Film tearing clamp, multi-shaft robot and control method thereof

Abstract

The invention discloses a film tearing clamp, a multi-shaft robot and a control method thereof. The film tearing clamp comprises a connecting plate, a movement clamp and a lining paper suction plate,wherein the connecting plate is provided with the movement clamp and the lining paper suction plate respectively, the movement clamp and the lining paper suction plate are both connected with a driving shaft through the connecting plate, the driving shaft can rotate horizontally and can ascend and descend in the axial direction, the movement clamp comprises an actuating element, a lower clamping plate, an upper clamping plate connecting plate and an upper clamping plate, the lower clamping plate is arranged on the actuating element, the upper clamping plate is arranged at one side of the actuating element through the upper clamping plate connecting plate, and the lower clamping plate and the upper clamping plate form a clamping structure. The film tearing clamp not only reduces the hardware cost and turbulent flow of laminar flow wind, but also can achieve the purpose of improving the running speed, and the operation method is also simpler.

Description

technical field [0001] The invention relates to the field of medicine packaging, in particular to a film tearing fixture, a multi-axis robot and a control method thereof. Background technique [0002] In the prior art, the unpacking device of a device such as a prefilled syringe filling machine is generally divided into three independent stations of preheating, tearing the outer film paper, and removing the inner liner paper or tearing the outer film paper and removing the inner liner paper. Two independent stations, after the inner package is unpacked, the prefilled syringe tray is in the prefilled filling machine, transferred by the mechanical arm to the transfer platform and sent to the filling and stoppering station to enter the next step of the process. [0003] At present, the robot pre-filling, tearing the inner film and removing the inner lining are realized by a six-axis robot. For example, the patent with the publication number CN205441106U discloses a pre-filled ...

AI Technical Summary

Problems solved by technology

For example, the patent with the publication number CN205441106U discloses a pre-filled syringe filling machine unpacking device, which uses a six-axis robot to switch the positions of the three grippers through the manipulator to tear the outer film paper, remove the inner liner paper, transfer However, in the operation of tearing off the outer film paper and removing the inner liner paper, the six-axis robot has the problems of high cost and large mechanical arm. Large turbulence, usually difficult to achieve high-speed operation, affecting work efficiency

Images