0059] In the initial state of the device, the support frame 5, the driving roller 6, and the driven roller 7 are in the lowered position and hidden inside or below the adapter port 10 at the bottom of the loading frame 1. The bottom surface of the positioning area forms a continuous support surface. After the medicine rolls conveyed from upstream enter the flared area of ​​the loading frame 1, they roll down to the positioning area under the action of gravity under the tilting action of the guide ramp 2 and form an arrangement.

[0060] When surface inspection is required, the lifting drive assembly 4 drives the support frame 5 to rise, and the active roller 6 and the driven roller 7 rise to below the positioning area and contact the drug roll. Since the active roller 6 is eccentrically set relative to the initial arrangement position of the drug roll, the active roller 6 abuts against the drug roll along the lower side of the drug roll during the rising process, causing the drug roll to be lifted in the vertical direction and offset in the horizontal direction at the same time, forming a gap between adjacent drug rolls. The drug roll then falls into the support area enclosed by the active roller 6 and the driven roller 7, with the bottom of the drug roll suspended and only in contact with the roller surfaces of the two rollers. The rotation drive motor 11 drives the active roller 6 to rotate, and the active roller 6 drives the drug roll to rotate around its own axis. The vision inspection unit 3 images the surface of the drug roll and outputs a qualified or unqualified judgment result.

[0061] When the visual inspection unit 3 determines that there is a defective drug roll in the support area, the push mechanism 802 drives the push plate 801 to extend into the positioning area from one side discharge port 9 and push the defective drug roll at the corresponding position out of the support area; the defective drug roll is discharged from the loading frame 1 through the other side discharge port 9, and the rejection is completed.

[0062] After the rejection action is completed, the lifting drive assembly 4 drives the support frame 5 to descend and reset, and the driving roller 6 and driven roller 7 return to the inside or below the adapter port 10, and the positioning area returns to the arrangement state. The drug rolls to be inspected in the flared area roll into the positioning area under the action of gravity via the guide ramp 2, filling the empty space left by rejection and forming an arrangement, providing a complete array for the next round of inspection;

[0063] When the gripping unit 13 is in operation, and the vision inspection unit 3 outputs a judgment result indicating that all the medication rolls within the positioning area are qualified, the gripping unit 13 is triggered to perform a row-by-row gripping and packing action. The gripping unit 13 moves the gripping part 1303 above the positioning area; the gripping part 1303 moves down to fit the top of the medication roll and uses a negative pressure pump suction mechanism to adsorb the medication roll; then the gripping arm 1302 drives the medication roll to the box station to complete the packing. After packing is completed, the gripping unit 13 resets and enters the next cycle.

Claims

1. An online visual inspection device for the packing and arrangement of emulsion explosives, characterized in that, include: The loading frame (1) is divided into a flared area and a positioning area. The flared area is provided with a guide ramp (2). The upper surface of the guide ramp (2) is inclined from the flared area to the positioning area, so that the medicine roll rolls down under the action of gravity and is arranged in the positioning area. A visual inspection unit (3) is suspended above the loading frame (1) for surface inspection of the drug rolls in the positioning area; The staggered self-rotation control mechanism is located below the positioning area and includes a lifting drive assembly (4), a support frame (5), and a pair of active rollers (6) and driven rollers (7) rotatably mounted on the support frame (5); the active rollers (6) and driven rollers (7) are initially hidden at the bottom of the loading frame (1); The rejection unit (8) is located on the side of the loading frame (1) and is used to reject unqualified drug rolls; The projection of the active roller (6) in the horizontal direction is located on the eccentric side of the bottom of the initial arrangement position of the medicine roll; when the lifting drive assembly (4) drives the support frame (5) to rise, the active roller (6) abuts against the medicine roll along the lower side of the medicine roll, pushing the medicine roll to produce vertical lifting and horizontal offset, so that the medicine rolls originally arranged in the positioning area are separated from each other and fall into the support area enclosed by the active roller (6) and the driven roller (7) to rotate; The loading frame (1) has a discharge port (9) on its side wall. The height of the discharge port (9) corresponds to the rotation detection position of the medicine roll after it is lifted. The rejection unit (8) is configured to drive the push plate (801) through the discharge port (9) on one side to move the unqualified medicine roll located in the support area laterally along the axial direction of the discharge port (9).

2. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 1, characterized in that: The loading frame (1) has several adapter ports (10) at its bottom. The length of the adapter port (10) is smaller than the length of the medicine roll. The active roller (6), the driven roller (7) and the support frame (5) are initially housed inside or below the adapter port (10) and extend upward through the adapter port (10) via the lifting drive assembly (4).

3. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 1, characterized in that: The lifting drive assembly (4) includes an electric push rod (401) fixedly connected to the bottom of the support frame (5); the staggered self-rotation control mechanism also includes a rotary drive motor (11) set on the support frame (5), the rotary drive motor (11) is connected to the active roller (6) for driving the active roller (6) to rotate; the rotary drive motor (11) rises and falls synchronously with the support frame (5).

4. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 1, characterized in that: The distance between the active roller (6) and the driven roller (7) is adapted to the diameter of the drug roll, and is configured such that when the drug roll falls into the support area, the bottom of the drug roll is suspended and only contacts the roller surfaces of the active roller (6) and the driven roller (7); the offset of the active roller (6) on the eccentric side of the drug roll is configured such that during the process of the active roller (6) contacting and lifting the drug roll, a gap is forced between adjacent drug rolls.

5. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 1, characterized in that: The outer surface of the active roller (6) is provided with raised ribs (12) along the axial direction; the raised ribs (12) are configured such that when the active roller (6) drives the medicine roll to rotate, the raised ribs (12) periodically abut against the surface of the medicine roll, causing the medicine roll to generate slight vibration and positional displacement.

6. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 1, characterized in that: The discharge port (9) is symmetrically opened on the opposite side walls of the loading frame (1), and the inner diameter of the discharge port (9) is larger than the diameter of the medicine roll; the rejection unit (8) includes several sets of independently driven push plates (801) and a pushing mechanism (802) for driving the push plates (801) to move. The push plates (801) are movably sleeved in the discharge port (9) on one side; the pushing mechanism (802) is configured to retract the push plates (801) outside the discharge port (9) in the non-rejection state, and drive the push plates (801) to extend into the positioning area in the rejection state.

7. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 6, characterized in that: The rejection unit (8) is linked with the visual inspection unit (3). When the visual inspection unit (3) determines that there are unqualified drug rolls in the support area, the push mechanism (802) drives the push plate (801) to extend into the positioning area from one side outlet (9) and push out the unqualified drug rolls at the corresponding position and discharge them out of the loading frame (1) through the other side outlet (9).

8. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 1, characterized in that: The device is configured such that after the rejection unit (8) completes the rejection, the staggered self-rotation control mechanism descends and resets, so that the drug rolls to be tested in the flared area enter the positioning area and form an arrangement under the action of gravity via the guide ramp (2).

9. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 1, characterized in that: It also includes a gripping unit (13) installed on one side of the loading frame (1). The gripping unit (13) includes a rotating arm seat (1301), a gripping arm (1302), and a gripping part (1303) located at the bottom of the gripping arm (1302). The bottom of the gripping part (1303) is provided with a gripping seat (1304) that is consistent with the number of medicine rolls in the positioning area. The bottom of the gripping seat (1304) is provided with an arc-shaped groove (14) that is adapted to the shape of the top of the medicine roll. The inner wall of the arc-shaped groove (14) is provided with a flexible elastic layer. The gripping unit (13) also includes a negative pressure pump suction mechanism that connects to the gripping seat (1304).

10. The online visual inspection device for the packing and arrangement of emulsion explosives according to claim 9, characterized in that: The gripping unit (13) is linked with the visual detection unit (3); the gripping unit (13) is triggered to perform the whole row gripping and packing action only when the visual detection unit (3) outputs the judgment result that all the medicine rolls in the positioning area are qualified.

Images