Boxed finished product transfer manipulator for ampoule bottle processing

Abstract

The invention relates to the technical field of ampoule bottle finished product carrying manipulators, in particular to a boxing finished product transferring manipulator for ampoule bottle processing, which comprises a working table, an embedding plate and a plugging plate, two sliding rails are fixedly mounted at the top of the working table, and a moving seat is slidably mounted on the outer sides of the two sliding rails; a ball screw mechanism is in threaded transmission connection with the interior of the moving seat, a mechanical arm is movably mounted at the top of the moving seat through a bearing seat, and a driven fluted disc fixedly sleeves the outer side of the bottom end of the mechanical arm; the flexible silica gel material of the silica gel soft head can generate certain flexible deformation when being matched with the inner side of the inner concave pit to adsorb the top of the ampoule bottle, adsorption of the ampoule bottle is flexibly protected, the rubber suction head is made of the relatively hard rubber material, the stable position is kept, the silica gel soft head is assisted in keeping the stable position, deviation can be reduced, and it is ensured that after adsorption, the ampoule bottle is prevented from being damaged. And a relatively stable position is kept in the packaging box, so that the use effect is improved.

Description

Technical Field

[0001] This invention relates to the field of ampoule bottle handling robots, specifically a boxed finished product transfer robot for ampoule bottle processing. Background Technology

[0002] Ampoules are hard, sealable glass containers commonly used to store injectable drugs, vaccines, serums, etc. They are typically available in straight-neck and curved-neck designs. Capacities generally range from 1 to 25 ml. They are commonly used for injectable solutions and also for packaging oral liquids, but are no longer popular due to the difficulty of opening them and the risk of accidents for consumers. Historically, ampoules were first used to hold blood samples from the deceased. Robotic arms are automated devices that mimic certain movements of the human hand and arm, used to grasp, move objects, or operate tools according to a fixed program. Robotic arms were the earliest industrial robots and the earliest modern robots. They can replace heavy human labor to achieve mechanization and automation of production, and can operate in hazardous environments to protect human safety. Therefore, they are widely used in machinery manufacturing, metallurgy, electronics, light industry, and nuclear energy sectors.

[0003] Ampoule production uses pharmaceutical glass tubing as raw material and is carried out in a clean environment that meets GMP standards. First, the glass tubing is melted and softened in a heating furnace, and then formed into ampoule preforms of specific specifications through a mechanical stretching or blow-fill-seal integrated process. Subsequently, it undergoes annealing treatment to eliminate internal stress in the glass and improve its strength. Then, it undergoes internal and external wall cleaning, high-temperature drying, and aseptic sterilization. Finally, it is used for drug filling. After filling, the ampoules need to be sealed, cooled, and packed. Ampoule filling generally uses an inclined conveyor line. After batch processing, they are pushed to the collection area for finished product handling and packing. Since there are various sizes of ampoule packs, they need to be adapted to different sizes of packaging boxes. However, the existing robotic arms used for handling finished ampoule products cannot adjust the number of ampoules they can grip to adapt to different packaging sizes, and the gripping structure cannot be replaced, making it difficult to adapt to different ampoule heads, which causes certain inconveniences. Based on this, a robotic arm for transferring finished products in ampoule processing is proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a robotic arm for transferring finished products in ampoule processing, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a robotic arm for transferring finished products in ampoule processing, comprising a worktable, an embedding plate, and a sealing plate. Two slide rails are fixedly installed on the top of the worktable, and a movable seat is slidably installed on the outer sides of the two slide rails. A ball screw mechanism is internally threaded onto the movable seat. A robotic arm is movably mounted on the top of the movable seat via a bearing seat. A driven gear is fixedly sleeved on the outer side of the bottom end of the robotic arm, and a driving gear meshes with the outer side of the driven gear. A servo motor is drivenly connected to the bottom of the driving gear. An outer sleeve is drivenly mounted on the moving end of the robotic arm, and the inner side of the outer sleeve is movable. An inner sleeve is fitted with a perforated plate fixedly installed on the top of the inner sleeve. An electrically controlled telescopic rod one is fixedly installed on the top of the perforated plate, and an electrically controlled telescopic rod two is fixedly installed on the bottom of the perforated plate. A sealing piston is fixedly installed at the output end of the electrically controlled telescopic rod two. A support ring plate is fixedly installed on the outer side of the bottom end of the inner sleeve. A rotating disk is movably fitted onto the outer side of the support ring plate. Several ball bearing support seats are fixedly installed at the top and bottom of the inner cavity of the rotating disk. A connecting pipe is movably inserted into the inside of the inner sleeve. A suction cup frame is connected to the bottom of the connecting pipe. A silicone diaphragm is fixedly installed inside the suction cup frame, and a bottom mounting plate is fixedly installed at the bottom of the suction cup frame.

[0006] A sealing ring is fixedly installed on the top of the embedded plate, a rubber suction head is fixedly installed on the bottom of the embedded plate, a silicone soft head is fixedly installed on the bottom of the rubber suction head, a connecting hole is opened inside the rubber suction head, an inner recess is opened at the bottom of the silicone soft head, four magnets are fixedly embedded on the top of the embedded plate, and an inner recess is opened on the top of the embedded plate.

[0007] Preferably, the ball screw mechanism is rotatably mounted on the top of the worktable via a mounting bracket, the servo motor is fixedly mounted on the top of the movable seat, and four support legs are fixedly mounted on the bottom of the worktable by bolts.

[0008] Preferably, the perforated plate is movably sleeved on the inner side of the outer sleeve, the top end of the first electrically controlled telescopic rod is fixedly installed on the top of the inner cavity of the outer sleeve, the top of the outer sleeve is provided with a vent hole, the second electrically controlled telescopic rod is sleeved inside the inner sleeve, and the sealing piston is movably sleeved inside the inner sleeve.

[0009] Preferably, a driven gear ring is fixedly installed on the top of the rotating disk, and a driving gear meshes with the inner side of the driven gear ring. A servo motor is drivenly connected to the top of the driving gear. The servo motor is fixedly installed on the outer side of the inner sleeve. The rolling part of the ball bearing support is in rolling contact with the outer side of the support ring plate. The ball bearing support is evenly distributed circumferentially on the top and bottom of the inner cavity of the rotating disk. The inner sleeve is sleeved on the inner side of the top of the rotating disk through a bearing.

[0010] Preferably, a sealing cone is fixedly installed on the top of the connecting pipe, and a rotary seal is sleeved on the outside of the sealing cone. Both the sealing cone and the rotary seal are movably sleeved inside the inner sleeve. An installation positioning mechanism is provided on the outside of the connecting pipe. The installation positioning mechanism includes a flange, bolts, nuts, and a gasket. The flange is fixedly sleeved on the outside of the connecting pipe. The gasket is located on the opposite side of the flange and the rotating disk. The bolt movably passes through the flange and the gasket and extends threadedly into the inside of the nut. The nut is fixedly installed at the bottom of the inner cavity of the rotating disk.

[0011] Preferably, the bottom of the mounting plate has several mounting grooves, the top of the inner cavity of the mounting groove has several guide holes, the bottom of the mounting plate has several sets of embedding grooves, a magnet is fixedly installed inside the embedding groove, visual acquisition cameras are fixedly installed on both sides of the suction cup frame, and the top of the guide hole is connected to the bottom of the silicone diaphragm.

[0012] Preferably, the mounting grooves are evenly distributed in a rectangular linear pattern on the bottom of the mounting plate. The number of the four embedded grooves in a set is four, and all four embedded grooves are located inside the mounting groove. The size of the second magnet is adapted to the size of the first magnet. The size of the connecting hole is adapted to the size of the guide hole. The bottom of the guide hole is connected to the top of the concave hole and the connecting hole. The four second magnets are evenly distributed in a rectangular pattern on the top of the embedded plate.

[0013] Preferably, four magnets are fixedly installed on the top of the sealing plate, and a sealing ring is fixedly installed on the top of the sealing plate. The specifications and dimensions of the sealing plate and the embedding plate are adapted to the specifications and dimensions of the mounting groove, and the specifications and dimensions of the four magnets are all adapted to the specifications and dimensions of the embedding groove.

[0014] Preferably, the bottom mounting plate, the embedding plate, and the sealing plate are all made of ferromagnetic stainless steel, the silicone soft tip is made of flexible silicone, and the outer side of the silicone soft tip is rounded, and the inner side of the recess is rounded.

[0015] Preferably, a material collection frame is hinged to the front of the workbench via a detachable hinge mechanism, and an adjustable telescopic column is hinged to the bottom of the material collection frame. A support is fixedly installed at the bottom end of the adjustable telescopic column.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When the device is in use, it causes the ampoules to be pushed out and stacked inside the collection frame. The robotic arm rotates to the top of the collection frame. At this time, the first electrically controlled telescopic rod extends, driving the hollow plate and inner sleeve to move down, causing the rotating disk and suction cup frame to move down, and causing the embedded plate and rubber suction head installed at the bottom of the suction cup frame to move down. After moving to a specific position, the connecting hole and the inner recess contact the sealing end of the top of the ampoule. Then, the second electrically controlled telescopic rod retracts, driving the sealing piston to move up, so that the bottom end of the inner sleeve and the connecting hole contact the sealing end of the ampoule. The connecting tube is under negative pressure, causing the silicone diaphragm to move upward and adhere to the top of the ampoule through the connecting hole and the inner recess. After the adhesion is complete, the robotic arm rotates, and at the same time, the ball screw mechanism drives the moving seat to move and place the suction cup frame inside the ampoule packaging box. Then, the electrically controlled telescopic rod extends, causing the pressure inside the inner sleeve and the connecting tube to recover. After the air pressure is restored, the ampoule is placed inside the packaging box. This allows for the rapid and batch handling of finished ampoules and their placement inside the packaging box, increasing efficiency. 2. The connecting pipe is installed at the bottom of the rotating plate through the flange mounting structure of the mounting and positioning mechanism, which facilitates the replacement of the connecting pipe and the bottom suction cup frame. It can also replace the suction cup frame with a larger size or a different specification to adapt to different packaging boxes. The material collection frame can be adapted and replaced to facilitate the packing operation of ampoule bottles of different specifications, thus increasing the usage effect. 3. The flexible silicone tip can deform slightly when adsorbing the top of the ampoule with the inner recess, providing flexible protection for the ampoule. The relatively hard rubber tip helps maintain a stable position, reducing displacement and ensuring a relatively stable position after adsorption when placed inside the packaging box, thus improving the usability. Attached Figure Description

[0017] Figure 1 This is a front-view stereoscopic structural diagram of the present invention.

[0018] Figure 2 This is a schematic diagram of the three-dimensional appearance structure of the present invention from a rear-view or upward-view perspective.

[0019] Figure 3 This is a schematic diagram of the right-side cross-sectional structure of the present invention.

[0020] Figure 4 This is a schematic diagram of the cross-sectional structure of the present invention viewed from below.

[0021] Figure 5 These are front-view and bottom-view stereoscopic structural diagrams of the mounting plate of the present invention.

[0022] Figure 6 This is a bottom-view three-dimensional structural diagram of the sealing plate of the present invention.

[0023] Figure 7For the present invention Figure 3 Enlarged structural diagram at point A in the middle.

[0024] Figure 8 For the present invention Figure 3 Enlarged structural diagram at point B.

[0025] Figure 9 For the present invention Figure 4 Enlarged structural diagram at point C.

[0026] In the diagram: 1. Workbench; 2. Robotic arm; 3. Moving seat; 4. Ball screw mechanism; 5. Servo motor one; 6. Driven gear plate; 7. Driving gear plate; 8. Outer sleeve; 801. Vent hole; 9. Inner sleeve; 901. Support ring plate; 10. Rotating disk; 11. Suction cup frame; 12. Material collection frame; 13. Adjustable telescopic column; 14. Support; 15. Slide rail; 16. Electrically controlled telescopic rod one; 17. Hollow plate; 18. Electrically controlled telescopic rod two; 19. Sealing piston; 20. Servo motor two; 21. Driven gear ring; 22. 23. Drive gear; 24. Ball bearing support; 25. Connecting pipe; 26. Sealing cone; 27. Rotary seal; 28. Silicone diaphragm; 29. ​​Bottom mounting plate; 30. Embedded groove; 31. Magnet one; 32. Guide hole; 33. Embedded plate; 34. Sealing ring one; 35. Concave hole; 36. Magnet two; 37. Rubber suction head; 38. Connecting hole; 39. Concave pit; 40. Silicone soft head; 41. Sealing plate; 42. Magnet three; 43. Visual acquisition camera; 44. Mounting groove; 45. Mounting and positioning mechanism. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figures 1-9This invention provides a technical solution: a robotic arm for transferring finished products in ampoule processing, comprising a worktable 1, an embedded plate 32, and a sealing plate 39. Two slide rails 15 are fixedly installed on the top of the worktable 1. A movable seat 3 is slidably installed on the outer side of the two slide rails 15. A ball screw mechanism 4 is internally threadedly connected to the movable seat 3. A robotic arm 2 is movably installed on the top of the movable seat 3 via a bearing seat. A driven gear 6 is fixedly sleeved on the outer side of the bottom end of the robotic arm 2. A driving gear 7 meshes with the outer side of the driven gear 6. A servo motor 5 is drivenly connected to the bottom of the driving gear 7. An outer sleeve 8 is drivenly installed at the moving end of the robotic arm 2. An inner sleeve 9 is movably sleeved on the inner side of the outer sleeve 8. A perforated plate 17 is fixedly installed on the top of the inner sleeve 9. An electrically controlled telescopic rod 16 is fixedly installed on the top of the perforated plate 17. An electrically controlled telescopic rod 18 is fixedly installed on the bottom of the perforated plate 17. A sealing piston 19 is fixedly installed at the output end of the electrically controlled telescopic rod 18. A support ring plate 901 is fixedly installed on the outer side of the bottom end of the inner sleeve 9. A rotating disk 10 is movably sleeved on the outer side of the support ring plate 901. Several ball bearing support seats 23 are fixedly installed on the top and bottom of the inner cavity of the rotating disk 10. A connecting pipe 24 is movably inserted into the inner sleeve 9. A suction cup frame 11 is connected to the bottom of the connecting pipe 24. A silicone diaphragm 27 is fixedly installed inside the suction cup frame 11. A bottom mounting plate 28 is fixedly installed on the bottom of the suction cup frame 11.

[0029] A sealing ring 33 is fixedly installed on the top of the embedded plate 32, a rubber suction head 36 is fixedly installed on the bottom of the embedded plate 32, a silicone soft head 38 is fixedly installed on the bottom of the rubber suction head 36, a connecting hole 37 is opened inside the rubber suction head 36, an inner recess 3701 is opened on the bottom of the silicone soft head 38, four magnets 35 are fixedly embedded on the top of the embedded plate 32, and an inner recess 34 is opened on the top of the embedded plate 32.

[0030] The working principle of the above technical solution is as follows: During use, the user places the collection frame 12 at the row ejection end of the ampoule finished product production line, causing the ampoules to be ejected and stacked inside the collection frame 12. Then, when the equipment is running, the servo motor 5 drives the active gear plate 7 and the driven gear plate 6 to rotate, thereby causing the robotic arm 2 to rotate to the top of the collection frame 12. At this time, the electrically controlled telescopic rod 16 extends, causing the hollow plate 17 and the inner sleeve 9 to move down, causing the rotating disk 10 and the suction cup frame 11 to move down, and causing the embedded plate 32 and the rubber suction head 36 installed at the bottom of the suction cup frame 11 to move down. After moving to a specific position, the connecting hole 37 and the inner recess 3701 contact the sealing end of the top of the ampoule. Then, the electrically controlled telescopic rod 18 retracts, causing the sealing piston 19 to move up, so that the bottom end of the inner sleeve 9 and the connecting pipe 24 are in a negative pressure state, and the silicone diaphragm 27 is subjected to pressure. The ampoule is moved and adsorbed onto the top of the ampoule through the connecting hole 37 and the recess 3701. After adsorption, the robotic arm 2 rotates, and at the same time, the ball screw mechanism 4 drives the moving seat 3 to move, placing the suction cup frame 11 inside the ampoule packaging box. The extension and retraction of the electric telescopic rod 16 causes the inner sleeve 9 and the suction cup frame 11 to move down to ensure that they are placed at the bottom of the packaging box. The servo motor 20 starts and drives the drive gear 22 and the driven gear ring 21 to rotate, thereby causing the rotating disk 10 and the suction cup frame 11 to rotate, so that the suction cup frame 11 corresponds to the position of the packaging box, thus stabilizing the placement position. Then the electric telescopic rod 18 extends, causing the inner sleeve 9 and the inner side of the connecting tube 24 to restore the pressure. After the air pressure is restored, the ampoule is placed inside the packaging box. This allows for the rapid and batch grabbing of finished ampoules and placement inside the packaging box, increasing the efficiency of use.

[0031] In another implementation scheme, such as Figures 1-4 As shown, the ball screw mechanism 4 is rotatably mounted on the top of the worktable 1 via the mounting bracket, the servo motor 5 is fixedly mounted on the top of the movable seat 3, and four support legs are fixedly mounted on the bottom of the worktable 1 by bolts.

[0032] The ball screw mechanism 4 provides the moving force for the movable seat 3, causing the movable seat 3 to move the top structure. The servo motor 5 rotates after being programmed and controlled, driving the active gear 7 to rotate, and through the active gear 7, driving the meshing driven gear 6 to rotate, thereby driving the robotic arm 2 to rotate and adjust its position. The robotic arm 2 is rotatably mounted on the top of the movable seat 3 through a bearing seat, which is convenient for adjustment and movement. The support legs at the bottom of the worktable 1 are bolted and can be replaced, which is convenient for installation in the use position or replacement of different support legs as needed, increasing the adaptability of the structure.

[0033] In another implementation scheme, such as Figure 2As shown, the perforated plate 17 is movably sleeved on the inner side of the outer sleeve 8, the top end of the electrically controlled telescopic rod 16 is fixedly installed on the top of the inner cavity of the outer sleeve 8, the top of the outer sleeve 8 is provided with a vent hole 801, the electrically controlled telescopic rod 18 is sleeved inside the inner sleeve 9, and the sealing piston 19 is movably sleeved inside the inner sleeve 9.

[0034] The perforated plate 17 provides a seal for the top of the inner sleeve 9 and allows airflow to pass through. The airflow enters the outer sleeve 8 through the vent hole 801 to maintain air pressure balance. When the electrically controlled telescopic rod 18 extends and retracts, it drives the sealing piston 19 to move, thus stabilizing the internal air pressure of the outer sleeve 8 and the inner sleeve 9, facilitating stable structural operation. The perforated plate 17 provides a position for the installation of the electrically controlled telescopic rod 18 to facilitate support and ensure stable air pressure. The movement of the electrically controlled telescopic rod 18 drives the sealing piston 19 to extend and retract, which can generate relatively stable air pressure inside the bottom of the inner sleeve 9 and inside the connecting pipe 24. The air pressure is transmitted to the inside of the suction cup frame 11 through the connecting pipe 24, and then the bottom structure is adsorbed by air pressure, maintaining the stability of the structural operation and increasing the use effect.

[0035] In another implementation scheme, such as Figure 2 As shown, a driven gear ring 21 is fixedly installed on the top of the rotating disk 10. A driving gear 22 meshes with the inner side of the driven gear ring 21. A servo motor 20 is connected to the top of the driving gear 22. The servo motor 20 is fixedly installed on the outer side of the inner sleeve 9. The rolling part of the ball bearing support 23 rolls in contact with the outer side of the support ring plate 901. The ball bearing support 23 is evenly distributed in a circular pattern on the top and bottom of the inner cavity of the rotating disk 10. The inner sleeve 9 is sleeved on the inner side of the top of the rotating disk 10 through a bearing.

[0036] The servo motor 20 rotates, driving the drive gear 22 to rotate, which in turn drives the meshing driven gear ring 21 to rotate, thereby causing the rotating disk 10 to rotate. When the rotating disk 10 rotates, it is supported by the ball bearing support 23 on the outside of the support ring plate 901 to ensure stable rotation. This allows the relative position of the rotating disk 10 and the support ring plate 901 to change, and the rotation direction can be adjusted by a small angle. This facilitates the adjustment of the placement position of the suction cup frame 11 and the packaging box, ensuring that the rotating disk 10 and the inner sleeve 9 are supported and maintain a relatively stable position, thus increasing stability and adjustment function.

[0037] In another implementation scheme, such as Figure 2As shown, a sealing cone 25 is fixedly installed on the top of the connecting pipe 24, and a rotary seal 26 is sleeved on the outside of the sealing cone 25. Both the sealing cone 25 and the rotary seal 26 are movably sleeved inside the inner sleeve 9. An installation positioning mechanism 43 is provided on the outside of the connecting pipe 24. The installation positioning mechanism 43 includes a flange, bolts, nuts and gaskets. The flange is fixedly sleeved on the outside of the connecting pipe 24. The gasket is located on the opposite side of the flange and the rotating disk 10. The bolts movably pass through the flange and the gasket and extend threadedly into the inside of the nut. The nut is fixedly installed at the bottom of the inner cavity of the rotating disk 10.

[0038] The connecting pipe 24 is movably inserted into the inner sleeve 9, allowing it to rotate with the rotating disk 10. It can also rotate and seal the inner wall of the inner sleeve 9 through the sealing cone 25 and the rotating seal 26, reducing air leakage and stabilizing air pressure. This ensures relative structural stability and improves the performance. The connecting pipe 24 is mounted on the bottom of the rotating disk 10 via the flange mounting structure of the mounting positioning mechanism 43, facilitating the replacement of the connecting pipe 24 and the bottom suction cup frame 11. It allows for the replacement of larger or different sizes of suction cup frames 11 to accommodate different packaging boxes. The material collection frame 12 can also be adapted to accommodate different sizes of ampoules, further enhancing the performance.

[0039] In another implementation scheme, such as Figure 2 As shown, the bottom of the bottom mounting plate 28 has several mounting grooves 42, the top of the inner cavity of the mounting groove 42 has several guide holes 31, the bottom of the bottom mounting plate 28 has several sets of embedding grooves 29, a magnet 30 is fixedly installed inside the embedding groove 29, and visual acquisition cameras 41 are fixedly installed on both sides of the suction cup frame 11. The top of the guide hole 31 is connected to the bottom of the silicone diaphragm 27.

[0040] The bottom mounting plate 28 is fitted with the embedded plate 32 and the sealing plate 39 through the mounting groove 42. When the specifications need to be changed, the sealing plate 39 at the corresponding position is installed inside the mounting groove 42, which causes the magnet 3 40 to attract the magnet 1 30. The guide hole 31 at this position is sealed by the sealing ring 2. After the required position is sealed, the remaining part corresponds to the ampoule bottle that is attracted. The number of ampoule bottles attracted can be changed to adapt to the specifications of the packaging box. The embedded plate 32 with different sizes of rubber suction head 36 can also be replaced to facilitate the gripping operation of ampoule bottles of different specifications and sizes.

[0041] In another implementation scheme, such as Figure 2As shown, the mounting grooves 42 are evenly distributed in a rectangular linear pattern on the bottom of the mounting plate 28. There are four embedded grooves 29 in a set, and all four embedded grooves 29 are located inside the mounting grooves 42. The size of the second magnet 35 is compatible with the size of the first magnet 30. The size of the connecting hole 37 is compatible with the size of the guide hole 31. The bottom of the guide hole 31 is connected to the top of the concave hole 34 and the top of the connecting hole 37. The four second magnets 35 are evenly distributed in a rectangular pattern on the top of the embedded plate 32.

[0042] The mounting slots 42 are evenly distributed on the bottom of the mounting plate 28, which allows the mounting positions of the embedding plate 32 and the sealing plate 39 to be linearly distributed in a rectangle, making it easy to adapt to the specifications of ampoule packaging. The embedding slots 29 provide mounting positions for magnet 1 30 and embedding positions for magnet 2 35 and magnet 3 40. The magnet 1 30 and magnet 2 35 and magnet 3 40 are opposite pole adsorption surfaces, which can be used to stabilize the position by magnetic adsorption, ensuring quick assembly and disassembly of the structure. The distribution positions of the embedding plate 32 and the sealing plate 39 at the bottom of the suction cup frame 11 can be changed as needed for easy use. The function of the concave hole 34 is to allow a special tool to pass through the connecting hole 37 to reach the interior of the concave hole 34, thereby opening the tool to apply a snapping force to the concave hole 34 and pulling it down to make the embedding plate 32 disengage from the mounting slot 42 for easy replacement.

[0043] In another implementation scheme, such as Figure 2 As shown, four magnets 340 are fixedly installed on the top of the sealing plate 39, and a sealing ring 2 is fixedly installed on the top of the sealing plate 39. The specifications and dimensions of the sealing plate 39 and the embedded plate 32 are adapted to the specifications and dimensions of the mounting groove 42, and the specifications and dimensions of the four magnets 340 are adapted to the specifications and dimensions of the embedded groove 29.

[0044] The sealing plate 39 and the embedded plate 32 have the same structure, except that the connecting part is sealed and the rubber suction head 36 at the bottom is removed. The top magnet 3 40 is used to magnetically attract magnet 1 30 to ensure stable installation and facilitate replacement and disassembly at different positions as needed.

[0045] In another implementation scheme, such as Figure 2 As shown, the bottom mounting plate 28, the embedded plate 32 and the sealing plate 39 are all made of ferromagnetic stainless steel, the silicone soft head 38 is made of flexible silicone, and the outer side of the silicone soft head 38 is rounded, and the inner side of the recess 3701 is rounded.

[0046] The ferromagnetic materials of the bottom mounting plate 28, the embedded plate 32, and the sealing plate 39 can work with magnets 30, 35, and 40 for adsorption, ensuring the stability of the structure and installation. The stainless steel material extends the service life, allowing the overall mold to be used for a long time after production. The flexible silicone material of the silicone soft head 38 can produce a certain degree of flexible deformation when adsorbing the top of the ampoule with the inner side of the concave pit 3701, providing flexible protection for the adsorption of the ampoule. The relatively hard rubber material of the rubber suction head 36 helps to maintain a stable position, assisting the silicone soft head 38 in maintaining a stable position. This reduces displacement and ensures that after adsorption, the ampoule is placed in a relatively stable position inside the packaging box, improving the usability.

[0047] In another implementation scheme, such as Figure 2 As shown, a material collection frame 12 is hinged to the front of the workbench 1 via a detachable hinge mechanism. An adjustable telescopic column 13 is hinged to the bottom of the material collection frame 12, and a support 14 is fixedly installed at the bottom end of the adjustable telescopic column 13.

[0048] The collection frame 12 is the same position for the finished ampoule bottle production and ejection. The collection frame 12 can be a traditional ampoule holding frame structure. The upgraded version can be equipped with a partition plate. The collection frame 12 is hinged to the outside of the workbench 1 and is a detachable structure, which makes it easy to replace the collection frame 12 with different sizes and specifications to adapt to the specifications of the suction cup frame 11 and the packaging box, making it easy to adapt to use and improving the use effect. The length of the adjustable telescopic column 13 can be adjusted to provide support for the collection frame 12, which is convenient to adapt to the installation position of the workbench 1 and the tilt angle of the collection frame 12 is adjustable, which makes it easy for the collection frame 12 to adapt to the ejection structure of the finished ampoule bottle production line, which improves the overall use effect.

[0049] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic arm for transferring finished products in ampoule processing, comprising a worktable (1), an embedding plate (32), and a sealing plate (39), characterized in that: Two slide rails (15) are fixedly installed on the top of the workbench (1). A movable seat (3) is slidably installed on the outer side of the two slide rails (15). A ball screw mechanism (4) is connected to the inner thread of the movable seat (3). A mechanical arm (2) is movably installed on the top of the movable seat (3) through a bearing seat. A driven gear plate (6) is fixedly sleeved on the outer side of the bottom end of the mechanical arm (2). A driving gear plate (7) meshes on the outer side of the driven gear plate (6). A servo motor (5) is connected to the bottom of the driving gear plate (7). An outer sleeve (8) is installed at the moving end of the mechanical arm (2). An inner sleeve (9) is movably sleeved on the inner side of the outer sleeve (8). A hollow plate (17) is fixedly installed on the top of the inner sleeve (9). The top of the hollow plate (17) is... An electrically controlled telescopic rod one (16) is fixedly installed on the part of the hollow plate (17). An electrically controlled telescopic rod two (18) is fixedly installed on the bottom of the hollow plate (17). A sealing piston (19) is fixedly installed on the output end of the electrically controlled telescopic rod two (18). A support ring plate (901) is fixedly installed on the outer side of the bottom end of the inner sleeve (9). A rotating disk (10) is movably sleeved on the outer side of the support ring plate (901). Several ball bearing support seats (23) are fixedly installed on the top and bottom of the inner cavity of the rotating disk (10). A connecting pipe (24) is movably inserted into the inner sleeve (9). A suction cup frame (11) is connected to the bottom of the connecting pipe (24). A silicone diaphragm (27) is fixedly installed inside the suction cup frame (11). A bottom mounting plate (28) is fixedly installed on the bottom of the suction cup frame (11). A sealing ring (33) is fixedly installed on the top of the embedded plate (32), a rubber suction head (36) is fixedly installed on the bottom of the embedded plate (32), a silicone soft head (38) is fixedly installed on the bottom of the rubber suction head (36), a connecting hole (37) is opened inside the rubber suction head (36), an inner recess (3701) is opened on the bottom of the silicone soft head (38), four magnets (35) are fixedly embedded on the top of the embedded plate (32), and an inner recess (34) is opened on the top of the embedded plate (32).

2. The robotic arm for transferring finished products in ampoule processing according to claim 1, characterized in that: The ball screw mechanism (4) is rotatably mounted on the top of the workbench (1) via a mounting bracket, the servo motor (5) is fixedly mounted on the top of the movable seat (3), and four support legs are fixedly mounted on the bottom of the workbench (1) by bolts.

3. The robotic arm for transferring finished products in ampoule processing according to claim 1, characterized in that: The perforated plate (17) is movably sleeved on the inner side of the outer sleeve (8). The top end of the first electrically controlled telescopic rod (16) is fixedly installed on the top of the inner cavity of the outer sleeve (8). The top of the outer sleeve (8) is provided with a vent hole (801). The second electrically controlled telescopic rod (18) is sleeved inside the inner sleeve (9). The sealing piston (19) is movably sleeved inside the inner sleeve (9).

4. The robotic arm for transferring finished products in ampoule processing according to claim 1, characterized in that: A driven gear ring (21) is fixedly installed on the top of the rotating disk (10). A drive gear (22) meshes with the inner side of the driven gear ring (21). A servo motor (20) is connected to the top of the drive gear (22). The servo motor (20) is fixedly installed on the outer side of the inner sleeve (9). The rolling part of the ball bearing support (23) rolls in contact with the outer side of the support ring plate (901). The ball bearing support (23) is evenly distributed in a circular pattern on the top and bottom of the inner cavity of the rotating disk (10). The inner sleeve (9) is sleeved on the inner side of the top of the rotating disk (10) through a bearing.

5. A robotic arm for transferring finished products in ampoule processing according to claim 1, characterized in that: A sealing cone (25) is fixedly installed on the top of the connecting pipe (24). A rotating seal (26) is sleeved on the outside of the sealing cone (25). Both the sealing cone (25) and the rotating seal (26) are movably sleeved inside the inner sleeve (9). An installation positioning mechanism (43) is provided on the outside of the connecting pipe (24). The installation positioning mechanism (43) includes a flange, bolts, nuts and gaskets. The flange is fixedly sleeved on the outside of the connecting pipe (24). The gasket is located on the opposite side of the flange and the rotating disk (10). The bolts movably pass through the flange and the gasket and extend threadedly into the inside of the nut. The nut is fixedly installed at the bottom of the inner cavity of the rotating disk (10).

6. A robotic arm for transferring finished products in ampoule processing according to claim 1, characterized in that: The bottom of the mounting plate (28) has several mounting grooves (42), the top of the inner cavity of the mounting groove (42) has several guide holes (31), the bottom of the mounting plate (28) has several sets of embedding grooves (29), a magnet (30) is fixedly installed inside the embedding groove (29), a visual acquisition camera (41) is fixedly installed on both sides of the suction cup frame (11), and the top of the guide hole (31) is connected to the bottom of the silicone diaphragm (27).

7. A robotic arm for transferring finished products in ampoule processing according to claim 6, characterized in that: The mounting groove (42) is evenly distributed in a rectangular linear pattern on the bottom of the mounting plate (28). There are four embedded grooves (29) in a set, and all four embedded grooves (29) are located inside the mounting groove (42). The size of the second magnet (35) is compatible with the size of the first magnet (30). The size of the connecting hole (37) is compatible with the size of the guide hole (31). The bottom of the guide hole (31) is connected to the top of the concave hole (34) and the connecting hole (37). The four second magnets (35) are evenly distributed in a rectangular pattern on the top of the embedded plate (32).

8. A robotic arm for transferring finished products in ampoule processing according to claim 7, characterized in that: Four magnets (40) are fixedly installed on the top of the sealing plate (39), and a sealing ring is fixedly installed on the top of the sealing plate (39). The specifications and dimensions of the sealing plate (39) and the embedding plate (32) are adapted to the specifications and dimensions of the mounting groove (42), and the specifications and dimensions of the four magnets (40) are adapted to the specifications and dimensions of the embedding groove (29).

9. A robotic arm for transferring finished products in ampoule processing according to claim 1, characterized in that: The bottom mounting plate (28), the embedded plate (32) and the sealing plate (39) are all made of ferromagnetic stainless steel. The silicone soft head (38) is made of flexible silicone, and the outer side of the silicone soft head (38) is rounded. The inner side of the recess (3701) is rounded.

10. A robotic arm for transferring finished products in ampoule processing according to claim 1, characterized in that: The front of the workbench (1) is hinged to a material collection frame (12) via a detachable hinge mechanism. An adjustable telescopic column (13) is hinged to the bottom of the material collection frame (12). A support (14) is fixedly installed at the bottom of the adjustable telescopic column (13).

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