Packaging machine for multiple sets of hard tubes

Abstract

The utility model discloses a multi-set hard tube packaging machine which comprises a rotary table, a packaging barrel supporting seat is arranged in the middle of the rotary table, and a barrel cover mounting station and a bearing string feeding station are distributed on the circumference of the rotary table. The rotating disc is driven by a servo motor to rotate in a reciprocating mode in the state that the first end of the packaging barrel supporting base corresponds to the barrel cover mounting station, the second end of the packaging barrel supporting base corresponds to the bearing string feeding station, and the second end of the packaging barrel supporting base corresponds to the barrel cover mounting station. The barrel cover feeding assembly comprises a barrel cover feeding vibration disc, a barrel cover transferring mechanical arm, a material receiving clamping jaw and a first two-axis moving module and is used for transferring a barrel cover to the material receiving clamping jaw and pressing the barrel cover to the first end or the second end of the packaging barrel on the packaging barrel supporting seat; and the bearing string feeding assembly is used for feeding a string of bearings into the packaging barrel on the packaging barrel supporting seat. A whole row of bearings are arranged in the packaging barrel, and the barrel covers can be arranged at the two ends of the packaging barrel in a covering mode.

Description

TECHNICAL FIELD

[0001] The utility model relates to bearing packaging field especially relates to a many sets of hard pipe packaging machine. BACKGROUND

[0002] After bearing production forming, need to be loaded into the packing barrel, the bearing is loaded into the packing barrel and is operated by the packing machine. But the packing barrel used by the present packing machine needs to be covered with a barrel cover at one end, and for the packing barrel with openings at both ends, each opening needs to be covered with a barrel cover, and the existing packing machine cannot be used. SUMMARY

[0003] In order to overcome the above-mentioned shortcomings, the utility model discloses a many sets of hard pipe packaging machine suitable for covering the barrel cover at both ends and loading the whole set of bearings into the packing barrel.

[0004] In order to achieve the above purpose, one of the technical schemes adopted by the utility model is: a many sets of hard pipe packaging machine, comprising a rack, the rack is provided with: a turntable, the middle part of the turntable is provided with a packing barrel support seat, the circumference of the turntable is distributed with a barrel cover installation station, a bearing string loading station, the turntable is driven by a servo motor and can rotate back and forth in the state that the first end of the packing barrel support seat corresponds to the barrel cover installation station, the second end of the packing barrel support seat corresponds to the bearing string loading station, and the second end of the packing barrel support seat corresponds to the barrel cover installation station; a barrel cover loading assembly is arranged on one side of the barrel cover installation station, the barrel cover loading assembly comprises a barrel cover loading vibration disc, a barrel cover transfer manipulator, a receiving clamp jaw and a first two-axis moving module, the barrel cover transfer manipulator connects the outlet of the barrel cover loading vibration disc and the receiving clamp jaw, so as to transfer the barrel cover to the receiving clamp jaw, the receiving clamp jaw is driven by the first two-axis moving module to correspond to the first end or the second end of the packing barrel support seat, and the barrel cover is pressed to the first end or the second end of the packing barrel on the packing barrel support seat; a bearing string loading assembly is arranged on one side of the bearing string loading station, when the second end of the packing barrel support seat rotates to correspond to the bearing string loading station, the bearing string loading assembly is used to load a string of bearings into the packing barrel on the packing barrel support seat.

[0005] The utility model discloses a beneficial effect of multiple hard pipe packaging machine is: the receiving clamp jaw of the barrel cover feeding assembly of barrel cover installation station is driven by the first two axle movement module, and the first end cover of the packaging barrel on the packaging barrel support seat is provided with the first barrel cover, and then the rotating disc is driven by the servo motor and rotates, and until the second end of the packaging barrel on the packaging barrel support seat is aligned with the bearing string feeding assembly, and after the second end of the packaging barrel is loaded with the whole bearing by the bearing string feeding assembly, the rotating disc is driven by the servo motor and rotates, and until the second end of the packaging barrel on the packaging barrel support seat rotates to correspond with the receiving clamp jaw of the barrel cover installation station, and the second barrel cover is covered in the second end of the packaging barrel by the first two axle movement module, and at this time, the operation of loading the whole bearing into the packaging barrel and covering two barrel covers is completed, compact structure, higher efficiency, and small floor space.

[0006] Preferably, the barrel cover feeding vibration disc is lower than the receiving clamp jaw and is located in the machine frame, the barrel cover transfer manipulator includes a lead screw linear module and a barrel cover cylinder, the lead screw linear module drives the barrel cover cylinder to lift, the barrel cover cylinder is horizontally arranged, a barrel cover plug is fixed to the extension end of the barrel cover cylinder, the barrel cover plug is matched with the shape of the barrel cover, and the receiving clamp jaw can correspond to the barrel cover plug front and back. The barrel cover feeding vibration disc is built-in in the machine frame, and is hidden and designed, compact structure, the barrel cover plug is used to receive the barrel cover of the discharge port of the barrel cover feeding vibration disc, the barrel cover plug is driven to rise by the lead screw linear module, and is driven to translate by the barrel cover cylinder, and the barrel cover can be transferred to the receiving clamp jaw above.

[0007] Preferably, the receiving clamp jaw includes a first clamp cylinder and a rotating motor, the first clamp cylinder drives a plurality of first clamps to move back and forth towards or away from the center of a circle, when the plurality of first clamps move towards the center of the circle, the barrel cover is clamped, and the rotating motor drives the rotating motor to rotate, and the rotating motor is driven by the first two axle movement module to move left and right, forward and backward in the horizontal direction. The receiving clamp jaw realizes the clamping of the barrel cover through a plurality of first clamps, and the barrel cover can be screwed on one end of the packaging barrel by the rotating motor.

[0008] Preferably, the bearing string feeding assembly comprises a bearing alignment platform, a second two-axis moving module, and a string feeding rod. The bearing alignment platform is located on the left side of the turntable and has a plurality of rows of bearings arranged on the upper surface. The center axes of the bearings in each row are coincident, and the bearings in each row are arranged in left and right rows. The front and rear of the upper surface of the bearing alignment platform are inclined. The string feeding rod is located directly above the lowest row of bearings. The string feeding rod is fixed on the second two-axis moving module and can feed the bearings on the bearing alignment platform into the packaging barrels of the packaging barrel support seat through the driving of the second two-axis moving module. The plurality of rows of bearings are arranged on the bearing alignment platform, and the front and rear of the upper surface of the bearing alignment platform are inclined, so that the bearings can be arranged more neatly on the bearing alignment platform. After the string feeding rod feeds the bearings at the lowest position into the packaging barrels, the bearings in the adjacent row will roll down to the lowest position due to gravity, waiting to be fed into the next packaging barrel.

[0009] Preferably, the bearing string feeding assembly further comprises a receiving baffle and a receiving cylinder. The receiving baffle is arranged on the side of the bearing string feeding station between the bearing alignment platform and the turntable. A groove is formed in the upper end surface of the receiving baffle, and only the string feeding rod can pass through the groove. The receiving baffle can be raised above the turntable or lowered below the turntable through the driving of the receiving cylinder. The receiving baffle is arranged to ensure that after the string feeding rod loads the aligned bearings into the packaging barrels, the receiving baffle can block the bearings on the string feeding rod on one side of the receiving baffle (i.e., in the packaging barrels), so that the bearings on the string feeding rod will not be taken out.

[0010] Preferably, two 1 / 4-arc arc-shaped baffles are fixedly arranged on the circumferential outer side of the turntable. The two arc-shaped baffles are symmetrically arranged, and one of the arc-shaped baffles is located between the bearing string feeding station and the barrel cover installation station. The arc-shaped baffles are arranged to prevent the bearings in the packaging barrels from sliding out of the ports without barrel covers when the packaging barrel support seat rotates with the turntable.

[0011] Preferably, a supporting hole column is fixed on the circumferential outer side of the turntable, and the center axis of the receiving clamp jaw can coincide with the center axis of the supporting hole column. The supporting hole column is used to shape the barrel cover on the receiving clamp jaw to avoid the problem that the barrel cover cannot be covered on the port of the packaging barrel due to deformation.

[0012] Preferably, a detection cylinder is fixed on one side of the receiving clamp jaw. The end of the extension shaft of the detection cylinder is connected with a detection block through a spring. The detection cylinder can drive the detection block to move towards the barrel cover of the packaging barrel on the packaging barrel support seat. When the detection block is blocked and the spring is compressed, it indicates that the barrel cover is on the end of the packaging barrel. If the detection block is not blocked and the spring is not compressed, it indicates that the barrel cover is not covered on the end of the packaging barrel.

[0013] Preferably, the two ends of the packaging barrel support seat are provided with second jaw groups, each of which comprises two second jaws driven to rotate towards or away from each other by a second jaw cylinder fixed on the rotating disc, and the two second jaws are used to clamp the packaging barrel when they rotate towards each other. BRIEF DESCRIPTION OF DRAWINGS

[0014] Figure 1 It is a perspective view of the embodiment;

[0015] Figure 2 It is a perspective view of the local embodiment;

[0016] Figure 3 It is a perspective view of the bearing string feeding assembly of the embodiment;

[0017] Figure 4 It is a perspective view of the barrel cover feeding assembly of the embodiment;

[0018] Figure 5 It is a top view of the rotating disc of the embodiment;

[0019] Figure 6 It is a perspective view of the rotating disc at the first angle of the embodiment;

[0020] Figure 7 It is a perspective view of the rotating disc at the second angle of the embodiment.

[0021] In the drawings:

[0022] S1, barrel cover installation station; S2, bearing string feeding station;

[0023] 10, rack;

[0024] 20, rotating disc; 21, packaging barrel support seat; 22, servo motor; 23, arc-shaped baffle; 24, supporting hole column; 25, second jaw; 26, second jaw cylinder;

[0025] 30, barrel cover feeding assembly; 31, barrel cover feeding vibration disc; 32, barrel cover transfer manipulator; 32a, screw linear module; 32b, barrel cover cylinder; 32c, barrel cover plug; 33, material receiving jaw; 33a, first jaw cylinder; 33b, rotary motor; 33c, first jaw; 34, first two-axis moving module; 35, detection cylinder; 36, detection block;

[0026] 40, bearing string feeding assembly; 41, bearing alignment platform; 42, second two-axis moving module; 43, string material rod; 44, material receiving baffle; 45, material receiving cylinder; 46, groove;

[0027] 50, bearing; 51, packaging barrel; 52, barrel cover. DETAILED DESCRIPTION

[0028] The advantages and features of the present application will be more clearly understood from the following detailed description of preferred embodiments, given by way of example only, with reference to the accompanying drawings, in which:

[0029] Referring to Figures 1 to 7 The embodiment discloses a kind of multi-set hard pipe packaging machine, including rack 10, rack 10 is provided with:

[0030] Rotating disc 20, the middle part of rotating disc 20 is provided with packaging barrel support seat 21, the two ends of packaging barrel support seat 21 are provided with second jaw group, each second jaw group includes two second jaws 25, two second jaws 25 are driven by second jaw pneumatic cylinder 26 to rotate towards or reverse, second jaw pneumatic cylinder 26 is fixed on rotating disc 20, when two second jaws 25 rotate towards, in turn clamp packaging barrel 51, packaging barrel support seat is used to support the barrel body of packaging barrel 51, by two ends second jaw 25, packaging barrel 51 is clamped, circumferential left side, front side of rotating disc 20 are sequentially distributed barrel cover installation station S1, bearing string feeding station S2, rotating disc 20 is driven by servo motor 22 and can rotate reciprocating in the state that the first end of packaging barrel support seat 21 corresponds with barrel cover installation station S1, the second end of packaging barrel support seat 21 corresponds with bearing string feeding station S2, the second end of packaging barrel support seat 21 corresponds with barrel cover installation station S1;

[0031] Barrel cover feeding assembly 30 is arranged at barrel cover installation station S1 side, barrel cover feeding assembly 30 includes barrel cover feeding vibration disc 31, barrel cover transfer manipulator 32, receiving jaw 33, first two-axis movement module 34, barrel cover transfer manipulator 32 is connected with the outlet of barrel cover feeding vibration disc 31 and receiving jaw 33, to move and load barrel cover 52 to receiving jaw 33, receiving jaw 33 is driven to correspond with the first end or the second end of packaging barrel support seat 21 by first two-axis movement module 34, and barrel cover 52 is pressed to the first end or the second end of packaging barrel 51 on packaging barrel support seat 21;

[0032] Bearing string feeding assembly 40 is arranged at bearing string feeding station S2 side, when the second end of packaging barrel support seat 21 rotates to correspond with bearing string feeding station S2, bearing string feeding assembly 40 is used to feed a string of bearings 50 into packaging barrel 51 on packaging barrel support seat 21.

[0033] The barrel cover feeding vibration disc 31 in the embodiment is lower than the receiving clamp jaw 33 and is located inside the frame 10. The barrel cover transfer manipulator 32 comprises a lead screw linear module 32a and a barrel cover cylinder 32b. The lead screw linear module 32a drives the barrel cover cylinder 32b to ascend and descend. The barrel cover cylinder 32b is horizontally arranged. The telescopic end of the barrel cover cylinder 32b is fixed with a barrel cover plug 32c. The barrel cover plug 32c is matched with the shape of the barrel cover 52. The receiving clamp jaw 33 can correspond to the barrel cover plug 32c in front and back. The barrel cover plug 32c is used to receive the barrel cover 52 from the discharge port of the barrel cover feeding vibration disc 31. The barrel cover plug 32c is driven to ascend by the lead screw linear module 32a and is driven to translate by the barrel cover cylinder 32b, so as to transfer the barrel cover 52 to the receiving clamp jaw 33 above.

[0034] The receiving clamp jaw 33 in the embodiment comprises a first clamp jaw cylinder 33a and a rotary motor 33b. The first clamp jaw cylinder 33a drives a plurality of first clamp jaws 33c to move back and forth towards the center or away from the center of a circle. When the plurality of first clamp jaws 33c move towards the center of the circle, the barrel cover 52 is clamped. The rotary motor 33b drives the rotary motor 33b to rotate. The rotary motor 33b is driven by a first two-axis moving module 34 to move left and right and forward and backward in the horizontal direction. The receiving clamp jaw 33 clamps the barrel cover 52 through the plurality of first clamp jaws 33c. The barrel cover 52 can be screwed on one end of the packaging barrel 51 by the rotary motor 33b.

[0035] One side of the receiving clamp jaw 33 is fixed with a detection cylinder 35. The telescopic shaft end of the detection cylinder 35 is connected with a detection block 36 through a spring. The detection cylinder 35 can drive the detection block 36 to move towards the barrel cover 52 of the packaging barrel 51 on the packaging barrel support seat 21. When the detection block 36 is blocked and the spring is compressed, it indicates that the packaging barrel 51 has the barrel cover 52 on the end. If the detection block 36 is not blocked and the spring is not compressed, it indicates that the packaging barrel 51 does not have the barrel cover 52 on the end.

[0036] The bearing string feeding assembly 40 in the embodiment comprises a bearing alignment platform 41, a second two-axis moving module 42, a string feeding rod 43, a material collecting baffle 44, and a material collecting cylinder 45. The bearing alignment platform 41 is located at the left side of the turntable 20, and a plurality of rows of bearings 50 are arranged on the upper surface of the bearing alignment platform 41. The center axes of the bearings 50 in each row coincide, and the bearings 50 in each row are arranged in left and right rows. The upper surface of the bearing alignment platform 41 is inclined from front to back. The string feeding rod 43 is located directly above the lowest row of bearings 50, and is fixed to the second two-axis moving module 42. The string feeding rod 43 is driven by the second two-axis moving module 42 to feed the bearings 50 in one row on the bearing alignment platform 41 into the packaging barrel 51 of the packaging barrel support seat 21. The material collecting baffle 44 is arranged on the side of the bearing string feeding station S2, between the bearing alignment platform 41 and the turntable 20. A groove 46 only for the string feeding rod 43 to pass through is formed in the upper end surface of the material collecting baffle 44. The material collecting baffle 44 is driven by the material collecting cylinder 45 to rise above the turntable 20 or to fall below the turntable 20. A plurality of rows of bearings 50 are arranged on the bearing alignment platform 41, and the upper surface of the bearing alignment platform 41 is inclined from front to back, so that the bearings 50 in the plurality of rows can be arranged more neatly on the bearing alignment platform 41. After the string feeding rod 43 feeds the bearings 50 in the lowest row into the packaging barrel 51, the bearings 50 in the adjacent row will roll down to the lowest position due to gravity, waiting to be fed into the next packaging barrel 51. The material collecting baffle 44 is arranged to ensure that, after the string feeding rod 43 feeds the aligned bearings 50 into the packaging barrel 51, the material collecting baffle 44 can block the bearings 50 on the string feeding rod 43 on one side of the material collecting baffle 44 (i.e., in the packaging barrel 51), and the bearings 50 on the string feeding rod 43 will not be taken out.

[0037] The outer circumferential side of the turntable 20 in the embodiment is fixedly provided with two 1 / 4-arc arc-shaped baffles 23, and the two arc-shaped baffles 23 are symmetrically arranged. One of the arc-shaped baffles 23 is located between the bearing string feeding station S2 and the barrel cover mounting station S1. The outer circumferential side of the turntable 20 is fixedly provided with a hole supporting column 24, and the center axis of the material receiving clamping jaw 33 can coincide with the center axis of the hole supporting column 24. The hole supporting column 24 is used to shape the barrel cover 52 on the material receiving clamping jaw 33, so as to avoid the problem that the barrel cover 52 cannot be covered on the port of the packaging barrel 51 due to deformation.

[0038] The working principle of the embodiment is as follows:

[0039] The barrel cover loading assembly 30 loads the barrel cover 52 to the receiving clamp jaw 33. Specifically, the barrel cover loading assembly 30 loads the barrel cover 52 to the receiving clamp jaw 33. Specifically, the screw linear module 32a of the barrel cover transfer robot 32 drives the barrel cover cylinder 32b to descend until the barrel cover plug 32c is located at the straight vibration part of the barrel cover loading vibration disc 31. When the barrel cover plug 32c corresponds to the opening of the barrel cover 52, the barrel cover cylinder 32b drives the barrel cover plug 32c to move towards the opening of the barrel cover 52. After the barrel cover 52 is grabbed, the barrel cover cylinder 32b retracts. Then, the screw linear module 32a of the barrel cover transfer robot 32 drives the barrel cover cylinder 32b to move upwards. At the same time, the receiving clamp jaw 33 is driven by the first two-axis moving module 34 to correspond to the front and back of the barrel cover cylinder 32b in the rising state. Then, the first clamp cylinder 33a drives the plurality of first clamp jaws 33c to move away from the center of the circle. The first clamp jaw 33c is in the open state. The barrel cover cylinder 32b drives the barrel cover 52 on the barrel cover plug 32c to move towards the plurality of first clamp jaws 33c. Then, the first clamp cylinder 33a drives the plurality of first clamp jaws 33c to move towards the center of the circle to clamp the barrel cover 52. Then, the first two-axis moving module 34 moves the barrel cover 52 to the barrel cover installation station S1.

[0040] The packaging barrel 51 is loaded to the packaging barrel support seat 21 of the turntable 20. Specifically, the packaging barrel is transferred to the packaging barrel support seat 21 by the packaging barrel robot. The packaging barrel 51 is in a front and back direction before being transferred and is also in a front and back direction after being transferred. Then, the second clamp jaw group at both ends clamps the two ends of the packaging barrel 51 on the packaging barrel support seat 21. At the same time that the packaging barrel 51 is loaded to the packaging barrel support seat 21 of the turntable 20, the barrel cover loading assembly 30 also loads the barrel cover 52 to the receiving clamp jaw 33.

[0041] The first barrel cover 52 is arranged on the first end cover of the packaging barrel 51 on the packaging barrel support seat 21. Specifically, the packaging barrel 51 loaded to the packaging barrel support seat 21 is in a front and back direction, and the first end is located at the barrel cover installation station S1. When the barrel cover 52 is moved to the barrel cover installation station S1 by the barrel cover loading assembly 30, the barrel cover 52 is driven by the first two-axis moving module 34 to move towards the first end of the packaging barrel 51 on the packaging barrel support seat 21. When the first end of the packaging barrel 51 is contacted, the rotating motor 33b drives the plurality of first clamp jaws 33c to rotate, thereby rotating the first barrel cover 52 to the first end of the packaging barrel 51. Then, the barrel cover loading assembly 30 and the first two-axis moving module 34 are reset.

[0042] The step of loading a row of bearings into the packaging barrel 51 on the packaging barrel support seat 21 which has been capped with a barrel cap 52 is as follows: the turntable 20 is driven by the servo motor 22 to the second end of the packaging barrel 51 on the packaging barrel support seat 21 to correspond to the bearing string loading station S2, and the packaging barrel 51 on the packaging barrel support seat 21 is arranged in a left-right direction; at the same time, the stringing rod 43 has been driven by the second two-axis moving module 42 to string a row of bearings 50 at the lowest part of the bearing stringing platform 41 and move them to the second end of the packaging barrel 51 until the row of bearings 50 are completely moved from the second end of the packaging barrel 51 to the inside, the material collecting cylinder 45 drives the material collecting baffle 44 to rise, the stringing rod 43 is located in the groove 46, and all the bearings 50 are located on one side of the material collecting baffle 44, when the stringing rod 43 is reset, all the bearings are blocked by the material collecting baffle 44 and continue to stay in the packaging barrel 51, thereby completing the operation of loading a row of bearings 50 into the packaging barrel 51.

[0043] The step of capping the second end of the packaging barrel 51 on the packaging barrel support seat 21 with a second barrel cap 52 is as follows: the turntable 20 is driven by the servo motor 22 to the second end of the packaging barrel 51 on the packaging barrel support seat 21 to be located at the barrel cap installation station S1, at this time, the packaging barrel 51 is arranged in a front-rear direction again, when the barrel cap loading assembly 30 moves the second barrel cap 52 to the barrel cap installation station S1, the first two-axis moving module 34 is driven to move the barrel cap 52 to the second end of the packaging barrel 51 on the packaging barrel support seat 21, when the barrel cap 52 contacts the second end of the packaging barrel 51, the rotary motor 33b drives a plurality of first clamping jaws 33c to rotate, thereby rotating the second barrel cap 52 to cap the second end of the packaging barrel 51, then the barrel cap loading assembly 30 and the first two-axis moving module 34 are reset, and the unloading manipulator is used to grab the unloaded material.

[0044] The above embodiments are only for illustrating the technical concept and characteristics of the present application, the purpose is to enable those skilled in the art to understand the content of the present application and implement it, and cannot limit the protection scope of the present application, any equivalent changes or modifications made according to the spirit and essence of the present application should be covered within the protection scope of the present application.

Claims

1. A multi-set rigid tube packaging machine, comprising a frame (10), characterized in that: The frame (10) is equipped with: A turntable (20) is provided with a packaging barrel support base (21) in the middle of the turntable (20). The turntable (20) has a barrel lid installation station (S1) and a bearing string loading station (S2) distributed around its circumference. The turntable (20) is driven by a servo motor (22) to rotate back and forth in a state where the first end of the packaging barrel support base (21) corresponds to the barrel lid installation station (S1), the second end of the packaging barrel support base (21) corresponds to the bearing string loading station (S2), and the second end of the packaging barrel support base (21) corresponds to the barrel lid installation station (S1). A lid loading assembly (30) is provided on one side of the lid installation station (S1). The lid loading assembly (30) includes a lid loading vibratory feeder (31), a lid transfer robot (32), a receiving gripper (33), and a first two-axis moving module (34). The lid transfer robot (32) is connected to the outlet of the lid loading vibratory feeder (31) and the receiving gripper (33) to transfer the lid (52) to the receiving gripper (33). The receiving gripper (33) is driven by the first two-axis moving module (34) to correspond to the first end or the second end of the packaging barrel support (21) and presses the lid (52) against the first end or the second end of the packaging barrel (51) on the packaging barrel support (21). The bearing string feeding assembly (40) is located on one side of the bearing string feeding station (S2). When the second end of the packaging barrel support (21) rotates to correspond with the bearing string feeding station (S2), the bearing string feeding assembly (40) is used to feed a string of bearings (50) into the packaging barrel (51) on the packaging barrel support (21).

2. The multiple sets of rigid tube packaging machines according to claim 1, characterized in that: The vibratory feeder (31) for loading the lid is lower than the receiving gripper (33) and located inside the frame (10). The lid transfer robot (32) includes a lead screw linear module (32a) and a lid cylinder (32b). The lead screw linear module (32a) drives the lid cylinder (32b) to rise and fall. The lid cylinder (32b) is horizontally set. A lid plug (32c) is fixed at the telescopic end of the lid cylinder (32b). The lid plug (32c) matches the shape of the lid (52). The receiving gripper (33) can correspond to the lid plug (32c) front and back.

3. The multiple sets of rigid tube packaging machines according to claim 1, characterized in that: The receiving gripper (33) includes a first gripper cylinder (33a) and a rotary motor (33b). The first gripper cylinder (33a) drives multiple first grippers (33c) to move back and forth towards or away from the center of the circle. When multiple first grippers (33c) move towards the center of the circle, they clamp the barrel cover (52). The rotary motor (33b) drives the rotary motor (33b) to rotate. The rotary motor (33b) is driven by the first two-axis moving module (34) to move left and right and back and forth in the horizontal direction.

4. The multiple sets of rigid tube packaging machines according to claim 1, characterized in that: The bearing string feeding assembly (40) includes a bearing aligning platform (41), a second two-axis moving module (42), and a feeding rod (43). The bearing aligning platform (41) is located on the left side of the turntable (20), and multiple rows of bearings (50) are placed on its upper surface. The central axes of each row of bearings (50) coincide, and each row of bearings (50) is arranged in a left-right distribution. The upper surface of the bearing aligning platform (41) is inclined front-back. The feeding rod (43) is located directly above the lowest row of bearings (50). The feeding rod (43) is fixed on the second two-axis moving module (42). The feeding rod (43) is driven by the second two-axis moving module (42) to feed a row of bearings (50) on the bearing aligning platform (41) into the packaging barrel (51) of the packaging barrel support seat (21).

5. The multiple sets of rigid tube packaging machines according to claim 4, characterized in that: The bearing string feeding assembly (40) also includes a receiving baffle (44) and a receiving cylinder (45). The receiving baffle (44) is located on the bearing string feeding station (S2) side, between the bearing alignment platform (41) and the turntable (20). The upper end face of the receiving baffle (44) is provided with a groove (46) for the passing of the feeding rod (43). The receiving baffle (44) can be driven by the receiving cylinder (45) to rise above the turntable (20) or fall below the turntable (20).

6. The multiple sets of rigid tube packaging machines according to claim 1, characterized in that: Two 1 / 4 arc-shaped baffles (23) are fixedly installed on the outer circumference of the turntable (20). The two arc-shaped baffles (23) are symmetrically arranged, and one of the arc-shaped baffles (23) is located between the bearing string loading station (S2) and the barrel cover installation station (S1).

7. The multiple sets of rigid tube packaging machines according to claim 1, characterized in that: The turntable (20) has a support column (24) fixed on its outer circumference, and the central axis of the receiving claw (33) can coincide with the central axis of the support column (24).

8. The multiple sets of rigid tube packaging machines according to claim 1, characterized in that: A detection cylinder (35) is fixed on one side of the receiving gripper (33). The end of the telescopic shaft of the detection cylinder (35) is connected to a detection block (36) via a spring. The detection cylinder (35) can drive the detection block (36) to move towards the lid (52) of the packaging barrel (51) on the packaging barrel support (21).

9. The multiple sets of rigid tube packaging machines according to claim 1, characterized in that: The packaging barrel support base (21) is provided with a second gripper group at both ends. Each second gripper group includes two second grippers (25). The two second grippers (25) are driven by a second gripper cylinder (26) to rotate in opposite directions. The second gripper cylinder (26) is fixed on the turntable (20). When the two second grippers (25) rotate in opposite directions, they clamp the packaging barrel (51).

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