Grouting robot for fireworks molding machine and fireworks molding production line

Abstract

The utility model provides a grouting robot for a fireworks molding machine and a fireworks molding production line, which relates to the technical field of fireworks production equipment, including a base, a grouting assembly, and a manipulator; wherein the base is fixedly installed. The grouting assembly includes a grouting pipeline and a silo; the silo is used to store slurry; a feed pump is provided on the grouting pipeline to output the slurry in the silo. The manipulator has a plurality of rotating arms connected in sequence; a driving assembly is provided between two adjacent rotating arms to drive the two adjacent rotating arms to rotate relative to each other. The grouting pipeline is connected to the manipulator; the manipulator can drive the grouting pipeline to move the grouting port at the end of the grouting pipeline according to the set trajectory, so as to align the slurry in sequence and output it to each material trough on the receiving mold table. On the first aspect, the technical solution of the present application adopts a manipulator to drive the grouting pipeline to move, which occupies a small space. On the second aspect, one or more receiving mold tables can be more flexibly arranged around the manipulator for grouting.

Description

Technical Field

[0001] The present application relates to the technical field of fireworks production equipment, and in particular to a grouting robot for a fireworks molding machine and a fireworks molding production line. Background Art

[0002] A fireworks molding machine is a mechanical device specially used for fireworks production. It uses materials such as pulp and gypsum as raw materials and presses the raw materials into square, cylindrical or other shaped fireworks bodies. Traditional fireworks production may rely on manual operation. For example, Chinese Patent 202323342562.8 discloses a slurry feeding device for molded fireworks production. The slurry feeding device disclosed in the patent document uses a rotary joint arranged on the pipeline to manually move the discharge port for grouting operations. It is only an auxiliary slurry conveying pipeline and still needs to rely on manual adjustment, which is inefficient. In addition, in the slurry feeding device, the pipeline with an adjustable end is in a suspended state, relying on the rotating joint to bear the load of itself and the internal slurry, and is prone to wear.

[0003] The fireworks molding machine can improve efficiency and safety. During production, the unloading equipment injects the slurry into each trough on the receiving die table, and then the receiving die table moves to the top of the forming mold, and each trough on it discharges the slurry into each cavity of the forming mold. After the receiving die table withdraws, the fireworks molding machine closes the mold to press the fireworks body. A fireworks molding device disclosed in Chinese patent CN202420687763.7, in which the injection mechanism includes an XY axis drive mechanism, which drives the discharge head assembly to move in the XY direction, and loads the grid openings (troughs) on the rough blank mold one by one. In the prior art disclosed in the patent document, the injection mechanism occupies a lot of space and is only used to inject materials into a single receiving die table (rough blank mold). It is difficult to adapt and replace receiving die tables of different specifications, and the flexibility of use is poor. Utility Model Content

[0004] The technical problem to be solved by the present application is that, in view of the above-mentioned deficiencies in the prior art, a grouting robot for a fireworks molding machine and a fireworks molding production line are proposed.

[0005] A grouting robot for a fireworks molding machine, the grouting robot for a fireworks molding machine comprising:

[0006] Base, fixed installation;

[0007] The grouting assembly comprises a grouting pipeline and a silo; the silo is used to store slurry; the grouting pipeline is provided with a feed pump for outputting the slurry in the silo;

[0008] The manipulator has a plurality of rotating arms connected in sequence; a driving assembly is arranged between two adjacent rotating arms to drive the two adjacent rotating arms to rotate relative to each other;

[0009] The grouting pipeline is connected to the manipulator; the manipulator can drive the grouting pipeline to move the grouting port at the end of the grouting pipeline according to a set trajectory, so as to align and output the slurry to each material trough on the receiving mold table in sequence.

[0010] Optionally, the robot has 2-4 rotating arms.

[0011] Optionally, the manipulator has a first rotating arm and a second rotating arm;

[0012] The first rotating arm is assembled on the base, and a first driving assembly is arranged between the first rotating arm and the base, capable of driving the first rotating arm to rotate horizontally relative to the base;

[0013] The second rotating arm is assembled on the first rotating arm, and a second driving assembly is arranged between the second rotating arm and the first rotating arm, which can drive the second rotating arm to rotate horizontally relative to the first rotating arm.

[0014] Optionally, the first rotating arm is arranged below or above the second rotating arm, so that the first rotating arm and the second rotating arm are staggered up and down.

[0015] Optionally, at a connection position between the first rotating arm and the second rotating arm, the first rotating arm is embedded in the second rotating arm.

[0016] Optionally, the grouting pipeline includes a fixed pipeline and a movable pipeline;

[0017] The fixed pipeline is connected between the movable pipeline and the silo and is fixedly installed;

[0018] The movable pipeline includes a first rotating tube and a second rotating tube; the first rotating tube is arranged along the first rotating arm, and the second rotating tube is arranged along the second rotating arm; one end of the first rotating tube is movably connected to the fixed pipeline, and the other end is movably connected to the second rotating tube, so that the first rotating tube can rotate synchronously with the first rotating arm, and the second rotating tube can rotate synchronously with the second rotating arm.

[0019] Optionally, the first rotating tube is located above the manipulator, and the second rotating tube is located below the manipulator;

[0020] Or, the first rotating tube is located below the manipulator, and the second rotating tube is located above the manipulator;

[0021] A vertical through hole is provided on the rotary joint connecting the first rotary arm and the second rotary arm for the movable pipeline to pass through, and the rotary joint for connecting the first rotary tube and the second rotary tube is located within the horizontal range of the through hole.

[0022] Optionally, the first driving assembly is arranged on a rotating joint connected between the first rotating arm and the base, and comprises a first servo motor and a first reducer, wherein the first servo motor is mounted on the first reducer;

[0023] The second driving assembly is arranged on a rotating joint connected between the first rotating arm and the second rotating arm, and comprises a second servo motor and a second reducer, and the second servo motor is mounted on the second reducer;

[0024] The second reducer is a right-angle reducer, and the second servo motor is arranged on a side of the right-angle reducer that deviates from the movable pipeline.

[0025] On the other hand, the present application also provides a fireworks molding production line, including: the above-mentioned grouting robot for the fireworks molding machine.

[0026] Optionally, a plurality of material receiving mold tables are arranged at different positions near the grouting robot for the fireworks molding machine.

[0027] The grouting robot provided in the present application is used to inject slurry into each material trough on the receiving mold table. On the one hand, the technical solution of the present application adopts a manipulator to drive the grouting pipeline, which occupies a small space. On the other hand, one or more receiving mold tables can be more flexibly arranged around the manipulator for grouting. On the third hand, the manipulator can flexibly adapt to different specifications of receiving mold tables by adjusting the trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of a grouting robot for a fireworks molding machine in an embodiment of the present application.

[0029] Figure 2 It is another structural schematic diagram of the grouting robot for the fireworks molding machine in the embodiment of the present application.

[0030] Figure 3 It is another structural schematic diagram of the grouting robot for the fireworks molding machine in the embodiment of the present application.

[0031] Figure 4 It is a schematic diagram of the structure of the grouting assembly in the embodiment of the present application.

[0032] Figure 5 It is a schematic diagram of the operation of the grouting robot for the fireworks molding machine in the embodiment of the present application.

[0033] Figure 6 It is another structural schematic diagram of the grouting robot for the fireworks molding machine in the embodiment of the present application.

[0034] Figure numerals: base 10, grouting assembly 20, grouting pipeline 21, fixed pipeline 211, movable pipeline 212, first rotating tube 2121, second rotating tube 2122, first rotary joint 2123, second rotary joint 2124, grouting port 2125, feed pump 22, silo 23, manipulator 30, first rotating arm 31, second rotating arm 32, first drive assembly 33, first servo motor 331, first reducer 332, second drive assembly 34, second servo motor 341, second reducer 342, material receiving die table 40. DETAILED DESCRIPTION

[0035] The following is the specific embodiment of the present application and in conjunction with the accompanying drawings, the technical scheme of the present application is further described, but the present application is not limited to these embodiments. In the following description, specific details such as specific configuration and components are provided only to help fully understand the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the protection scope of the present application. In addition, for clarity and brevity, the description of known functions and structures has been omitted.

[0036] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other.

[0037] The embodiment of the present application provides a grouting robot for a fireworks molding machine, which is used to inject slurry into each material trough of a receiving die table. After all the material troughs on the receiving die table are injected with slurry, the receiving die table moves to the top of the forming die, and each material trough on it respectively discharges the slurry into each cavity of the forming die. After the receiving die table is withdrawn, the fireworks molding machine closes the mold to press and form the fireworks body.

[0038] The grouting robot for a fireworks molding machine includes a base, a grouting assembly, and a manipulator; wherein the base is fixedly installed. The grouting assembly includes a grouting pipeline and a silo; the silo is used to store slurry; a feed pump is provided on the grouting pipeline to output the slurry in the silo. The manipulator has a plurality of rotating arms connected in sequence; a driving assembly is provided between two adjacent rotating arms to drive the two adjacent rotating arms to rotate relative to each other. The grouting pipeline is connected to the manipulator; the manipulator can drive the grouting pipeline to move the grouting port at the end of the grouting pipeline according to the set trajectory, so as to align the slurry in sequence and output it to each material trough on the receiving die table.

[0039] Specifically, a feed pump is provided on the grouting pipeline. When the feed pump is working, the slurry in the silo passes through the grouting pipeline to the grouting port at the end thereof. It should be understood that the feed pump is a part of the grouting pipeline and can be installed at a suitable position according to requirements. In a specific scheme, the feed pump is arranged at the starting end of the grouting pipeline and at the bottom of the silo. Furthermore, the feed pump can adopt a rotor pump and be configured with a servo motor for driving. The servo motor rotates a fixed number of circles each time, thereby ensuring that the amount of grouting each time is roughly the same.

[0040] The manipulator is connected to the grouting pipeline, so the manipulator can drive the grouting pipeline to move the grouting port at the end of the grouting pipeline according to the set trajectory, so as to align the grouting port with each material slot on the receiving die table in turn, and output a certain amount of slurry to each material slot when the grouting port is aligned with the material slot. As the trajectory of the grouting port covers all the material slots on the receiving die table, all the material slots on the receiving die table are filled with slurry.

[0041] The manipulator has a plurality of rotating arms connected in sequence, specifically 2-4 rotating arms. In a specific embodiment, the manipulator includes 2 rotating arms. A driving assembly is provided between two adjacent rotating arms, and the driving assembly is used to accurately control the angular position of the rotating arms. In a specific embodiment, the driving assembly includes a servo motor and a reducer, and the servo motor is connected to the reducer, and the output end of the reducer drives the rotating arm to rotate.

[0042] The manipulator has a first rotating arm and a second rotating arm. The first rotating arm is mounted on a base, and a first driving assembly is provided between the first rotating arm and the base, which can drive the first rotating arm to rotate horizontally relative to the base. The second rotating arm is mounted on the first rotating arm, and a second driving assembly is provided between the second rotating arm and the first rotating arm, which can drive the second rotating arm to rotate horizontally relative to the first rotating arm. Based on the above structural setting, the first rotating arm is adjusted to rotate horizontally with respect to the fixed base as a reference, and the second rotating arm is adjusted to rotate horizontally with respect to the first rotating arm as a reference. By superimposing the actions of the first rotating arm and the second rotating arm, the controller can control the motion trajectory of the end of the second rotating arm. The grouting port is provided at the end of the second rotating arm, and the controller can control the grouting port to move according to the set trajectory.

[0043] In some technical solutions, the first rotating arm is arranged below or above the second rotating arm, so that the first rotating arm and the second rotating arm are staggered up and down. This design makes it possible for the first rotating arm to not hinder the second rotating arm when the second rotating arm rotates relative to the first rotating arm, and the second rotating arm can be rotated and adjusted within a range of 360° relative to the first rotating arm. In addition, in some technical solutions, at the connection position between the first rotating arm and the second rotating arm, the first rotating arm is embedded in the second rotating arm. This design can improve the stress condition at the connection between the first rotating arm and the second rotating arm.

[0044] The following is a detailed description with reference to the accompanying drawings. Figure 1-Figure 4 In one embodiment of the present application, a grouting robot for a fireworks molding machine includes a base 10, a grouting assembly 20, and a manipulator 30. The base 10 is fixedly installed. The grouting assembly 20 includes a grouting pipeline 21 and a silo 23; the silo 23 is used to store slurry; a feed pump 22 is provided on the grouting pipeline 21 for outputting the slurry in the silo 23. The manipulator 30 has a plurality of rotating arms connected in sequence; a driving assembly is provided between two adjacent rotating arms to drive the two adjacent rotating arms to rotate relative to each other. The grouting pipeline 21 is connected to the manipulator 30; the manipulator 30 can drive the grouting pipeline 21 to move so that the grouting port 2125 at the end of the grouting pipeline 21 moves according to a set trajectory, so as to align the slurry in sequence and output it to each material trough on the receiving mold table.

[0045] exist Figure 1-Figure 4 In the structure shown, the manipulator 30 has a first rotating arm 31 and a second rotating arm 32. The first rotating arm 31 is mounted on the base 10, and a first driving assembly 33 is provided between the first rotating arm 31 and the base 10, which can drive the first rotating arm 31 to rotate horizontally relative to the base 10. The second rotating arm 32 is mounted on the first rotating arm 31, and a second driving assembly 34 is provided between the second rotating arm 32 and the first rotating arm 31, which can drive the second rotating arm 32 to rotate horizontally relative to the first rotating arm 31. The first rotating arm 31 is arranged above the second rotating arm 32 so that the first rotating arm 31 and the second rotating arm 32 are staggered up and down.

[0046] based on Figure 1-Figure 4 In the structural setting, the first rotating arm 31 is adjusted horizontally with the fixed base 10 as the reference, and the second rotating arm 32 is adjusted horizontally with the first rotating arm 31 as the reference. By superimposing the actions of the first rotating arm 31 and the second rotating arm 32, the controller can control the motion trajectory of the end of the second rotating arm 32. The grouting port 2125 is set at the end of the second rotating arm 32. The controller can control the grouting port 2125 to move according to the set trajectory, so as to realize the grouting port 2125 being aligned with each material slot 41 on the receiving die table 40 in turn. Each time the grouting port 2125 is aligned with a material slot, a certain amount of slurry is output to the material slot. As the trajectory of the grouting port covers all the material slots on the receiving die table, all the material slots on the receiving die table are injected with slurry.

[0047] Figure 5 is a schematic diagram of the operation of the grouting robot for the fireworks molding machine in the embodiment of the present application, Figure 5In the figure, a receiving die table 40 is arranged on both sides of the manipulator 30. The two receiving die tables 40 can adopt the same specifications or different specifications. The manipulator 30 has a first rotating arm 31 and a second rotating arm 32. Through the actions of the first rotating arm 31 and the second rotating arm 32, the grouting port 2125 can be moved according to the trajectory S, so that the grouting port 2125 can be aligned with each material trough 41 on the two receiving die tables 40 in turn.

[0048] exist Figure 1-Figure 4 In the structure shown, the grouting pipeline 21 includes a fixed pipeline 211 and a movable pipeline 212. The fixed pipeline 211 is connected between the movable pipeline 212 and the silo 23 and is fixedly installed. The movable pipeline 212 includes a first rotating tube 2121 and a second rotating tube 2122; the first rotating tube 2121 is arranged along the first rotating arm 31, and the second rotating tube 2122 is arranged along the second rotating arm 32; one end of the first rotating tube 2121 is movably connected to the fixed pipeline 211, and the other end is movably connected to the second rotating tube 2122, so that the first rotating tube 2121 can rotate synchronously with the first rotating arm 31, and the second rotating tube 2122 can rotate synchronously with the second rotating arm 32.

[0049] The grouting pipeline 21 includes a fixed pipeline 211 and a movable pipeline 212. The fixed pipeline 211 is installed in a fixed manner, and the feed pump 22 is arranged at the starting end of the fixed pipeline 211, located at the bottom of the silo 23. As the feed pump 22 is running, the slurry in the silo 23 is transported to the movable pipeline 212 through the fixed pipeline 211. The movable pipeline 212 is arranged along the manipulator 30 and can adapt to the shape of the manipulator 30; the first rotating tube 2121 and the second rotating tube 2122 are both installed with a movable connection. When the manipulator 30 moves, the first rotating tube 2121 rotates synchronously with the first rotating arm 31, and the second rotating tube 2122 rotates synchronously with the second rotating arm 32. Reference Figure 4 In a specific embodiment, the first rotating tube 2121 is connected to the fixed pipeline 211 via a first rotating joint 2123, and the first rotating tube 2121 is connected to the second rotating tube 2122 via a second rotating joint 2124. The first rotating joint 2123 allows the first rotating tube 2121 to rotate horizontally relative to the fixed pipeline 211, and the second rotating joint 2124 allows the second rotating tube 2122 to rotate horizontally relative to the first rotating tube 2121.

[0050] exist Figure 1-Figure 4In the structure shown, the first rotating tube 2121 is located above the manipulator 30, and the second rotating tube 2122 is located below the manipulator 30; a vertical through hole is provided on the rotating joint connecting the first rotating arm 31 and the second rotating arm 32 for the movable pipeline 212 to pass through, and the rotating joint used for connecting the first rotating tube 2121 and the second rotating tube 2122 is located within the horizontal range of the through hole. Furthermore, the first rotating tube 2121 and the second rotating tube 2122 are connected through the second rotating joint 2124, and the second rotating joint 2124 is located in the rotating joint between the first rotating tube 2121 and the second rotating tube 2122.

[0051] refer to Figure 3 , the first rotating arm 31 is arranged above the second rotating arm 32, and the first rotating tube 2121 is arranged above the manipulator 30, and the second rotating tube 2122 is arranged below the manipulator 30; therefore, the second rotating arm 32 and the second rotating tube 2122 are both located below the first rotating arm 31 and the first rotating tube 2121. In this design, the first rotating arm 31 and the first rotating tube 2121 serve as the first rotating unit, and the second rotating arm 32 and the second rotating tube 2122 serve as the second rotating unit. The second rotating unit is located as a whole below the first rotating unit and is staggered in height. Therefore, when the second rotating arm 32 rotates relative to the first rotating arm 31, the second rotating unit and the first rotating unit will not conflict. Figure 3 In the state shown, the second rotating arm 32 is adjusted to be directly below the first rotating arm 31 , and is horizontally overlapped with the first rotating arm 31 , which minimizes space occupation and can be set as the initial state of the manipulator.

[0052] refer to Figure 2 and Figure 3 The first driving assembly 33 is arranged on the rotating joint connected between the first rotating arm 31 and the base 10, and includes a first servo motor 331 and a first reducer 332. The second driving assembly 34 is arranged on the rotating joint connected between the first rotating arm 31 and the second rotating arm 32, and includes a second servo motor 341 and a second reducer 342. Among them, the second reducer 342 is a right-angle reducer, and the second servo motor 341 is arranged on the side of the right-angle reducer that deviates from the active pipeline 212. This design can avoid the second servo motor 341 from conflicting with the active pipeline 212.

[0053] Figure 6 A schematic diagram showing another embodiment of the present application is shown. Figure 1-Figure 4The difference between the corresponding embodiments is that the first rotating arm 31 is arranged below the second rotating arm 32 so that the first rotating arm 31 and the second rotating arm 32 are staggered up and down. In addition, the first rotating tube 2121 is located below the manipulator 30, and the second rotating tube 2122 is located above the manipulator 30. Based on the above settings, a vertical through hole is provided on the rotating joint connecting the first rotating arm 31 and the second rotating arm 32 for the movable pipeline 212 to pass through, and the rotating joint for connecting the first rotating tube 2121 and the second rotating tube 2122 is located within the horizontal range of the through hole.

[0054] The embodiment of the present application also provides a fireworks molding production line, comprising: the above-mentioned grouting robot for fireworks molding machines. Further, a plurality of material receiving mold tables are arranged at different positions near the grouting robot for fireworks molding machines.

[0055] Specifically, the grouting robot for the fireworks molding machine includes a base, a grouting assembly, and a manipulator; wherein the base is fixedly installed. The grouting assembly includes a grouting pipeline and a silo; the silo is used to store slurry; a feed pump is provided on the grouting pipeline to output the slurry in the silo. The manipulator has a plurality of rotating arms connected in sequence; a driving assembly is provided between two adjacent rotating arms to drive the two adjacent rotating arms to rotate relative to each other. The grouting pipeline is connected to the manipulator; the manipulator can drive the grouting pipeline to move the grouting port at the end of the grouting pipeline according to the set trajectory, so as to align the slurry and output it to each trough on the receiving die table in sequence. The grouting robot provided in the present application is used to inject slurry into each trough on the receiving die table. In the first aspect, the technical solution of the present application adopts a manipulator to drive the grouting pipeline to move, which occupies a small space. In the second aspect, one or more receiving die tables can be more flexibly arranged around the manipulator for grouting. In the third aspect, the manipulator can flexibly adapt to receiving die tables of different specifications by adjusting the trajectory.

[0056] In the above embodiments of the present application, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0057] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. It should be noted that the terms used here are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, work, devices, components and / or combinations thereof.

[0058] The specific embodiments described herein are merely examples of the technical solutions of the present application. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the scope defined by the claims of the present application.

Claims

1. A grouting robot for a fireworks molding machine, characterized in that: The grouting robot for the fireworks molding machine comprises: Base, fixed installation; The grouting assembly comprises a grouting pipeline and a silo; the silo is used to store slurry; the grouting pipeline is provided with a feed pump for outputting the slurry in the silo; The manipulator has a plurality of rotating arms connected in sequence; a driving assembly is arranged between two adjacent rotating arms to drive the two adjacent rotating arms to rotate relative to each other; The grouting pipeline is connected to the manipulator; the manipulator can drive the grouting pipeline to move the grouting port at the end of the grouting pipeline according to a set trajectory, so as to align and output the slurry to each material trough on the receiving mold table in sequence.

2. The grouting robot for a fireworks molding machine according to claim 1, characterized in that: The robot has 2-4 rotating arms.

3. The grouting robot for a fireworks molding machine according to claim 2, characterized in that: The manipulator has a first rotating arm and a second rotating arm; The first rotating arm is assembled on the base, and a first driving assembly is arranged between the first rotating arm and the base, capable of driving the first rotating arm to rotate horizontally relative to the base; The second rotating arm is assembled on the first rotating arm, and a second driving assembly is arranged between the second rotating arm and the first rotating arm, which can drive the second rotating arm to rotate horizontally relative to the first rotating arm.

4. The grouting robot for a fireworks molding machine according to claim 3, characterized in that: The first rotating arm is arranged below or above the second rotating arm, so that the first rotating arm and the second rotating arm are staggered up and down.

5. The grouting robot for a fireworks molding machine according to claim 3, characterized in that: At a connection position between the first rotating arm and the second rotating arm, the first rotating arm is embedded in the second rotating arm.

6. The grouting robot for a fireworks molding machine according to any one of claims 3 to 5, characterized in that: The grouting pipeline includes a fixed pipeline and a movable pipeline; The fixed pipeline is connected between the movable pipeline and the silo and is fixedly installed; The movable pipeline includes a first rotating tube and a second rotating tube; the first rotating tube is arranged along the first rotating arm, and the second rotating tube is arranged along the second rotating arm; one end of the first rotating tube is movably connected to the fixed pipeline, and the other end is movably connected to the second rotating tube, so that the first rotating tube can rotate synchronously with the first rotating arm, and the second rotating tube can rotate synchronously with the second rotating arm.

7. The grouting robot for a fireworks molding machine according to claim 6, characterized in that: The first rotating tube is located above the manipulator, and the second rotating tube is located below the manipulator; Or, the first rotating tube is located below the manipulator, and the second rotating tube is located above the manipulator; A vertical through hole is provided on the rotary joint connecting the first rotary arm and the second rotary arm for the movable pipeline to pass through, and the rotary joint for connecting the first rotary tube and the second rotary tube is located within the horizontal range of the through hole.

8. The grouting robot for a fireworks molding machine according to claim 7, characterized in that: The first driving assembly is arranged on a rotating joint connected between the first rotating arm and the base, and comprises a first servo motor and a first reducer, wherein the first servo motor is mounted on the first reducer; The second driving assembly is arranged on a rotating joint connected between the first rotating arm and the second rotating arm, and comprises a second servo motor and a second reducer, and the second servo motor is mounted on the second reducer; The second reducer is a right-angle reducer, and the second servo motor is arranged on a side of the right-angle reducer that deviates from the movable pipeline.

9. A fireworks molding production line, characterized in that: include: A grouting robot for a fireworks molding machine as described in any one of claims 1 to 8.

10. The fireworks molding production line according to claim 9, characterized in that: A plurality of material receiving mold tables are arranged at different positions near the grouting robot for the fireworks molding machine.

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