Automatic equipment suitable for mixed pressing of various gunpowder

Abstract

The utility model relates to automatic equipment suitable for mixing and pressing various gunpowder, which is characterized in that a gunpowder pressing mold is fed into a gunpowder charging mechanism through a grabbing robot, and the gunpowder output by a gunpowder charging and feeding device is poured into the gunpowder pressing mold after being weighed by a gunpowder charging and weighing assembly; when multiple kinds of medicine powder are mixed and dispensed, the medicine dispensing measuring cup is conveyed into the corresponding medicine dispensing mechanism through the grabbing robot, the medicine powder output by the medicine dispensing and dosing device is weighed by the medicine dispensing and weighing assembly and then poured into the medicine dispensing measuring cup, the medicine dispensing measuring cup is conveyed to the medicine mixing station through the grabbing robot, and the mixed medicine powder is poured into the corresponding medicine pressing mold. The medicine pressing molds are conveyed into the corresponding medicine dispensing mechanisms through the grabbing robot, and medicine powder output by the medicine dispensing and feeding device is poured into the medicine pressing molds after being weighed by the medicine dispensing and weighing assembly. According to the utility model, accurate weighing and charging of single powder, accurate weighing and charging of various powder and accurate mixing, dispensing and charging of various powder can be realized, and the use flexibility and the automation level are both improved.

Description

Technical Field

[0001] This utility model relates to the field of gunpowder pressing technology, specifically an automated device suitable for pressing a mixture of various gunpowders. Background Technology

[0002] Gunpowder compression molding (such as into flakes or cylinders) is involved in many fields, including civilian applications like fireworks and firecrackers, mining engineering, and chemical engineering, as well as military applications like ammunition manufacturing. However, due to the small-batch, multi-batch, and unconventional nature of gunpowder products, many production processes still rely on manual labor for weighing, filling, and handling the powder. This method suffers from low production efficiency and inaccurate weighing and filling. Furthermore, with the rapid development of gunpowder-related products, it is now often necessary to mix and compress multiple powders, further increasing the difficulty of manual weighing and filling.

[0003] With the development of technology, some automatic weighing and filling gunpowder devices have emerged in the existing technology. For example, CN115031592B patent discloses a military gunpowder weighing and filling device, which includes a turntable mechanism, a filling mechanism, a conveyor belt and other devices. The turntable mechanism can realize the conversion of various work stations, and the filling mechanism ensures accurate filling of gunpowder through the cooperation of a weighing cylinder and a weighing sensor. However, this device is mainly for filling gunpowder in bullets, and its function is relatively simple. Utility Model Content

[0004] The purpose of this invention is to provide an automated device suitable for mixing and pressing various gunpowders. It can achieve multiple functions, including accurate weighing and loading of single powders, accurate weighing and loading of multiple powders, and accurate mixing and loading of multiple powders. The flexibility and automation level are improved, and the accuracy of weighing and loading is guaranteed.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] An automated device suitable for pressing mixed explosives includes a gripping robot, a dispensing mechanism, a loading mechanism, and a leveling mechanism. The loading mechanism includes a dispensing device and a weighing component. The pressing mold is fed into the loading mechanism by the gripping robot, and the explosive powder output from the dispensing device is weighed by the weighing component and poured into the pressing mold. The dispensing mechanism includes a dispensing device and a dispensing weighing component. When mixing multiple explosive powders, a dispensing cup is delivered to the corresponding dispensing mechanism by the gripping robot, and the explosive powder output from the dispensing device is weighed by the dispensing weighing component. After weighing, the contents are poured into a dispensing cup. Dispensing cups containing different powders are delivered to the mixing station by a gripping robot. The mixed powders are then poured into the corresponding pressing molds. When dispensing a single powder, the pressing molds are delivered to the corresponding dispensing mechanism by a gripping robot. The powders output from the dispensing and dispensing device are weighed by the dispensing and weighing component and then poured into the pressing molds. The leveling mechanism includes a turntable and a leveling component. The pressing molds with the completed filling are delivered to the turntable by a gripping robot. The pressing molds on the turntable rotate to the leveling component for leveling and are then delivered to the press by a gripping robot.

[0007] The gripping robot is equipped with a gripper assembly at its end, which includes a gripper cylinder, grippers, and a functional connecting frame. The two grippers are driven to open and close by the gripper cylinder, and the functional connecting frame is fixed on the gripper cylinder. The first arm end on one side of the functional connecting frame is equipped with a suction cup, and the second arm end on the other side is equipped with flexible fingers.

[0008] The dispensing mechanism includes a dispensing base, and the dispensing weighing component includes a rotatable first powder weighing device, with a first weighing cup at one end of the first powder weighing device. The dispensing applicator has a dispensing tube on one side, the first weighing cup is located above the corresponding dispensing base, and the dispensing end of the dispensing tube is located above the corresponding first weighing cup.

[0009] The drug weighing assembly includes a weighing mounting base and a tilting drive motor, a tilting transmission assembly, and a rotating base mounted on the weighing mounting base. The rotating base is driven to rotate by the tilting drive motor, and the tilting drive motor transmits torque through the tilting transmission assembly. The first drug powder weighing device is fixed on the rotating base.

[0010] The drug loading mechanism includes a mold base and a lifting funnel, wherein the drug pressing mold is placed on the mold base and the lifting funnel is located above the drug pressing mold. The drug delivery device includes a rotatable second powder weighing device, and a second weighing cup is provided at one end of the second powder weighing device. A drug dispensing pipe is provided on one side of the drug weighing assembly. The second weighing cup is located above the lifting funnel and the dispensing end of the drug dispensing pipe is located above the second weighing cup.

[0011] The smoothing mechanism includes a proximity switch, a first scanner, a vibrating cylinder, a smoothing component, and a second scanner arranged sequentially along the circumference of the turntable. The turntable is provided with a workstation for holding the pressing mold.

[0012] The smoothing assembly includes a smoothing motor, a smoothing lifting cylinder, and a smoothing mounting base. The smoothing lifting cylinder is fixed on the smoothing mounting base, and the smoothing motor is driven to lift and lower through the smoothing lifting cylinder. A smoothing turntable is provided at the power shaft end on the lower side of the smoothing motor.

[0013] The workstation seat has a vibration hole in the middle, and the power shaft end of the vibration cylinder has a vibration head. The vibration head passes through the vibration hole and contacts the bottom of the pressing mold. The proximity switch adjusts the cylinder drive movement through the switch.

[0014] The gripping robot, dispensing mechanism, loading mechanism, and smoothing mechanism are all mounted on a single frame, and a press is located on one side of the frame. A lifting isolation plate is located on the upper side of the frame to isolate the mixing station.

[0015] The frame is equipped with a finished product inspection mechanism and a finished product tray. The finished product inspection mechanism includes a finished product weighing device and a three-dimensional vision camera located above the finished product weighing device. The finished product weighing device is mounted on a weighing mobile device.

[0016] The advantages and positive effects of this utility model are as follows:

[0017] 1. This utility model can achieve multiple uses in one machine, including accurate weighing and filling of a single type of medicine powder, accurate weighing and filling of multiple types of medicine powder, and accurate mixing and filling of multiple types of medicine powder. The flexibility of use and the level of automation are improved. In addition, the dispensing mechanism and filling mechanism of this utility model can accurately control the amount of medicine, and can ensure the accuracy of weighing and filling of medicine under various usage conditions.

[0018] 2. After the pressing mold completes the weighing and filling of the medicine, the present invention uses the vibrating cylinder in the smoothing mechanism to vibrate and level the medicine powder in the pressing mold, and then uses the smoothing component to further smooth the medicine powder in the mold, thereby ensuring the quality of the product after subsequent pressing. In addition, the present invention uses the turntable in the smoothing mechanism to realize the transfer of the pressing mold between various detection devices, which can ensure the accuracy of the input pressing mold type and process. At the same time, the structure is also relatively compact and can be integrated into the frame.

[0019] 3. This utility model integrates various mechanisms, including a gripping robot, onto a frame, and utilizes the gripping robot to achieve automatic transfer of the pressing mold between various mechanisms, which can ensure the continuity of the process under various usage conditions and improve production efficiency.

[0020] 4. This utility model has a lifting isolation plate on the upper side of the frame to isolate the mixing station where the mold frame is located, which can ensure the safety of the mixing operation.

[0021] 5. This utility model has a finished product inspection mechanism on the frame. After the powder is pressed, it can be directly transferred to the finished product inspection mechanism by the gripping robot for inspection, thereby further ensuring product quality. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model.

[0023] Figure 2 for Figure 1 A schematic diagram of the structure of the grasping robot.

[0024] Figure 3 for Figure 2 A schematic diagram of the middle gripper assembly.

[0025] Figure 4 for Figure 1 A structural diagram of a traditional Chinese medicine dispensing facility.

[0026] Figure 5 for Figure 4 A top view of a traditional Chinese medicine dispensing facility.

[0027] Figure 6 for Figure 1 Schematic diagram of the smoothing mechanism and the loading mechanism.

[0028] Figure 7 for Figure 6 Top view of the leveling mechanism and the loading mechanism.

[0029] Figure 8 for Figure 6 Front view of the vibrating cylinder.

[0030] Figure 9 for Figure 1 A schematic diagram of the structure of a finished product testing institution.

[0031] Among them, 1 is the grasping robot, 2 is the dispensing mechanism, 201 is the dispensing and administration device, 2011 is the dispensing and discharging tube, 202 is the first weighing cup, 203 is the dispensing measuring cup, 204 is the dispensing base, 205 is the dispensing and weighing component, 2051 is the weighing mounting base, 2052 is the tilting drive motor, 2053 is the first powder weighing device, 2054 is the rotating base, 3 is the leveling mechanism, 301 is the turntable, 3011 is the workstation base, 3012 is the vibration hole, 302 is the proximity switch, 3021 is the switch adjusting cylinder, 303 is the first scanner, 304 is the vibration cylinder, 3041 is the vibration head, 305 is the leveling component, 3051 is the leveling motor, 3052 is the leveling lifting cylinder, 3053 is the leveling mounting base, 306 is the leveling component. 4 is the second scanner, 4 is the finished product inspection mechanism, 401 is the 3D vision camera, 402 is the finished product weighing device, 4021 is the weighing moving device, 5 is the frame, 6 is the finished product tray, 7 is the gripper assembly, 701 is the gripper cylinder, 702 is the gripper, 703 is the functional connecting frame, 7031 is the first side arm, 7032 is the second side arm, 704 is the suction cup, 705 is the flexible finger, 8 is the drug loading mechanism, 801 is the drug delivery device, 8011 is the drug dispensing pipe, 802 is the drug weighing assembly, 8021 is the second weighing cup, 803 is the lifting funnel, 8031 ​​is the funnel lifting cylinder, 8032 is the funnel lifting plate, 804 is the mold base, 9 is the press, 10 is the drug pressing mold, 11 is the lifting isolation plate, and 12 is the mold frame. Detailed Implementation

[0032] The present invention will now be described in further detail with reference to the accompanying drawings.

[0033] like Figures 1-9 As shown, this utility model includes a frame 5, and the frame 5 is equipped with a gripping robot 1, a dispensing mechanism 2, a loading mechanism 8, a smoothing mechanism 3, and a mold frame 12, wherein... Figures 6-7 As shown, the smoothing mechanism 3 includes a turntable 301 and a smoothing component 305. The smoothing component 305 and the drug loading mechanism 8 are respectively disposed on both sides of the turntable 301. The drug loading mechanism 8 includes a drug delivery device 801 and a drug weighing component 802. The drug pressing mold 10 is fed into the drug loading mechanism 8 by the gripping robot 1. Then, the drug powder output by the drug delivery device 801 is weighed by the drug weighing component 802 and poured into the drug pressing mold 10. Then, the drug pressing mold 10 is sent to the corresponding workstation 3011 on the turntable 301 by the gripping robot 1. Figures 4-5As shown, the dispensing mechanism 2 includes a dispensing device 201 and a dispensing weighing component 205. When dispensing multiple powders, the dispensing measuring cup 203 is delivered to the corresponding dispensing mechanism 2 by the gripping robot 1. The powder output from the dispensing device 201 is weighed by the dispensing weighing component 205 and poured into the dispensing measuring cup 203. Then, the dispensing measuring cups 203 containing different powders are sequentially delivered to the mixing station of the mold frame 12 by the gripping robot 1. The mixed powder is then poured into the corresponding pressing mold 10 on the mold frame 12. When dispensing a single powder, the pressing mold 10 is delivered by the gripping robot 1. The powder is sent to the corresponding dispensing unit 2, and the powder output by the dispensing and dispensing device 201 is weighed by the dispensing and weighing component 205 and poured into the pressing mold 10. Then, the pressing mold 10 is sent to the corresponding workstation 3011 on the turntable 301 by the gripping robot 1. The pressing mold 10 on the turntable 301 is sent to the smoothing component 305 by the rotation of the turntable 301 to complete the smoothing operation of the powder inside the mold. A press 9 is provided on one side of the frame 5, and the pressing mold 10 that has completed the smoothing of the powder is sent to the press 9 by the gripping robot 1 to complete the pressing. The press 9 is a technology known in the art and is a commercially available product.

[0034] like Figures 2-3 As shown, in this embodiment, the gripping robot 1 has a gripper assembly 7 at its end. The gripper assembly 7 includes a gripper cylinder 701, grippers 702, and a functional connecting frame 703. The two grippers 702 are driven by the gripper cylinder 701 to open and close, thereby clamping and releasing the drug pressing mold 10 or the dispensing measuring cup 203. The functional connecting frame 703 is fixed to the gripper cylinder 701. The first side arm 7031 on one side of the functional connecting frame 703 has a suction cup 704 at its head, and the second side arm 7032 on the other side has a flexible finger 705 at its head. The flexible finger 705 is used to engage flexible components such as drug pickup rings, and the suction cup 704 is used to pick up finished drug powder tablets and other products. In this embodiment, the gripping robot 1 is a collaborative robot, which is a commercially available product.

[0035] like Figures 4-5As shown, the dispensing mechanism 2 includes a dispensing base 204, and the pressing mold 10 or the dispensing measuring cup 203 is placed on the dispensing base 204. The dispensing weighing component 205 includes a rotatable first powder weighing device 2053, and a first weighing cup 202 is provided at one end of the first powder weighing device 2053. The first weighing cup 202 is located above the corresponding dispensing base 204. A dispensing dispensing tube 2011 is provided on one side of the dispensing applicator 201, and the dispensing end of the dispensing tube 2011 is located above the corresponding first weighing cup 202. In operation, the medicine powder is output from the dispensing tube 2011 of the dispensing and dispensing device 201 and first falls into the first weighing cup 202. Then, the first medicine powder weighing device 2053 weighs the powder. After the weight of the medicine powder meets the requirements, the first medicine powder weighing device 2053 rotates and drives the first weighing cup 202 to rotate, pouring the medicine powder in the cup into the pressing mold 10 or the dispensing and dispensing cup 203. The dispensing and dispensing device 201 and the first medicine powder weighing device 2053 are both well-known technologies in the art and are commercially available products. Alternatively, the automatic dispensing device or other devices as described in patent CN115031592B can also be used.

[0036] like Figure 4 As shown, in this embodiment, the dispensing and weighing assembly 205 includes a weighing mounting base 2051, a tilting drive motor 2052, a tilting transmission assembly, and a rotating base 2054 mounted on the weighing mounting base 2051. The rotating base 2054 is driven to rotate by the tilting drive motor 2052, and the tilting drive motor 2052 transmits torque through the tilting transmission assembly. The tilting transmission assembly can be selected as a suitable transmission mechanism, such as a sprocket and chain assembly, as needed. The driving sprocket is mounted on the power shaft of the tilting drive motor 2052. The rotating base 2054 is rotatably mounted on the weighing mounting base 2051 and has a drive shaft with a driven sprocket mounted on one end. The driving sprocket and the driven sprocket are connected by a chain. The first powder weighing device 2053 is fixed on the rotating base 2054. The rotation of the rotating base 2054 drives the first powder weighing device 2053 and the first weighing cup 202 to rotate, thereby realizing the tilting action of the powder.

[0037] This utility model can be equipped with multiple sets of dispensing mechanisms 2 according to actual needs, such as Figures 4-5 As shown, this embodiment has two sets of drug dispensing mechanisms 2.

[0038] like Figures 6-7 As shown in this embodiment, the structure of the drug delivery device 801 in the drug delivery mechanism 8 is the same as that of the drug dispensing device 201. It includes a rotatable second powder weighing device, and a second weighing cup 8021 is provided at one end of the second powder weighing device. The structure of the drug weighing component 802 is the same as that of the drug dispensing component 205, and a drug dispensing pipe 8011 is provided on one side.

[0039] like Figures 6-7 As shown, in this embodiment, the drug loading mechanism 8 includes a mold base 804 and a lifting funnel 803. The pressing mold 10 is placed on the mold base 804, the lifting funnel 803 is located above the pressing mold 10, the second weighing cup 8021 is located above the lifting funnel 803, and the drug dispensing pipe 8011 is located above the second weighing cup 8021. When this invention is in operation, the lifting funnel 803 first descends and inserts into the pressing mold 10. Then, the drug powder is output from the drug dispensing pipe 8011 and falls into the second weighing cup 8021 for weighing. After the weight meets the requirements, the second weighing cup 8021 rotates to pour the drug powder into the lifting funnel 803, and then the drug powder falls into the pressing mold 10 through the lifting funnel 803.

[0040] like Figure 6 As shown, in this embodiment, the lifting funnel 803 is mounted on a funnel lifting plate 8032, and the funnel lifting plate 8032 is driven to lift by a funnel lifting cylinder 8031.

[0041] like Figures 6-7 As shown, in this embodiment, the smoothing mechanism 3 includes a proximity switch 302, a first scanner 303, a vibrating cylinder 304, a smoothing component 305, and a second scanner 306 arranged sequentially along the circumference of the turntable 301. The proximity switch 302 detects whether the workstation 3011 on the turntable 301 is empty. If empty, it sends a signal to the equipment system to control the gripping robot 1 to place the pressing mold 10 into the workstation. The first scanner 303 determines the type of the input pressing mold 10 and related processes. The vibrating cylinder 304 drives the pressing mold 10 within the workstation 3011 to vibrate slightly, initially smoothing the powder inside the mold. The smoothing component 305 further completes the smoothing operation of the powder inside the mold. The second scanner 306 determines whether the pressing mold 10 needs to be removed from the production line and moved to the next process. The proximity switch 302, the first scanner 303, and the second scanner 306 are all commercially available products. Additionally, in this embodiment, a servo motor for driving rotation is provided on the lower side of the center of the turntable 301.

[0042] like Figure 6 As shown, in this embodiment, the proximity switch 302 is driven by the switch adjusting cylinder 3021 to move radially along the turntable 301, thereby adjusting the distance between it and the work seat 3011.

[0043] like Figure 6 and Figure 8 As shown, in this embodiment, the workstation 3011 is provided with a vibration hole 3012 in the middle, and the power shaft end of the vibration cylinder 304 is provided with a vibration head 3041. After passing through the vibration hole 3012, the vibration head 3041 contacts the bottom of the pressing mold 10 and realizes the mold vibration leveling operation. The vibration cylinder 304 is a commercially available product.

[0044] like Figure 6 As shown, in this embodiment, the smoothing component 305 includes a smoothing motor 3051, a smoothing lifting cylinder 3052, and a smoothing mounting base 3053. The smoothing lifting cylinder 3052 is fixed on the smoothing mounting base 3053, and the smoothing motor 3051 is driven to rise and fall by the smoothing lifting cylinder 3052. A smoothing turntable is provided at the lower end of the power shaft of the smoothing motor 3051. When this utility model is working, after the pressing mold 10 rotates to the smoothing position, the smoothing lifting cylinder 3052 first drives the smoothing motor 3051 to descend so that the smoothing turntable enters the pressing mold 10. Then, the smoothing motor 3051 starts again to drive the smoothing turntable to rotate and smooth the powder inside the mold.

[0045] like Figure 1 As shown, in this embodiment, a lifting isolation plate 11 is provided on the upper side of the frame 5, and the mixing station where the mold frame 12 is located is within the lifting isolation plate 11. When multiple powders are mixed and prepared at the mixing station where the mold frame 12 is located, the lifting isolation plate 11 descends to provide protection. After the preparation is completed, the lifting isolation plate 11 first rises, and then the grabbing robot 1 picks up the pressing mold 10 on the mold frame 12 that holds the mixed powders. The lifting isolation plate 11 can be driven to rise and fall by a lifting cylinder.

[0046] like Figure 1 As shown, in this embodiment, the frame 5 is provided with a finished product inspection mechanism 4 and a finished product tray 6. After the press 9 completes the pressing, the pressing mold 10 is taken out of the press 9 by the gripping robot 1 and assembled with the demolding fixture. Then, it is put back into the press 9 as a whole to complete the demolding process. The above operation process is a well-known technology in the field. Finally, the pressed product is picked up by the gripping robot 1 (adsorbed by the suction cup 704) and placed in the finished product inspection mechanism 4 for inspection. After passing the inspection, it is moved to the finished product tray 6 for storage.

[0047] like Figure 9 As shown, in this embodiment, the finished product inspection mechanism 4 includes a finished product weighing device 402 and a three-dimensional vision camera 401 disposed above the finished product weighing device 402. The pressed product is placed on the finished product weighing device 402 for weighing inspection, while the three-dimensional vision camera 401 performs inspections on three-dimensional dimensions, appearance, etc. Both the finished product weighing device 402 and the three-dimensional vision camera 401 are commercially available products.

[0048] like Figure 9 As shown, in this embodiment, the finished product weighing device 402 is mounted on a weighing moving device 4021 (such as a rodless cylinder or other linear drive device). The load-bearing moving device 4021 can drive the finished product weighing device 402 to move and adjust its position according to actual needs. The three-dimensional vision camera 401 is mounted on a bracket.

[0049] The working principle of this utility model is as follows:

[0050] This invention enables multiple uses in one machine, including precise weighing and filling of a single type of medicine powder, precise weighing and filling of multiple types of medicine powder, and precise mixing and filling of multiple types of medicine powder.

[0051] Application Example 1: Precise weighing and filling of a single type of drug powder.

[0052] This application example involves the following steps:

[0053] Step 1: The gripping robot 1 removes the corresponding drug pressing mold 10 from the mold frame 12 and transfers it to the mold seat 804 in the drug loading mechanism 8;

[0054] Step 2: The lifting funnel 803 descends and inserts into the pressing mold 10. Then, the medicine dispenser 801 outputs medicine powder, which is weighed by the medicine weighing component 802 and poured into the lifting funnel 803. The medicine powder finally falls into the pressing mold 10 after passing through the lifting funnel 803.

[0055] Step 3: The drug-filled pressing mold 10 is transferred by the gripping robot 1 to the corresponding workstation 3011 on the turntable 301 in the smoothing mechanism 3. The proximity switch 302 is used to determine whether the workstation 3011 is empty. Only when it is empty can the drug-filling mold 10 be placed.

[0056] Step 4: After the pressing mold 10 is placed in, the turntable 301 starts rotating. The pressing mold 10 first passes through the first scanner 303 to determine the mold type and corresponding process, and then passes through the vibrating cylinder 304 to achieve preliminary vibration and leveling of the powder inside the mold. The workstation 3011 has a vibration hole 3012 in the middle. The vibrating head 3041 at the power shaft end of the vibrating cylinder 304 passes through the vibration hole 3012 and contacts the bottom of the pressing mold 10 to achieve vibration and leveling. Then the pressing mold 10 enters the smoothing component 305 to smooth the powder. When the powder is smoothed, The smoothing lifting cylinder 3052 in the smoothing component 305 first drives the smoothing motor 3051 to descend so that the smoothing turntable enters the pressing mold 10. Then, the smoothing motor 3051 starts to drive the smoothing turntable to rotate and smooth the medicine powder inside the mold. After smoothing is completed, the smoothing turntable is driven to rise and get away from the pressing mold 10 by the smoothing lifting cylinder 3052. Finally, the pressing mold 10 is judged by the second scanner 306 to determine whether it can be removed from the production line. If it can be removed from the production line, the gripping robot 1 transfers the smoothed pressing mold 10 to the press 9 to complete the pressing of the medicine powder.

[0057] Step 5: After the press 9 completes the pressing, the pressing mold 10 is taken out of the press 9 by the gripping robot 1 and assembled with the demolding fixture. Then, it is put back into the press 9 to complete the demolding process. Finally, the pressed product is picked up by the gripping robot 1 (adsorbed by the suction cup 704) and placed in the finished product inspection mechanism 4 for inspection. After passing the inspection, it is moved to the finished product tray 6 for storage.

[0058] Application Example 2: Precise weighing and loading of various powdered drugs.

[0059] like Figures 4-5 As shown, this application example includes two sets of dispensing mechanisms 2, plus a loading mechanism 8. This application example can simultaneously weigh three types of medicine powder. Different types of pressing molds 10 corresponding to different medicine powders are sent to the dispensing base 204 in the corresponding dispensing mechanism 2 and the mold seat 804 in the loading mechanism 8 by the gripping robot 1. After the dispensing mechanism 2 and the loading mechanism 8 complete the weighing, the medicine powder is directly poured into the corresponding pressing mold 10. Then, each pressing mold 10 is sent to the turntable 301 in sequence by the gripping robot 1 for subsequent operations. The first scanner 303 determines the mold type and sends a signal to the equipment control system. The equipment control system controls and adjusts parameters such as the force of the vibration cylinder 304 and the descent distance of the leveling motor 3051 according to the mold type.

[0060] Application Example 3: Precise mixing and filling of multiple drug powders.

[0061] This application example involves the following steps:

[0062] Step 1: The dispensing measuring cups 203 are delivered to the corresponding dispensing units 2 by the gripping robot 1;

[0063] Step 2: The powdered medicine output from the dispensing and administration device 201 is weighed by the dispensing and weighing component 205 and then poured into the dispensing measuring cup 203;

[0064] Step 3: The measuring cups 203 containing different powders are sequentially delivered to the mold rack 12 by the gripping robot 1;

[0065] Step 4: The lifting isolation plate 11 on the upper side of the frame 5 falls down to isolate the mixing station where the mold frame 12 is located;

[0066] Step 5: Begin the mixing process. In this application example, the powder is mixed manually. The mixed powder is then poured into the corresponding pressing mold 10 on the mold holder 12.

[0067] Step 6: The lifting isolation plate 11 rises to expose the mold frame 12, and then the pressing mold 10 containing the mixed medicine powder is picked up by the gripping robot 1 and transferred to the mold seat 804 in the medicine loading mechanism 8.

[0068] The subsequent procedures in this application example are the same as in Application Example 1.

Claims

1. An automated device suitable for pressing and mixing various types of gunpowder, characterized in that: The system includes a gripping robot (1), a dispensing mechanism (2), a loading mechanism (8), and a smoothing mechanism (3). The loading mechanism (8) includes a dispensing device (801) and a weighing component (802). The pressing mold (10) is fed into the loading mechanism (8) by the gripping robot (1), and the powder output by the dispensing device (801) is weighed by the weighing component (802) and poured into the pressing mold (10). The dispensing mechanism (2) includes a dispensing device (201) and a weighing component (205). When multiple powders are mixed, the dispensing cup (203) is fed to the corresponding dispensing mechanism (2) by the gripping robot (1), and the powder output by the dispensing device (201) is weighed by the weighing component (205) and poured into the dispensing cup (203). In step 3), the dispensing cup (203) containing different powders is sent to the mixing station by the gripping robot (1). The mixed powder is poured into the corresponding pressing mold (10). When dispensing a single powder, the pressing mold (10) is sent to the corresponding dispensing mechanism (2) by the gripping robot (1). The powder output by the dispensing dispenser (201) is weighed by the dispensing weighing component (205) and then poured into the pressing mold (10). The smoothing mechanism (3) includes a turntable (301) and a smoothing component (305). The pressing mold (10) after filling is sent to the turntable (301) by the gripping robot (1). The pressing mold (10) on the turntable (301) is rotated to the smoothing component (305) for smoothing. Then it is sent to the press (9) by the gripping robot (1).

2. The automated apparatus suitable for pressing of various powder mixtures according to claim 1, characterized in that: The gripping robot (1) has a gripper assembly (7) at its end, and the gripper assembly (7) includes a gripper cylinder (701), grippers (702) and a functional connecting frame (703). The two grippers (702) are driven to open and close by the gripper cylinder (701). The functional connecting frame (703) is fixed on the gripper cylinder (701). The first side arm (7031) on one side of the functional connecting frame (703) has a suction cup (704) at its head end, and the second side arm (7032) on the other side has a flexible finger (705) at its head end.

3. The automated apparatus suitable for pressing of various powder mixtures according to claim 1, characterized in that: The dispensing mechanism (2) includes a dispensing base (204), and the dispensing weighing component (205) includes a rotatable first powder weighing device (2053). One end of the first powder weighing device (2053) is provided with a first weighing cup (202). One side of the dispensing applicator (201) is provided with a dispensing tube (2011). The first weighing cup (202) is located above the corresponding dispensing base (204), and the dispensing end of the dispensing tube (2011) is located above the corresponding first weighing cup (202).

4. The automated apparatus suitable for pressing of various powder mixtures according to claim 3, characterized in that: The drug weighing assembly (205) includes a weighing mounting base (2051) and a tilting drive motor (2052), a tilting transmission assembly, and a rotating base (2054) mounted on the weighing mounting base (2051). The rotating base (2054) is driven to rotate by the tilting drive motor (2052), and the tilting drive motor (2052) transmits torque through the tilting transmission assembly. The first drug powder weighing device (2053) is fixed on the rotating base (2054).

5. The automated apparatus suitable for pressing of various powder mixtures according to claim 1, characterized in that: The drug loading mechanism (8) includes a mold base (804) and a lifting funnel (803), wherein the pressing mold (10) is placed on the mold base (804), the lifting funnel (803) is located above the pressing mold (10), the drug delivery device (801) includes a rotatable second powder weighing device, and a second weighing cup (8021) is provided at one end of the second powder weighing device. A drug loading and weighing assembly (802) is provided on one side with a drug loading and dispensing pipe (8011), the second weighing cup (8021) is located above the lifting funnel (803), and the dispensing end of the drug loading and dispensing pipe (8011) is located above the second weighing cup (8021).

6. The automated apparatus suitable for pressing of various powder mixtures according to claim 1, characterized in that: The smoothing mechanism (3) includes a proximity switch (302), a first scanner (303), a vibrating cylinder (304), a smoothing component (305), and a second scanner (306) arranged sequentially along the circumference of the turntable (301). The turntable (301) is provided with a workstation (3011) for holding the pressing mold (10).

7. The automated apparatus suitable for pressing of various powder mixtures according to claim 1 or 6, characterized in that: The smoothing assembly (305) includes a smoothing motor (3051), a smoothing lifting cylinder (3052), and a smoothing mounting base (3053). The smoothing lifting cylinder (3052) is fixed on the smoothing mounting base (3053). The smoothing motor (3051) is driven to lift through the smoothing lifting cylinder (3052). A smoothing turntable is provided at the power shaft end on the lower side of the smoothing motor (3051).

8. The automated apparatus suitable for pressing of various powder mixtures according to claim 6, characterized in that: The workstation seat (3011) is provided with a vibration hole (3012) in the middle. The power shaft end of the vibration cylinder (304) is provided with a vibration head (3041), and the vibration head (3041) passes through the vibration hole (3012) and contacts the bottom of the pressing mold (10). The proximity switch (302) is driven to move by the switch adjusting cylinder (3021).

9. The automated apparatus suitable for pressing of various powder mixtures according to claim 1, characterized in that: The gripping robot (1), the dispensing mechanism (2), the loading mechanism (8), and the smoothing mechanism (3) are all mounted on a frame (5), and a press (9) is provided on one side of the frame (5), and a lifting isolation plate (11) for isolating the mixing station is provided on the upper side of the frame (5).

10. The automated apparatus suitable for pressing of various powder mixtures according to claim 9, characterized in that: The frame (5) is provided with a finished product inspection mechanism (4) and a finished product tray (6). The finished product inspection mechanism (4) includes a finished product weighing device (402) and a three-dimensional vision camera (401) located above the finished product weighing device (402). The finished product weighing device (402) is located on a weighing mobile device (4021).

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