Film tearing fixture, multi-axis robot and control method thereof

Abstract

The present invention discloses a film tearing fixture, a multi-axis robot and a control method thereof, wherein the film tearing fixture comprises a connecting plate, a moving fixture and a liner paper suction disk, wherein the moving fixture and the liner paper suction disk are respectively arranged on the connecting plate, wherein the moving fixture and the liner paper suction disk are both connected to a driving shaft through a connecting plate, wherein the driving shaft can rotate horizontally and can move up and down in an axial direction, wherein the moving fixture comprises an actuator, a lower clamping plate, an upper clamping plate connecting plate and an upper clamping plate, wherein the lower clamping plate is mounted on the actuator, wherein the upper clamping plate is mounted on one side of the actuator through the upper clamping plate connecting plate, wherein the lower clamping plate and the upper clamping plate form a clamping structure. The film tearing fixture not only reduces the hardware cost and the turbulence of the laminar wind, but also improves the running speed, and the operation method thereof is also relatively simple.

Description

Technical Field

[0001] The present invention relates to the field of medicine packaging, and in particular to a film-tearing fixture, a multi-axis robot and a control method thereof. Background Art

[0002] In the prior art, the inner package unpacking device of devices such as prefilled syringe filling machines is generally divided into three independent workstations of preheating, tearing off the outer film paper, and removing the inner lining paper, or two independent workstations of tearing off the outer film paper and removing the inner lining paper. After the inner package unpacking is completed, the prefilled syringe tray is transferred by a robotic arm to a transfer platform in the prefilled filling machine and sent to the filling and plugging station to enter the next step of the process.

[0003] At present, the robot pre-filling tearing inner film and removing the inner lining is realized by a six-axis robot. For example, the patent with the publication number CN205441106U discloses a pre-filled syringe filling machine inner package removal device, which uses a six-axis robot to switch the positions of three clamps through the manipulator to realize the operations of tearing the outer film paper, removing the inner lining paper, and transferring the tray. However, in the operation of tearing the outer film paper and removing the inner lining paper, the six-axis robot has the problems of high cost and large mechanical arm, and its operation method is relatively complicated. In addition, it has a large disturbance to the laminar wind during movement, and it is usually difficult to achieve high-speed operation, which affects work efficiency. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] Based on this, the present invention improves the existing clamp and proposes a film tearing clamp, a multi-axis robot and a control method thereof. By redesigning the clamp, a multi-axis robot such as a four-axis robot can also realize the pre-filled inner film tearing and lining removal actions, thereby achieving the purpose of reducing costs and increasing operating speed, and its operation method is also relatively simple.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the present invention proposes a film tearing clamp, which includes a connecting plate, a moving clamp and a suction paper tray, and the moving clamp and the suction paper tray are respectively arranged on the connecting plate, and the moving clamp and the suction paper tray are connected to the driving shaft through the connecting plate, and the driving shaft can rotate horizontally and can move up and down in the axial direction, and the moving clamp includes an actuator, a lower clamp, an upper clamp connecting plate and an upper clamp, the lower clamp is installed on the actuator, and the upper clamp is installed on one side of the actuator through the upper clamp connecting plate, and the lower clamp and the upper clamp form a clamping structure.

[0008] Furthermore, the motion clamp also includes a spring sheet, which is installed below the lower clamp plate. A notch is provided at the rear of the corresponding position of the lower clamp plate and the upper clamp plate connecting plate. The motion clamp is specifically a pneumatic clamp, and the actuator is specifically a pneumatic actuator.

[0009] Furthermore, the suction paper tray comprises a suction cup frame, a suction cup and a pneumatic joint. An air passage is arranged inside the suction cup frame, which is communicated with the suction cup and the pneumatic joint respectively. The pneumatic joint is connected with the vacuum system through a vacuum pipe.

[0010] Furthermore, there are multiple suction cups on the suction liner paper tray.

[0011] Furthermore, the multi-axis robot comprises the film tearing fixture as described in any one of claims 1-4.

[0012] Furthermore, the multi-axis robot is specifically a SCARA four-axis robot.

[0013] Furthermore, the multi-axis robot has more than three sections of mechanical arms, the last section of the mechanical arm is connected to the driving shaft, and the last section of the mechanical arm can drive the driving shaft to move horizontally.

[0014] In addition, the present invention also provides a control method for a multi-axis robot as described in any one of the above items, wherein the control method includes a film tearing method, and the film tearing method includes the following steps:

[0015] S1: The lower clamping plate and the upper clamping plate form a clamping structure to clamp one side of the fixed nest box, and the multi-axis robot drives the moving fixture to move along the film tearing direction to straighten the film sealed on the top of the nest box;

[0016] S2: The multi-axis robot drives the moving fixture through the driving shaft to tear the film upward and forward in the diagonal direction of the nest box, and sends it to the top of the waste paper collection port. The actuator drives the upper and lower clamps to open and throw the film into the waste paper barrel.

[0017] Furthermore, a notch is provided at the rear of the corresponding position of the lower clamping plate and the upper clamping plate connecting plate, and the step S1 also includes: when the film is captured, the notch at the rear of the lower clamping plate is stopped at the edge of the rounded corner of the nest box to ensure that the upper clamping plate and the lower clamping plate just clamp the sealed film above the nest box.

[0018] Furthermore, the control method also includes a method for removing the lining paper, which is specifically as follows: the multi-axis robot drives the film tearing clamp to rotate a certain angle through the driving shaft so that the lining paper suction plate is just located above the nest box, and the multi-axis robot then drives the lining paper suction plate to descend through the driving shaft. When the suction cup on the lining paper suction plate is pressed on the lining paper of the nest box, the vacuum pipe connected to the suction cup is opened, and the suction cup sucks the lining paper. Then the multi-axis robot moves the lining paper to above the waste paper collection port, and compressed air is passed into the vacuum pipe to blow the lining paper into the waste paper barrel.

[0019] (III) Beneficial effects

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1) The film tearing fixture of the present invention can utilize the SCARA four-axis robot to complete the functions of a six-axis robot, thus saving costs;

[0022] 2) At the same time, the operating speed of the multi-axis robot of the present invention is much higher than that of the six-axis robot, which improves the efficiency of film tearing and can meet the requirements of high-speed filling machines;

[0023] 3) The structure of a multi-axis robot with less than six axes (such as a four-axis robot) is simpler than that of a six-axis robot, making the robot's mechanical arm relatively smaller and easier to operate. It can effectively reduce turbulence to laminar wind during operation, thereby reducing the risk of drug production. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0025] Figure 1 It is a side view of the four-axis robot film-tearing fixture of the present invention;

[0026] Figure 2 This is a top view of the four-axis robot film-tearing fixture of the present invention;

[0027] Figure 3 This is an axonometric diagram of the four-axis robot film-tearing fixture of the present invention;

[0028] Figure 4 It is an enlarged view of the cylinder chuck of the pneumatic clamp of the present invention;

[0029] Figure 5 It is a schematic diagram of the edge lifting of the film tearing fixture of the present invention;

[0030] Figure 6 This is a working side view of the four-axis robot film-tearing fixture of the present invention;

[0031] Figure 7 This is a working top view of the four-axis robot film tearing fixture of the present invention.

[0032] Description of reference numerals:

[0033] 1. Four-axis robot connecting flange, 2. Connecting plate, 3. Pneumatic clamp, 31. Pneumatic actuator, 32. Lower clamp, 33. Upper clamp connecting plate, 34. Upper clamp, 35. Shrapnel, 36. Notch, 4. Suction paper tray, 41. Suction cup rack, 42. Suction cup, 43. Pneumatic joint, 5. Four-axis robot, 6. Film tearing clamp, 7. Nest box. DETAILED DESCRIPTION

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0035] The present invention uses a SCARA horizontal joint manipulator as a four-axis robot to connect the four-axis robot connecting flange 1 (for specific objects, see Figure 6-7 ), thereby connecting the connecting flange 1 with the connecting plate 2 through the four-axis robot to drive the film tearing fixture 6 to work.

[0036] like Figure 1-3 As shown, the SCARA four-axis robot film tearing fixture utilizes the characteristic that the driving shaft on the four-axis robot arm can only rotate horizontally and cannot flip. A pneumatic clamp 3 and a liner suction plate 4 are provided at both ends of the film tearing fixture 6, and are connected to the four-axis robot connection flange 1 through a connecting plate 2, so that they are driven by the driving shaft of the four-axis robot to move. The pneumatic clamp 3 includes a pneumatic actuator 31, a lower clamp 32, an upper clamp connecting plate 33, an upper clamp 34 and a spring 35. It is worth mentioning that the present invention only takes the more common four-axis robot SCARA as an example to elaborate on the technical solution of the present invention. The four-axis robot can of course also be a multi-axis robot, including five-axis and six-axis robots. The film tearing fixture can be used as long as the robot arm can drive the film tearing fixture 6 to perform the corresponding inner film tearing and / or liner removal actions.

[0037] like Figure 3-4As shown in the enlarged view of the cylinder chuck of the pneumatic clamp, the lower clamp plate 32 is installed on the pneumatic actuator 31, and a notch 36 is provided at the rear corresponding to the upper clamp plate connecting plate 33; the upper clamp plate 34 is installed on one side of the pneumatic actuator 31 through the upper clamp plate connecting plate 33; the spring plate 35 is installed below the lower clamp plate 32, and forms an elastic clamp with the upper clamp plate 34 at the front end. It should be noted that the spring plate 35 is not a necessary component for film lifting and tearing operations.

[0038] The suction paper tray 4 comprises a suction cup frame 41, a suction cup 42 and a pneumatic joint 43. An air passage is arranged inside the suction cup frame 41, which is communicated with the suction cup 42 and the pneumatic joint 43 respectively. The pneumatic joint 43 is connected to the vacuum system through a vacuum pipe, so as to control the suction cup 42 to suck / blow the inner lining paper.

[0039] It should be noted that a plurality of suction cups 42 may be provided on the suction paper tray 4. In addition, the pneumatic clamp 3 may also be replaced by an electric clamp or a hydraulic clamp.

[0040] like Figure 5 As shown in the schematic diagram of edge lifting, it is actually a diagram in which the film tearing operation has been completed. When the film tearing begins, the lower clamp 32 and the upper clamp 34 form an elastic clamp to clamp one side of the fixed nest box. At this time, the SCARA four-axis robot drives the pneumatic clamp 3 along Figure 5 Move in the direction of the arrow (i.e., move in the film tearing direction) to straighten the film sealed on the top of the nest box. When the film is finished, the notch 36 behind the lower clamping plate 32 stops at the edge of the rounded corner of the nest box, ensuring that the upper clamping plate 34 and the lower clamping plate 32 just clamp the film sealed on the top of the nest box to ensure that the nest box will not be clamped. Then, the four-axis robot drives the pneumatic clamp 3 to tear the film upward and forward in the diagonal direction of the nest box, and sends it to the top of the waste paper collection port. The pneumatic actuator 31 drives the upper clamping plate 34 and the lower clamping plate 32 to open, and finally throws the film into the waste paper barrel.

[0041] When sucking the inner lining paper, the four-axis robot tearing fixture 6 rotates a certain angle so that the lining paper sucking plate 4 is just above the nest box, and the drive shaft connected to the SCARA four-axis robot arm drops. When the suction cup 42 presses on the inner lining paper of the nest box, the vacuum is turned on and the suction cup 42 sucks the inner lining paper. Then the SCARA four-axis robot moves the inner lining paper to the top of the waste paper collection port, and compressed air is introduced into the vacuum pipe to blow the inner lining paper into the waste paper barrel.

[0042] like Figure 6-7 As shown, the four-axis robot (SCARA) 5 can perform the above-mentioned film-tearing operation and lining paper removal operation on the nest box 7 through the film-tearing fixture 6. Figure 7 The dotted line in the figure indicates the inner lining paper that needs to be removed. It is located inside the membrane (the size of the membrane is consistent with the size of the nest box). The inner lining paper is covered with Figure 5The plurality of medicine bottles in the apparatus can be provided, and the driving shaft can be driven by the mechanical arm of the four-axis robot to drive the driving shaft and the film tearing fixture 6 to move horizontally and / or rotate horizontally and move up and down. It should be noted that the driving shaft itself can rotate horizontally (see Figure 7 ) and can move up and down along its axial direction (the film tearing fixture 6 needs to rotate horizontally and move up and down when removing the liner paper). In addition, the four-axis robot includes three mechanical arms, and the first, second, and third mechanical arms are connected in sequence, so that the robot has three degrees of freedom. In addition, the third and last mechanical arms are connected to the drive shaft, and the drive shaft is connected to the film tearing fixture 6 through the four-axis robot connecting flange 1 and the connecting plate 2, so as to finally drive the film tearing fixture 6 to move horizontally and / or rotate horizontally and move up and down. And because the running speed of SCARA is much higher than that of the six-axis robot, the efficiency of film tearing is improved, which can meet the requirements of high-speed filling machines; in addition, the structure of the four-axis robot SCARA is simpler than that of the six-axis robot, so that the four-axis robot SCARA mechanical arm is relatively smaller than that of the six-axis robot, which can effectively reduce the turbulence of the laminar wind during operation, reducing the risk of drug production, and this film tearing fixture 6 is particularly suitable for the four-axis robot SCARA5 to tear the film and remove the liner paper, and it is easy to operate.

[0043] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The various technical features of the above-described embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-described embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0045] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A control method for a multi-axis robot, characterized in that: The multi-axis robot includes a film tearing fixture, which includes a connecting plate, a moving fixture and a liner paper suction disk. The connecting plate is respectively provided with a moving fixture and a liner paper suction disk. The moving fixture and the liner paper suction disk are connected to the driving shaft through the connecting plate. The driving shaft can rotate horizontally and can move up and down in the axial direction. The moving fixture includes an actuator, a lower clamp, an upper clamp connecting plate and an upper clamp. The lower clamp is installed on the actuator, and the upper clamp is installed on one side of the actuator through the upper clamp connecting plate. The lower clamp and the upper clamp form a clamping structure. The film tearing fixture can be driven by the four-axis robot to move horizontally, rotate horizontally and move up and down, and can complete film tearing operations and liner paper removal operations. The film tearing operations for tearing the inner film include film grabbing and film tearing; the control method includes a film tearing method and a liner paper removal method. The film tearing method includes the following steps: S1: The lower clamping plate and the upper clamping plate form a clamping structure to clamp one side of the fixed nest box, and the multi-axis robot drives the moving fixture to move along the film tearing direction to straighten the film sealed on the top of the nest box; S2: The multi-axis robot drives the moving fixture through the driving shaft to tear the film upward and forward in the diagonal direction of the nest box, and sends it to the top of the waste paper collection port. The actuator drives the upper and lower clamps to open and throw the film into the waste paper barrel; The method for removing the liner paper is specifically as follows: the multi-axis robot drives the film tearing clamp to rotate a certain angle through the driving shaft so that the liner paper suction plate is just located above the nest box, and the multi-axis robot then drives the liner paper suction plate to descend through the driving shaft. When the suction cup on the liner paper suction plate is pressed on the liner paper of the nest box, the vacuum pipe connected to the suction cup is opened, and the suction cup sucks the liner paper. Then the multi-axis robot moves the liner paper to above the waste paper collection port, and compressed air is introduced into the vacuum pipe to blow the liner paper into the waste paper barrel.

2. The control method of the multi-axis robot according to claim 1, characterized in that: The motion clamp also includes a spring sheet, which is installed below the lower clamp plate. A notch is provided at the rear of the corresponding position of the lower clamp plate and the upper clamp plate connecting plate. The motion clamp is specifically a pneumatic clamp, and the actuator is specifically a pneumatic actuator.

3. The control method of the multi-axis robot according to claim 1, characterized in that: The suction paper tray comprises a suction cup frame, a suction cup and a pneumatic joint. An air passage is arranged inside the suction cup frame, which is communicated with the suction cup and the pneumatic joint respectively. The pneumatic joint is connected with a vacuum system through a vacuum pipeline.

4. The control method of the multi-axis robot according to claim 3, characterized in that: The number of the suction cups on the suction liner paper tray is multiple.

5. The control method of a multi-axis robot according to claim 1, characterized in that: The multi-axis robot is specifically a SCARA four-axis robot.

6. The control method of a multi-axis robot according to claim 1, characterized in that: The multi-axis robot has more than three sections of mechanical arms, the last section of the mechanical arm is connected to the driving shaft, and the last section of the mechanical arm can drive the driving shaft to move horizontally.

7. The control method of a multi-axis robot according to claim 1, characterized in that: A notch is provided at the rear of the corresponding position of the lower clamping plate and the upper clamping plate connecting plate, and the step S1 also includes: when the film is captured, the notch at the rear of the lower clamping plate is stopped at the edge of the rounded corner of the nest box to ensure that the upper clamping plate and the lower clamping plate just clamp the sealed film above the nest box.

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