Full-automatic self-cleaning mixing and grinding system of medicine mixing machine

Abstract

The utility model belongs to the technical field of mixing and grinding devices, and particularly relates to a full-automatic self-cleaning mixing and grinding system of a mixed medicine machine, which comprises a weighing, checking and feeding device, a delivery window, a feeding manipulator, a self-cleaning mixing and grinding device and a control cabinet, the weighing, checking and feeding device, the delivery window, the feeding manipulator and the self-cleaning mixing and grinding device are all controlled by the control cabinet, so that automatic grinding and mixing of the initiating explosive are realized, manual participation is avoided, and the working safety is improved; and due to the arrangement of the delivery window, the material weighing and re-nucleation are separated from the subsequent grinding and mixing operation, so that the working safety is further improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of mixing and grinding devices, and in particular relates to a full-automatic self-cleaning mixing and grinding system for a mixed medicine machine. Background Art

[0002] A grinder is a device used to grind materials. When working, the materials are added to the grinder and dispersed into the grinding chamber through the disperser. Driven by the high-speed grinding disk inside the grinding chamber, the materials and the moving grinding beads produce a complex physical grinding process of violent collision, friction, shearing, mixing, etc., and are rapidly refined. At present, for some special materials, safety needs to be paid attention to during the grinding process. For example, pyrotechnics are agents used to produce combustion and explosion. The processing of pyrotechnics involves the grinding process. Due to its special properties, the grinding requirements are high, especially the need to ensure the safety of the grinding process. Ordinary grinding equipment is not suitable for grinding. Utility Model Content

[0003] The utility model aims to provide a full-automatic self-cleaning mixing and grinding system for a medicine mixing machine, so as to realize automatic grinding of pyrotechnic mixed medicine through the full-automatic self-cleaning mixing and grinding system for the medicine mixing machine and ensure grinding safety.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] Provided is a fully automatic self-cleaning mixing and grinding system for a mixing medicine machine, comprising a weighing and re-nuclear feeding device, a transfer window, a feeding robot, a self-cleaning mixing and grinding device and a control cabinet, wherein the weighing and re-nuclear feeding device, the transfer window, the feeding robot and the self-cleaning mixing and grinding device are all controlled by the control cabinet, the feeding robot, the self-cleaning mixing and grinding device and the control cabinet are arranged in an isolation room, the transfer window is arranged on the isolation room, so that the weighing and re-nuclear feeding device can transfer materials to the feeding robot through the transfer window; the self-cleaning mixing and grinding device comprises a grinder and a material circulation device, and the material circulation device is used to circulate and pump materials or cleaning solvents between the grinder and the buffer hopper.

[0006] Preferably, the weighing and re-nuclear feeding device comprises a first frame, on which a temporary storage table for placing materials is provided, and on which a robot for transferring the materials on the temporary storage table to the transfer window is also provided.

[0007] Preferably, the manipulator includes a rotating support base arranged on the first frame, a rotating servo motor driving the rotating support base is provided on the first frame, a supporting arm is provided on the rotating support base, a first lifting cylinder is provided on the supporting arm, a first rodless cylinder is provided on the first lifting cylinder, a telescopic arm is provided on the moving block of the first rodless cylinder, a first clamping cylinder is provided at one end of the telescopic arm, and a clamping claw is provided on the first clamping cylinder.

[0008] Preferably, the temporary storage table includes a placement plate with a semicircular arc shape on the top, a plurality of material placement positions are arranged on the placement plate, the material is loaded into a raw material cup and placed at the material placement position, the raw material cup is provided with a ring groove for the clamping claw to clamp, a weighing sensor is provided on the material placement position, and a color sensor is provided next to the placement plate.

[0009] Preferably, the transfer window includes an upper slide groove and a lower slide groove, a window door plate is provided between the upper slide groove and the lower slide groove, a rodless cylinder is provided on the top of the upper slide groove, and a connecting block is provided between the moving block of the rodless cylinder and the window door plate; there are two transfer windows, which are respectively arranged on both sides of the wall of the isolation room.

[0010] Preferably, the feeding robot includes a second frame, on which a second rotating support seat is provided, a second rotating cylinder is provided on the second frame at the bottom of the second rotating support seat, and the second rotating cylinder is connected to the second rotating support seat; a second supporting arm is provided on the second rotating support seat, a second lifting cylinder is provided on the second supporting arm, a second telescopic cylinder is provided on the second lifting cylinder, a flipping cylinder is provided at one end of the second telescopic cylinder, a second clamping cylinder is provided on one side of the flipping cylinder, and a second clamping cylinder is provided on the second clamping cylinder.

[0011] Preferably, the self-cleaning mixing and grinding device includes a third frame, and the grinder and the material circulation device are arranged on the third frame; an electromagnetic vibrating feeder is provided on the third frame, a feed tray is provided on the electromagnetic vibrating feeder, and a cache hopper is also provided on the third frame, and the outlet of the electromagnetic vibrating feeder is located on the upper side of the cache hopper.

[0012] Preferably, a motor box is provided on the third frame, the grinder is arranged on the motor box, the motor inside the motor box is drivingly connected to the grinder, the grinder is provided with an upper feed port, an upper discharge port and a lower discharge port; the material circulation device includes a circulation pump arranged on the third frame, the bottom of the cache hopper is connected to the pump feed port of the circulation pump, the pump discharge port of the circulation pump is connected to the upper feed port of the grinder through a circulation feed pipe, the upper discharge port of the grinder is provided with a circulation valve, the circulation valve is connected with a circulation discharge pipe, the end of the circulation discharge pipe is located on the upper side of the cache hopper, and the lower discharge port of the grinder is provided with a discharge valve.

[0013] Preferably, the grinder includes a casing, a rotating shaft is provided in the casing, a feeding screw mounted on the rotating shaft is provided in the middle of the casing, a disperser is provided on the rotating shaft at the front end of the feeding screw, a grinding chamber is provided at the front inner part of the casing, a ceramic sleeve is provided on the inner periphery of the grinding chamber, the disperser is located at the rear end of the grinding chamber, a paddle is provided on the rotating shaft at the front side of the disperser, and a ball adding port connected to the grinding chamber is provided on the casing; a temperature sensor is connected to the bottom of the buffer hopper through a tee.

[0014] Preferably, a sealed cooling cavity is provided on the rear side of the casing, and a sealing sleeve is provided on the rotating shaft for sealing the sealed cooling cavity; a sealed sleeve cooling cavity for cooling the sealing sleeve is provided in the casing, and a first cooling inlet and a first cooling outlet connected to the sealing sleeve cooling cavity are provided on the casing; a feeding cooling cavity is provided in the casing at the periphery of the feeding screw, and a second cooling inlet and a second cooling outlet connected to the feeding cooling cavity are provided on the casing; a ball mill cooling cavity is provided in the casing at the periphery of the grinding cavity, and a third cooling inlet and a third cooling outlet connected to the ball mill cooling cavity are provided on the casing.

[0015] Compared with the prior art, the beneficial effects of the utility model are as follows: the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes a weighing and re-nuclear feeding device, a transfer window, a feeding robot, a self-cleaning mixing and grinding device and a control cabinet; the weighing and re-nuclear feeding device, the transfer window, the feeding robot and the self-cleaning mixing and grinding device are all controlled by the control cabinet to realize the automatic grinding and mixing of pyrotechnics, avoid manual participation and improve work safety; due to the provision of the transfer window, the material weighing and re-nuclear feeding device and the subsequent grinding and mixing operations are separated, further improving work safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of a fully automatic self-cleaning mixing and grinding system of a mixing medicine machine of the utility model.

[0018] Figure 2 It is a top view of an embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0019] Figure 3 This is a front view of a repeated nuclear feeding device in one embodiment of a fully automatic self-cleaning mixing and grinding system for a mixing medicine machine of the utility model.

[0020] Figure 4 It is a left view of a repeated nuclear feeding device in one embodiment of the fully automatic self-cleaning mixing and grinding system of a mixing medicine machine of the utility model.

[0021] Figure 5 It is a top view of a repeated nuclear feeding device in one embodiment of the fully automatic self-cleaning mixing and grinding system of a mixing medicine machine of the utility model.

[0022] Figure 6 This is a front view of a transfer window in one embodiment of a fully automatic self-cleaning mixing and grinding system for a mixing medicine machine of the utility model.

[0023] Figure 7 It is a left view of the transfer window in one embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0024] Figure 8 It is a top view of the transfer window in one embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0025] Fig. 9 This is a front view of the feeding robot in one embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0026] Fig.10 It is a left view of the feeding manipulator in one embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0027] Fig.11 It is a top view of the feeding manipulator in one embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0028] Fig.12 This is a front view of a self-cleaning mixing and grinding device in one embodiment of a fully automatic self-cleaning mixing and grinding system for a mixing medicine machine of the utility model.

[0029] Fig.13 It is a left view of the self-cleaning mixing and grinding device in one embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0030] Fig.14 This is a top view of the self-cleaning mixing and grinding device in one embodiment of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine of the utility model.

[0031] Fig.15 This is a schematic diagram of the internal structure of a grinder in one embodiment of the fully automatic self-cleaning mixing and grinding system for a mixed medicine machine of the utility model.

[0032] In the figure, each symbol indicates:

[0033] 100. Weighing and re-nuclear feeding device; 1-1. First frame; 1-2. Rotating servo motor; 1-3. Rotating support seat; 1-4. Support arm; 1-5. First lifting cylinder; 1-6. First rodless cylinder; 1-7. Telescopic arm; 1-8. Raw material cup; 1-9. Temporary storage table; 1-10. Weighing sensor; 1-11. Color sensor; 1-12. First clamping cylinder; 1-13. Clamping jaw;

[0034] 200, transfer window; 2-1, lower slide; 2-2, window and door panel; 2-3, upper slide; 2-4, connecting block; 2-5, rodless cylinder;

[0035] 300, feeding manipulator; 3-1, second frame; 3-2, second rotating cylinder; 3-3, second rotating support seat; 3-4, second supporting arm; 3-5, second lifting cylinder 3-6, second clamping claw; 3-8, second clamping cylinder; 3-9, second turning cylinder; 3-10, second telescopic cylinder;

[0036] 400. Self-cleaning mixing and grinding device; 1. Feeding plate; 2. Electromagnetic vibrating feeder; 3. Buffer hopper; 4. Temperature sensor; 5. Circulating pump; 6. Circulating feeding pipe; 7. Grinding machine; 8. Circulating discharging pipe; 9. Circulating valve; 10. Discharging valve; 11. Discharging port 12. Motor 13. Rotating shaft; 14. Sealing sleeve; 15. Feeding screw 16. Disperser 17. Paddle 18. Grinding ball; 19. First cooling inlet; 20. Second cooling inlet; 21. Third frame; 22. Motor box; 23. Ball adding port; 24. Ceramic sleeve 25. Sealed cooling chamber 26. Feeding cooling chamber 27. Ball mill cooling chamber; 28. Sealed sleeve cooling chamber;

[0037] 500. Partition wall. DETAILED DESCRIPTION

[0038] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0039] In one embodiment, a fully automatic self-cleaning mixing and grinding system for a mixed medicine machine is provided. Figure 1 and Figure 2 As shown, the fully automatic self-cleaning mixing and grinding system of the medicine mixing machine includes a weighing and re-weighing feeding device 100, a transfer window 200, a feeding robot 300, a self-cleaning mixing and grinding device 400 and a control cabinet. The weighing and re-weighing feeding device 100 is used for weighing and re-checking different materials, and delivering materials to the transfer window 200. The transfer window 200 plays an isolating role, separating the feeding operation and the grinding operation environment to ensure grinding safety. The feeding robot 300 is used to deliver the material from the location of the transfer window 200 to the self-cleaning mixing and grinding device 400. The self-cleaning mixing and grinding device 400 is used to grind and mix different pyrotechnic raw materials. The control cabinet adopts an explosion-proof cabinet, and a PLC controller and some control switches are arranged inside. The weighing and re-weighing feeding device 100, the transfer window 200, the feeding robot 300, and the self-cleaning mixing and grinding device 400 are all controlled by the control cabinet to realize the automated mixing and grinding operation of the fully automatic self-cleaning mixing and grinding system of the medicine mixing machine. Among them, Figure 2 As shown, the feeding robot 300, the self-cleaning mixing and grinding device 400 and the control cabinet are arranged in the isolation room. Figure 2 In the figure, the partition wall 500 is a wall of the isolation room. The isolation room is a closed space, which is not fully shown in the figure. The transfer window 200 is set on the partition wall 500 of the isolation room. The partition wall 500 is provided with a window hole. The transfer window 200 is set on the side of the window hole, so that the weighing and nuclear feeding device 100 can pass the material to the feeding robot 300 through the transfer window 200, and then the feeding robot 300 will send the material to the self-cleaning mixing and grinding device 400. The self-cleaning mixing and grinding device 400 includes a grinder and a material circulation device. The material circulation device is used to circulate and pump materials or cleaning solvents between the grinder and the buffer hopper. When grinding, the material is pumped, and when self-cleaning, the cleaning solvent is circulated and pumped.

[0040] The fully automatic self-cleaning mixing and grinding system of the mixing medicine machine works as follows: first, the weighed raw materials (solid powder or liquid) can be loaded into the material cup by a robot or manually, and then placed on the weighing and verification feeding device 100 to verify the weight. The weighing and verification information is transmitted to the control cabinet, and then the transfer window 200 is opened under the control of the control cabinet. The verified qualified materials are sequentially delivered to the platform at the bottom of the window hole inside the transfer window 200 by the weighing and verification feeding device 100, and then the transfer window 200 is closed under the control of the control cabinet, and the feeding robot 300 sends the materials from the platform at the bottom of the window hole to the self-cleaning mixing and grinding device 400, and then the self-cleaning mixing and grinding device 400 is controlled to cyclically grind and mix different pyrotechnic raw materials.

[0041] The fully automatic self-cleaning mixing and grinding system of the mixing medicine machine has the following beneficial effects: the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes a weighing and re-nuclear feeding device 100, a transfer window 200, a feeding manipulator 300, a self-cleaning mixing and grinding device 400 and a control cabinet. The weighing and re-nuclear feeding device 100, the transfer window 200, the feeding manipulator 300 and the self-cleaning mixing and grinding device 400 are all controlled by the control cabinet to realize the automatic grinding and mixing of explosives, avoid manual participation and improve work safety; due to the provision of the transfer window 200, the material weighing and re-nuclearing and the subsequent grinding and mixing operations are separated, further improving work safety. In addition, the self-cleaning mixing and grinding device 400 has a self-cleaning function to ensure the purity of the ground material.

[0042] It should be noted that the fully automatic self-cleaning mixing and grinding system of the mixing machine is not only used for grinding and mixing different pyrotechnic raw materials, but also can be used for grinding other non-explosive substances, and has a wide range of uses.

[0043] Further, in another embodiment, Figure 3-5 As shown, the weighing and re-nuclear feeding device 100 in the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes a first frame 1-1, and the first frame 1-1 is arranged next to the transfer window 200. A temporary storage table 1-9 for placing materials is provided on the first frame 1-1. The temporary storage table 1-9 is used to place the weighed and loaded materials thereon. A robot for transferring the materials on the temporary storage table 1-9 to the transfer window 200 is also provided on the first frame 1-1, and the materials are delivered to the location of the transfer window 200 by the robot.

[0044] Further, in another embodiment, Figure 3-5As shown, the manipulator in the weighing and re-nuclear feeding device 100 of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes a rotating support seat 1-3 arranged on the first frame 1-1, a rotating servo motor 1-2 for driving the rotating support seat 1-3 is arranged on the first frame 1-1, and a supporting arm 1-4 is arranged on the rotating support seat 1-3, a plane bearing can be arranged in the rotating support seat 1-3, a rotating circular plate is arranged on the plane bearing, the supporting arm 1-4 is fixed on the rotating circular plate, and a shaft connected to the rotating servo motor 1-2 is arranged at the bottom of the rotating circular plate; on the supporting arm 1-4 A first lifting cylinder 1-5 is provided, and the first lifting cylinder 1-5 is lifted and lowered by pneumatic means. A first rodless cylinder 1-6 is provided on the first lifting cylinder 1-5, and the first rodless cylinder 1-6 drives the upper moving block to move left and right by pneumatic means. A telescopic arm 1-7 is provided on the moving block of the first rodless cylinder 1-6, and a first clamping claw cylinder 1-12 is provided at one end of the telescopic arm 1-7. A clamping claw 1-13 is provided on the first clamping claw cylinder 1-12, and the first clamping claw cylinder 1-12 pneumatically drives the clamping claw 1-13 to open or close, so as to clamp the material through the clamping claw 1-13. Each cylinder here is supplied with air by the equipped pneumatic system, and the solenoid valves provided on each air path in the pneumatic system are controlled by the control cabinet.

[0045] Further, in another embodiment, Figure 3-5 As shown, the temporary storage table 1-9 of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes a placement plate with a semicircular arc shape at the top, and the bottom of the placement plate is installed on the first frame 1-1 through multiple support arms. Multiple material placement positions are arranged on the placement plate. The weighed materials are placed in the raw material cup 1-8 and placed at the material placement position. The raw material cup 1-8 is provided with a ring groove for the clamping claw 1-13 to clamp. A weighing sensor 1-10 is provided on each material placement position, and a color sensor 1-11 is provided next to the placement plate. The weighing sensor 1-10 on each material placement position and the color sensor 1-11 next to the placement plate are all connected to the control cabinet by signal. The material weight is verified by the weighing sensor 1-10, and the material addition order is identified by the color sensor 1-11. For example, different materials have different colors, or the raw material cups 1-8 of different materials have different colors.

[0046] Further, in another embodiment, Figure 6-8As shown, the transfer window 200 of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes an upper slide 2-3 and a lower slide 2-1, which are respectively used to be fixed on the upper and lower side walls of the window hole on the partition wall 500, and a window door plate 2-2 is arranged between the upper slide 2-3 and the lower slide 2-1, and a rodless cylinder 2-5 is arranged on the top of the upper slide 2-3, and a connecting block 2-4 is arranged between the moving block of the rodless cylinder 2-5 and the window door plate 2-2, and the rodless cylinder 2-5 drives the upper moving block by pneumatic means, so that the window door plate 2-2 can be driven to move left and right between the upper slide 2-3 and the lower slide 2-1 through the connecting block 2-4, so as to realize the opening and closing action of the window door plate 2-2. There are two transfer windows 200, which are arranged on both sides of the window hole on the partition wall 500 of the isolation room, respectively. When one of the transfer windows 200 is opened, the other is in a closed state to ensure safety.

[0047] Further, in another embodiment, Figure 9-11 As shown, the feeding manipulator 300 of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes a second frame 3-1, which is arranged in a safe room next to the self-cleaning mixing and grinding device. A second rotating support seat 3-3 is provided on the second frame 3-1, and a second rotating cylinder 3-2 is provided at the bottom of the second rotating support seat 3-3 on the second frame 3-1. The second rotating cylinder 3-2 is connected to the second rotating support seat 3-3, and the second rotating cylinder 3-2 is used to drive the second rotating support seat 3-3 to rotate; a second supporting arm 3-4 is provided on the second rotating support seat 3-3. A second lifting cylinder 3-5 is provided on the second supporting arm 3-4, and the second lifting cylinder 3-5 is used to perform lifting actions. A second telescopic cylinder 3-10 is provided on the second lifting cylinder 3-5, and the second telescopic cylinder 3-10 is used to perform telescopic actions. A flipping cylinder 3-9 is provided at one end of the second telescopic cylinder 3-10, and the flipping cylinder 3-9 is used to perform flipping actions. A second clamping cylinder 3-8 is provided on one side of the flipping cylinder 3-9, and a second clamping claw 3-6 is provided on the second clamping cylinder 3-8. The second clamping claw 3-6 is driven to open and close by the second clamping cylinder 3-8, so as to clamp or loosen the raw material cup.

[0048] Further, in another embodiment, Figure 12-15As shown, the self-cleaning mixing and grinding device 400 of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine includes a third frame 21, an electromagnetic vibrating feeder 2 is provided on the third frame 21, a feed tray 1 is provided on the electromagnetic vibrating feeder 2, and a buffer hopper 3 is also provided on the third frame 21. The outlet of the electromagnetic vibrating feeder 2 is located on the upper side of the buffer hopper 3, and the material in the feed tray 1 is continuously released into the buffer hopper 3 through the electromagnetic vibrating feeder 2; a grinder 7 and a material circulation device are also provided on the third frame 21, and the material circulation device is used to circulate and pump the material between the grinder 7 and the buffer hopper, thereby realizing the cyclic grinding of the material. When the self-cleaning mixing and grinding device 400 is self-cleaning, the material circulation function of the equipment itself is used to clean the inside of the grinder with a cleaning solvent, and then discharge the waste liquid.

[0049] Further, in another embodiment, Figure 12-15 As shown, the fully automatic self-cleaning mixing and grinding system of the mixed medicine machine is provided with a motor box 22 on the third frame, and the grinder 7 is arranged on one side of the motor box 22. The motor 12 arranged inside the motor box 22 is drivingly connected to the grinder 7. The motor 12 is arranged in the motor box 22 to play an explosion-proof role. The grinder 7 is provided with an upper feed port, an upper discharge port and a lower discharge port. The upper discharge port is used for circulating materials, and the lower discharge port is used for releasing the pyrotechnic mixed medicine after grinding. The material circulation device includes a circulation pump 5 arranged on the third frame, the bottom of the buffer hopper 3 is connected to the pump feed port of the circulation pump 5 through a tee, and the pump discharge port of the circulation pump 5 is connected to the upper feed port of the grinder 7 through a circulation feed pipe 6. The upper discharge port of the grinder 7 is provided with a circulation valve 9, and the circulation valve 9 is connected to a circulation discharge pipe 8. The end of the circulation discharge pipe 8 is located on the upper side of the buffer hopper 3, and the lower discharge port of the grinder 7 is provided with a discharge valve 10.

[0050] The circulation grinding method of the self-cleaning mixing and grinding device 400 is as follows: under the action of the circulation pump 5, the material in the buffer hopper 3 is sucked into the pump inlet of the circulation pump 5, and then the material is sent to the upper inlet of the grinder 7 through the circulation feed pipe 6 connected to the pump outlet of the circulation pump 5, so as to realize the circulation grinding of the material. When the material in the grinder 7 increases continuously, after the circulation valve 9 is opened, the material in the grinder 7 will flow out to the buffer hopper 3 through the circulation outlet pipe 8.

[0051] Further, in another embodiment, Figure 12-15As shown, the grinder 7 of the fully automatic self-cleaning mixing and grinding system of the mixed medicine machine includes a casing, a rotating shaft 13 is provided in the casing, the rotating shaft 13 is connected to the motor 12, a feeding screw 15 installed on the rotating shaft 13 is provided in the middle of the casing, the incoming material is pushed forward by the feeding screw 15, a disperser 16 is provided on the rotating shaft 13 at the front end of the feeding screw 15, the disperser 16 is used to disperse the material and output it forward, a grinding chamber is provided in the front part of the casing, a ceramic sleeve 24 is provided on the inner periphery of the grinding chamber, the grinding is carried out in the ceramic sleeve 24, the disperser 16 is located at the rear end of the grinding chamber, a paddle 17 is provided on the rotating shaft 13 at the front side of the disperser 16, the material and the grinding ball 18 are continuously stirred by the paddle 17, a ball adding port 23 connected to the grinding chamber is provided on the casing, which is used to add grinding balls into the grinding chamber; the bottom of the buffer hopper 3 is connected to the temperature sensor 4 through a tee, and the grinding temperature is monitored by the temperature sensor.

[0052] Further, in another embodiment, Figure 12-15 As shown, a sealed cooling chamber 25 is provided at the rear side of the housing of the fully automatic self-cleaning mixing and grinding system of the mixing medicine machine. The sealed cooling chamber 25 is an annular chamber. The sealed cooling chamber 25 is used to store coolant. A sealing sleeve 14 is provided on the rotating shaft 13 to seal the sealed cooling chamber 25. A sealed sleeve cooling chamber 28 is provided in the housing to cool the sealed sleeve 14. The sealed sleeve cooling chamber 28 is an annular chamber. The housing is provided with a first cooling inlet and a first cooling outlet connected to the sealed sleeve cooling chamber 28 for passing water or other circulating cooling fluid. Liquid; a feeding cooling chamber 26 is provided in the casing at the periphery of the feeding screw 15. The feeding cooling chamber 26 is an annular chamber. The casing is provided with a second cooling inlet 19 and a second cooling outlet (located at the bottom) connected to the feeding cooling chamber 26 for introducing circulating cooling liquid such as water; a ball mill cooling chamber 27 is provided in the casing at the periphery of the grinding chamber. The ball mill cooling chamber 27 is an annular cooling chamber. The casing is provided with a third cooling inlet 20 and a third cooling outlet (located at the bottom) connected to the ball mill cooling chamber 27 for introducing circulating cooling liquid such as water. The cooling liquid of each cooling chamber is transported by a configured diaphragm pump.

[0053] The fully automatic self-cleaning mixing and grinding system of the mixing machine is mainly used for efficient solid-liquid grinding and mixing of multi-component materials of mixed explosives, that is, it is mainly used to indirectly add a variety of powder materials, including oxidants, reducing agents, organic solvents, and adhesives into the mixer, and after a certain period of grinding and mixing at a certain speed, a qualified product with a qualified particle size and uniform distribution is achieved, and the material is automatically discharged into a designated container or to the next process. The system uses a robot for automatic feeding, automatic cycle grinding, and automatic cleaning. The grinding temperature can be monitored and controlled, and the grinding speed is adjustable and controllable, realizing fully automatic unmanned isolation production to ensure safety.

[0054] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic self-cleaning mixing and grinding system for a medicine mixing machine, characterized by: It includes a weighing and re-nuclear feeding device, a transfer window, a feeding robot, a self-cleaning mixing and grinding device and a control cabinet, wherein the weighing and re-nuclear feeding device, the transfer window, the feeding robot and the self-cleaning mixing and grinding device are all controlled by the control cabinet, the feeding robot, the self-cleaning mixing and grinding device and the control cabinet are used to be arranged in an isolation room, and the transfer window is set on the isolation room so that the weighing and re-nuclear feeding device can transfer materials to the feeding robot through the transfer window; the self-cleaning mixing and grinding device includes a grinder and a material circulation device, and the material circulation device is used to circulate and pump materials or cleaning solvents between the grinder and the buffer hopper.

2. The fully automatic self-cleaning mixing and grinding system of a medicine mixing machine according to claim 1 is characterized in that: The weighing and re-nuclear feeding device comprises a first frame, on which a temporary storage table for placing materials is arranged, and on which a manipulator for transferring the materials on the temporary storage table to the transfer window is also arranged.

3. The fully automatic self-cleaning mixing and grinding system of a medicine mixing machine according to claim 2 is characterized in that: The robot includes a rotating support base arranged on the first frame, a rotating servo motor driving the rotating support base is provided on the first frame, a supporting arm is provided on the rotating support base, a first lifting cylinder is provided on the supporting arm, a first rodless cylinder is provided on the first lifting cylinder, a telescopic arm is provided on the moving block of the first rodless cylinder, a first clamping cylinder is provided at one end of the telescopic arm, and a clamping claw is provided on the first clamping cylinder.

4. The fully automatic self-cleaning mixing and grinding system for a medicine mixing machine according to claim 3 is characterized by: The temporary storage table includes a placement plate with a semicircular arc shape on the top, and a plurality of material placement positions are arranged on the placement plate. The material is loaded into a raw material cup and placed at the material placement position. The raw material cup is provided with a ring groove for the clamping claw to clamp. A weighing sensor is provided on the material placement position, and a color sensor is provided next to the placement plate.

5. The fully automatic self-cleaning mixing and grinding system for a medicine mixing machine according to claim 1 is characterized in that: The transfer window includes an upper slide groove and a lower slide groove, a window door plate is arranged between the upper slide groove and the lower slide groove, a rodless cylinder is arranged on the top of the upper slide groove, and a connecting block is arranged between the moving block of the rodless cylinder and the window door plate; there are two transfer windows, which are arranged on both sides of the wall of the isolation room respectively.

6. The fully automatic self-cleaning mixing and grinding system of a medicine mixing machine according to claim 1 is characterized in that: The feeding robot includes a second frame, on which a second rotating support seat is provided, and on the second frame, a second rotating cylinder is provided at the bottom of the second rotating support seat, and the second rotating cylinder is connected to the second rotating support seat; a second supporting arm is provided on the second rotating support seat, and a second lifting cylinder is provided on the second supporting arm, and a second telescopic cylinder is provided on the second lifting cylinder, and a flipping cylinder is provided at one end of the second telescopic cylinder, and a second clamping cylinder is provided on one side of the flipping cylinder, and a second clamping cylinder is provided on the second clamping cylinder.

7. The fully automatic self-cleaning mixing and grinding system for a medicine mixing machine according to claim 1 is characterized in that: The self-cleaning mixing and grinding device includes a third frame, and the grinder and the material circulation device are arranged on the third frame; an electromagnetic vibrating feeder is arranged on the third frame, a feeding tray is arranged on the electromagnetic vibrating feeder, and a cache hopper is also arranged on the third frame, and the outlet of the electromagnetic vibrating feeder is located on the upper side of the cache hopper.

8. The fully automatic self-cleaning mixing and grinding system of a medicine mixing machine according to claim 7 is characterized in that: A motor box is provided on the third frame, the grinder is arranged on the motor box, the motor inside the motor box is drivingly connected to the grinder, the grinder is provided with an upper feed port, an upper discharge port and a lower discharge port; the material circulation device comprises a circulation pump provided on the third frame, the bottom of the buffer hopper is connected to the pump feed port of the circulation pump, the pump discharge port of the circulation pump is connected to the upper feed port of the grinder through a circulation feed pipe, the upper discharge port of the grinder is provided with a circulation valve, the circulation valve is connected with a circulation discharge pipe, the end of the circulation discharge pipe is located on the upper side of the buffer hopper, and the lower discharge port of the grinder is provided with a discharge valve.

9. The fully automatic self-cleaning mixing and grinding system for a medicine mixing machine according to claim 8, characterized in that: The grinder includes a casing, a rotating shaft is arranged in the casing, a feeding screw mounted on the rotating shaft is arranged in the middle of the casing, a disperser is arranged on the rotating shaft at the front end of the feeding screw, a grinding chamber is arranged at the front part of the casing, a ceramic sleeve is arranged on the inner periphery of the grinding chamber, the disperser is located at the rear end of the grinding chamber, a paddle is arranged on the rotating shaft at the front side of the disperser, and a ball adding port connected to the grinding chamber is arranged on the casing; a temperature sensor is connected to the bottom of the buffer hopper through a tee.

10. The fully automatic self-cleaning mixing and grinding system of a medicine mixing machine according to claim 9, characterized in that: A sealed cooling cavity is provided on the rear side of the casing, and a sealing sleeve is provided on the rotating shaft for sealing the sealed cooling cavity; a sealed sleeve cooling cavity for cooling the sealing sleeve is provided in the casing, and a first cooling inlet and a first cooling outlet connected to the sealed sleeve cooling cavity are provided on the casing; a feeding cooling cavity is provided in the casing at the periphery of the feeding screw, and a second cooling inlet and a second cooling outlet connected to the feeding cooling cavity are provided on the casing; a ball mill cooling cavity is provided in the casing at the periphery of the grinding cavity, and a third cooling inlet and a third cooling outlet connected to the ball mill cooling cavity are provided on the casing.

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