Automatic drug column packaging device

Abstract

The present invention discloses an automatic drug column packaging device, comprising a rotary worktable, wherein a first processing position, a second processing position, a third processing position and a fourth processing position are sequentially arranged on the rotary worktable, and a bagging mechanism, a bagging mechanism, a bag sealing mechanism and a packaging mechanism are respectively arranged on one side corresponding to the first processing position, the second processing position, the third processing position and the fourth processing position; through the continuous intermittent rotation of the rotary worktable, the working distance between each process of the traditional assembly line is reduced, and the bagging mechanism, bagging mechanism, bag sealing mechanism and packaging mechanism located at the first processing position, the second processing position, the third processing position and the fourth processing position can work simultaneously, with a compact structure, which greatly improves the packaging efficiency; by arranging a concave mold matching the drug column structure on both the pressing plate and the tooling plate, the packaging bag will not produce wrinkles after extrusion and exhaust, thereby improving the aesthetics of the packaging.

Description

Technical Field

[0001] The present invention relates to the technical field of drug column packaging, in particular to an automatic drug column packaging device. Background Art

[0002] Grains, solid propellants with specific geometric shapes and dimensions, are commonly used in my country's defense and aerospace industries, typically placed in the combustion chamber of solid rocket motors. Grain production requires a series of processes, including pouring, curing, and shaping. Grain packaging, the final step in production, often impacts its storage and transportation.

[0003] The traditional process for packaging drug pellets requires conveying, bagging, sealing, and packaging, and the packaging method typically uses ziplock bags: the ziplock bags are first opened, the finished drug pellets are placed in the ziplock bags, and the ziplock bags are vacuumed, vented, and sealed. For example, Chinese patent application number 202210364338.X discloses an "automatic drug pellet packaging machine," which includes a conveying mechanism, a bagging mechanism, a vacuum sealing mechanism, and a conveying mechanism. The conveying mechanism includes a gripper assembly and a moving assembly. The gripper assembly includes a first drive motor, a first forward and reverse thread screw, and at least one set of gripper members. The first drive motor is mounted on the moving assembly, the first forward and reverse thread screw is connected to the output shaft of the first drive motor, and a portion of the at least one set of gripper members is mounted on the forward thread screw portion of the first forward and reverse thread screw, while another portion of the gripper members is mounted on the reverse thread screw portion of the first forward and reverse thread screw. The gripper assembly is used to transport the drug pellets to implement the above process.

[0004] The following technical problems exist in traditional processes:

[0005] 1. The traditional conveying, bagging, and sealing processes have adjacent processing stations far apart. The same equipment takes a long time to complete the above processes in sequence, and multiple pills cannot be processed simultaneously at the same time, resulting in low packaging efficiency.

[0006] 2. The anti-static packaging bag is vacuumed by a vacuum assembly. The packaging bag will shrink during the air extraction process, causing wrinkles on the surface of the packaging bag. Once wrinkles are generated on the surface of the drug column packaging bag and the bag is sealed, the wrinkles cannot be eliminated. When the label is attached to the wrinkled surface of the packaging bag, the surface of the product information label will be uneven, affecting the recognition of the label text content and the aesthetics of the packaging. In addition, the vacuuming step is time-consuming and the processing efficiency is low. Summary of the Invention

[0007] The purpose of the present invention is to provide an automatic drug column packaging device.

[0008] To achieve the above-mentioned object, the present invention provides the following technical solution: an automatic drug pellet packaging device, comprising a rotary worktable, wherein a first processing position, a second processing position, a third processing position, and a fourth processing position are sequentially arranged on the rotary worktable, wherein each of the first processing position, the second processing position, the third processing position, and the fourth processing position is provided with a tooling plate, wherein the tooling plate is used to position the drug pellet; a bagging mechanism, a bagging mechanism, a bag sealing mechanism, and a packaging mechanism are respectively provided on one side corresponding to the first processing position, the second processing position, the third processing position, and the fourth processing position;

[0009] The bagging mechanism includes a transport component and a bag opening component. The bag opening component opens the packaging bag located at the second processing position, and the transport component transports the medicine column to be packaged to the second processing position for bagging.

[0010] The bag sealing mechanism includes a first driving member, a pressing plate and a sealing assembly. The pressing plate and the tooling plate are both provided with a concave mold that matches the structure of the medicine column. The first driving member drives the pressing plate to squeeze and exhaust the packaging bag located on the tooling plate. The rotary worktable rotates intermittently continuously so that the medicine column located on the rotary worktable moves alternately in the second processing position, the third processing position and the fourth processing position in sequence.

[0011] Through the above technical solution, the bagging mechanism loads the packaging bag onto the corresponding tooling plate at the first processing position, and the rotary worktable rotates the packaging bag at the first processing position to the second processing position. The transport component transports the medicine column to be packaged to one side of the second processing position. After the bag opening component opens the packaging bag at the second processing position, the transport component transfers the medicine column to be packaged to the second processing position for bagging. The rotary worktable rotates the bagged medicine column to the third processing position, and the first drive member drives the pressing plate to move toward the tooling plate until the packaging bag on the tooling plate is squeezed and instantly vented. Since both the pressing plate and the tooling plate are provided with a die that matches the medicine column structure, the packaging bag will not produce wrinkles after extrusion and venting, thereby improving the aesthetics of the packaging. Then the sealing component seals the packaging bag that has completed the instantaneous extrusion and exhaust to complete the packaging process. The rotary worktable rotates the packaged medicine column to the fourth processing position, and the packaging process is completed by the packaging mechanism; the rotary worktable continues to rotate intermittently, and the bag loading mechanism, bag filling mechanism, bag sealing mechanism and packaging mechanism located at the first processing position, the second processing position, the third processing position and the fourth processing position can work at the same time, with a compact structure, which greatly improves the packaging efficiency.

[0012] Preferably, the conveying assembly includes a driving module and a clamping rotary mechanism, the clamping rotary mechanism is used to clamp the medicine column to be packaged, and the driving module drives the clamping rotary mechanism to move back and forth between a first position and a second position; a support seat is provided at the first position, and the support seat supports the medicine column to be packaged and maintains a vertical shape, and when the clamping rotary mechanism clamps the medicine column and moves to the second position, the clamping rotary mechanism flips the medicine column to a horizontal shape.

[0013] Through the above technical solution, the support seat supports the medicine column to be packaged at the first position and maintains the vertical shape. The driving module drives the clamping rotary mechanism to move to the first position, and the clamping rotary mechanism clamps the medicine column. Then the driving module drives the clamping rotary mechanism to transfer the medicine column to the second position, and the clamping rotary mechanism flips the vertical medicine column into a horizontal shape.

[0014] Preferably, the drive module includes an X-axis drive module, a Y-axis drive module and a Z-axis drive module; the clamping and rotating mechanism is slidingly connected to the Z-axis drive module in the vertical direction, the Z-axis drive module is slidingly connected to one side of the X-axis drive module in the X direction, and the X-axis drive module is slidingly connected to the Y-axis drive module in the Y direction.

[0015] Through the above technical solution, the driving module can drive the clamping rotary mechanism in the X, Y, and Z directions according to the actual position of the medicine column to complete the transportation process.

[0016] Preferably, a first vacuum suction cup is provided at the bottom of several of the tooling plates, and the first vacuum suction cup adsorbs and positions the bottom surface of the packaging bag; the bag opening assembly includes a second driving member, a second vacuum suction cup and a clamping assembly, and the clamping assembly presses one side of the packaging bag on the tooling plate, and the second driving member drives the second vacuum suction cup to move in the vertical direction toward or away from the top surface of the packaging bag.

[0017] Through the above technical solution, the first vacuum suction cup adsorbs and positions the bottom surface of the packaging bag. When the packaging bag moves to the second working position, the clamping assembly presses one side of the packaging bag against the tooling plate, and the second driving member drives the second vacuum suction cup to move in the vertical direction toward the top surface of the packaging bag until it contacts the top surface of the packaging bag; then the second driving member drives the second vacuum suction cup to move in the vertical direction away from the packaging bag, and the second vacuum suction cup generates an adsorption force on the top surface of the packaging bag. As the second vacuum suction cup continues to move away, the opening action of the packaging bag is completed and separated from it.

[0018] Preferably, the bag opening assembly also includes a bag opening plate, and the bag opening plate is slidingly connected to the Z-axis drive module in the Z-axis direction; a socket is provided on one side of the tooling plate close to the bag opening plate, and an opening is provided on one side of the packaging bag, and the direction of the opening corresponds to the direction of the socket.

[0019] Through the above technical solution, the Z-axis drive module drives the bag opening plate to the same horizontal line as the tooling plate. The X-axis drive module and the Y-axis drive module cooperate to drive the bag opening plate toward the opening, inserting the bag opening plate into the socket. The Z-axis drive module continues to drive the bag opening plate in a vertical reciprocating motion, performing a secondary bag opening to prevent the bag opening from collapsing due to the separation of the second vacuum suction cup from the bag. Because the bag opening plate and the clamping rotary mechanism are both slidably connected to the Z-axis drive module, the Z-axis drive module drives the clamping rotary mechanism in the vertical direction to a position opposite the opening, causing the horizontal drug column and the bag opening plate to move toward the opening simultaneously until the bagging operation is completed.

[0020] Preferably, the bag opening plate is configured to be conical, and the bag opening plate includes a tip and a resistance portion, the tip is configured in a direction close to the tooling plate, and the width of the bag opening plate gradually decreases from the resistance portion toward the tip, and when the resistance portion is engaged with the socket, the tip abuts against the inside of the side of the packaging bag away from the opening.

[0021] Through the above technical solution, when the resistance part is engaged with the socket, the tip abuts against the inner side of the packaging bag away from the opening. When different drug column specifications need to be replaced, the insertion depth of the tip can be controlled by adjusting the width of the resistance part of the bag opening plate, thereby controlling the bag opening depth more accurately and efficiently.

[0022] Preferably, the sealing assembly also includes a third driving member, a servo motor and a rotary wheel, the rotary wheel is fixed to the output end of the servo motor, a self-sealing zipper opening is provided on one side of the opening of the packaging bag, the third driving member drives the servo motor to move back and forth in a direction parallel to the self-sealing zipper opening, and the motion trajectory of the rotary wheel squeezes and seals the self-sealing zipper opening.

[0023] Through the above technical solution, after bagging is completed, the third driving member drives the servo motor to move back and forth in a direction parallel to the self-sealing zipper opening, and at the same time the servo motor drives the rotary wheel to rotate to further squeeze and seal the self-sealing zipper opening.

[0024] Preferably, a turntable is provided on one side close to the support seat, and two groups of tooling disks are provided on the turntable, which drives the two groups of tooling disks to rotate; a number of limit grooves are provided on the two groups of tooling disks, and the limit grooves respectively limit a number of medicine columns to be packaged; the conveying assembly also includes a grabbing piece, which is slidably connected to the other side of the X-axis drive module in the X-axis direction, and the grabbing piece grabs the medicine column placed on the tooling disk close to the side of the support seat.

[0025] Through the above technical solution, the turntable drives the two sets of tooling discs to perform rotational motion, which can realize the synchronous loading and unloading of materials and further improve the processing efficiency; through the cooperation of the X-axis drive module and the Y-axis drive module, the grabbing part is moved above the tooling disc to grab the medicine column to be packaged and place it on the support seat.

[0026] Preferably, a QR code camera is provided on one side of the support base, and a rotating component is also provided on the support base, and the rotating component is used to rotate the medicine column.

[0027] Through the above technical solution, the rotating component rotates the medicine column so that the QR code is aligned with the QR code camera, and the QR code camera scans the QR code to collect information on each medicine column.

[0028] Preferably, the packaging mechanism includes a grasping robot, a packaging tray and a packaging box are provided on one side of the grasping robot, and the grasping robot includes two groups of clamp heads of different specifications, which are used to grasp the medicine column and the packaging tray respectively.

[0029] Through the above technical solution, the grasping robot uses a set of clamp heads to grasp several packaged medicine columns and place them on the packaging tray for packaging. After packaging, the grasping robot uses another set of clamp heads to grasp the packed packaging tray and pack them in the packaging box.

[0030] Beneficial effects:

[0031] The present invention enables the rotary worktable to rotate intermittently continuously, and the bagging mechanism, bagging mechanism, bag sealing mechanism and packaging mechanism located at the first processing position, the second processing position, the third processing position and the fourth processing position can work simultaneously. The structure is compact, the processing distance between the traditional assembly line processes is shortened, and the packaging efficiency is greatly improved.

[0032] The present invention arranges a concave die matching the medicine column structure on the pressing plate and the tooling plate. When sealing the bag, the first driving member drives the pressing plate to instantly squeeze and exhaust the packaging bag located on the tooling plate. The packaging bag after exhaust will not produce wrinkles, thereby improving the aesthetics of the packaging and the efficiency of bag sealing.

[0033] The present invention provides a second vacuum suction cup and a bag opening plate, and the second driving member drives the second vacuum suction cup to move in the vertical direction toward the top surface of the packaging bag until it contacts the top surface of the packaging bag; then the second driving member drives the second vacuum suction cup to move in the vertical direction away from the packaging bag, and the second vacuum suction cup generates an adsorption force on the top surface of the packaging bag. During the process of the second vacuum suction cup continuing to move away from the packaging bag, the packaging bag is opened and separated from it, completing the first bag opening; the Z-axis driving module continues to drive the bag opening plate to open the packaging bag for the second time, preventing the packaging bag opening from collapsing due to the separation of the second vacuum suction cup from the packaging bag, thereby improving the bag opening efficiency and quality.

[0034] The present invention provides a conical bag opening plate, and the width of the bag opening plate gradually decreases from the resistance part to the tip part. When the resistance part is engaged with the socket, the tip part abuts against the inside of the packaging bag away from the opening. When different specifications of the drug column need to be replaced, the insertion depth of the tip part can be controlled by adjusting the width of the resistance part of the bag opening plate, thereby controlling the bag opening depth more accurately and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the overall structure of an automatic drug column packaging device of the present invention;

[0036] Figure 2 This is a schematic structural diagram of a bag sealing mechanism of an automatic drug column packaging device according to the present invention;

[0037] Figure 3 This is a positional relationship diagram of a support base and a transport component of an automatic drug column packaging device of the present invention;

[0038] Figure 4 This is a schematic structural diagram of a bagging mechanism of an automatic drug column packaging device according to the present invention;

[0039] Figure 5 The figure is a schematic structural diagram of a bag opening assembly of an automatic drug column packaging device according to the present invention.

[0040] In the figure: 1. Rotary workbench; 11. Tooling plate; 12. First vacuum suction cup; 2. Bagging mechanism; 3. Bagging mechanism; 4. Bag sealing mechanism; 41. First driving member; 42. Pressing plate; 43. Sealing assembly; 431. Third driving member; 432. Rotary wheel; 5. Packing mechanism; 51. Grabbing robot; 52. Packing tray; 53. Packing box; 54. Clamp head; 6. Handling assembly; 61. X-axis drive module; 62. Y-axis drive module; 63. Z-axis drive module; 64. Clamping and rotating mechanism; 65. Grabbing part; 7. Bag opening assembly; 71. Second drive part; 72. Second vacuum suction cup; 73. Pressing assembly; 731. Rotary cylinder; 722. Pressing plate; 74. Bag opening plate; 741. Tip; 742. Interference part; 8. Support seat; 81. Drug column; 9. Turntable; 91. Tooling tray; 92. QR code camera; 93. Rotating parts. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] like Figure 1 and Figure 2 As shown, an automatic packaging device for drug pillars includes a rotating worktable 1, on which a first processing position, a second processing position, a third processing position and a fourth processing position are sequentially arranged. The first processing position, the second processing position, the third processing position and the fourth processing position are all provided with a tooling plate 11, and the tooling plate 11 is used to position the drug pillars 81; a bagging mechanism 2, a bagging mechanism 3, a bag sealing mechanism 4 and a packaging mechanism 5 are respectively provided on one side corresponding to the first processing position, the second processing position, the third processing position and the fourth processing position; the bagging mechanism 3 includes a transport component 6 and a bag opening component 7, and the bag opening component 7 is provided on the other side. Component 7 opens the packaging bag located at the second processing position, and the conveying component 6 transfers the medicine column 81 to be packaged to the second processing position for bagging; the bag sealing mechanism 4 includes a first driving member 41, a pressing plate 42 and a sealing component 43, and the pressing plate 42 and the tooling plate 11 are both provided with a die matching the structure of the medicine column 81. The first driving member 41 drives the pressing plate 42 to squeeze and exhaust the packaging bag located on the tooling plate 11, and the rotary worktable 1 continues to rotate intermittently so that the medicine column 81 located on the rotary worktable 1 alternates in turn at the second processing position, the third processing position and the fourth processing position.

[0043] During operation, the bagging mechanism 2 places the packaging bag on the corresponding tooling plate 11 at the first processing position, and the rotary table 1 rotates the packaging bag at the first processing position to the second processing position. The conveying component 6 conveys the medicine column 81 to be packaged to one side of the second processing position. After the bag opening component 7 opens the packaging bag at the second processing position, the conveying component 6 transfers the medicine column 81 to be packaged to the second processing position for bagging. The rotary table 1 rotates the bagged medicine column 81 to the third processing position, and the first driving member 41 drives the pressing plate 42 to move toward the tooling plate 11 until the packaging bag on the tooling plate 11 is squeezed and instantaneously exhausted. Since both the pressing plate 42 and the tooling plate 11 are provided with a die that matches the structure of the medicine column 81, the packaging bag will not produce wrinkles after being squeezed and exhausted, thereby improving the aesthetics of the packaging. Then the sealing assembly 43 seals the packaging bag after the extrusion and exhaust to complete the packaging process. The rotary workbench 1 rotates the packaged medicine column 81 to the fourth processing position, and the packaging mechanism 5 completes the packaging process.

[0044] Specifically, the packaging mechanism 5 includes a gripping robot 51, one side of which is provided with a packaging tray 52 and a packaging box 53. The gripping robot 51 includes two sets of gripper heads 54 of different specifications, which are used to grip the drug columns 81 and the packaging tray 52, respectively. The gripping robot 51 uses one set of gripper heads 54 to grip the packaged drug columns 81 and place them on the packaging tray 52 for packaging. After packaging, the gripping robot 51 uses another set of gripper heads 54 to grip the packaged packaging tray 52 and pack it into the packaging box 53. The rotating worktable 1 rotates continuously and intermittently, reducing the working distance between the various processes in the traditional assembly line. The bagging mechanism 2, bagging mechanism 3, bag sealing mechanism 4, and packaging mechanism 5 located at the first processing position, the second processing position, the third processing position, and the fourth processing position can work simultaneously, resulting in a compact structure and greatly improved packaging efficiency.

[0045] Specifically, such as Figure 3 As shown, the transport assembly 6 includes a drive module and a clamping rotary mechanism 64. The clamping rotary mechanism 64 is used to clamp the medicine column 81 to be packaged. The drive module drives the clamping rotary mechanism 64 to move back and forth between the first position and the second position. A support seat 8 is provided at the first position. The support seat 8 supports the medicine column 81 to be packaged and maintains a vertical shape. When the clamping rotary mechanism 64 clamps the medicine column 81 and moves to the second position, the clamping rotary mechanism 64 flips the medicine column 81 to a horizontal shape.

[0046] As a preferred embodiment, the drive module includes an X-axis drive module 61, a Y-axis drive module 62, and a Z-axis drive module 63; the clamping and rotating mechanism 64 is slidably connected to the Z-axis drive module 63 in the vertical direction, the Z-axis drive module 63 is slidably connected to one side of the X-axis drive module 61 in the X direction, and the X-axis drive module 61 is slidably connected to the Y-axis drive module 62 in the Y direction. The drive module can drive the clamping and rotating mechanism 64 in the X, Y, and Z directions according to the actual position of the drug column 81 to complete the handling process; the support base 8 supports the drug column 81 to be packaged at the first position and maintains the vertical shape. The drive module drives the clamping and rotating mechanism 64 to move to the first position, and the clamping and rotating mechanism 64 clamps the drug column 81. The drive module then drives the clamping and rotating mechanism 64 to transfer the drug column 81 to the second position, and the clamping and rotating mechanism 64 flips the vertical drug column 81 to a horizontal shape.

[0047] As a preferred embodiment, a turntable 9 is provided on one side near the support seat 8, and two sets of tooling disks 91 are provided on the turntable. The turntable drives the two sets of tooling disks 91 to rotate. A number of limit slots are provided on the two sets of tooling disks 91, and the limit slots respectively limit the positions of a number of medicine pellets 81 to be packaged. The transport assembly 6 also includes a grabbing member 65, which is slidably connected to the other side of the X-axis drive module 61 in the X-axis direction. The grabbing member 65 grabs the medicine pellets 81 placed on the tooling disk 91 near the side of the support seat 8. The turntable drives the two sets of tooling disks 91 to rotate, which can realize the synchronous loading and unloading of materials, further improving the processing efficiency. The X-axis drive module 61 and the Y-axis drive module 62 cooperate to realize the displacement of the grabbing member 65 above the tooling disk 91, and the medicine pellets 81 to be packaged are grabbed and placed on the support seat 8.

[0048] As a preferred embodiment, a QR code camera 92 is provided on one side of the support base 8. The support base 8 is also provided with a rotating component 93, which is used to rotate the drug column 81. The rotating component 93 rotates the drug column 81 so that the QR code is aligned with the QR code camera 92. The QR code camera 92 scans the QR code and collects information about each drug column 81.

[0049] Specifically, such as Figure 4 and Figure 5As shown, a first vacuum cup 12 is provided at the bottom of each of the tooling plates 11. The first vacuum cup 12 suctions and positions the bottom surface of the packaging bag. The bag opening assembly 7 includes a second drive member 71, a second vacuum cup 72, and a clamping assembly 73. The clamping assembly 73 presses one side of the packaging bag against the tooling plate 11. The second drive member 71 drives the second vacuum cup 72 to move vertically toward or away from the top surface of the packaging bag. The first vacuum cup 12 suctions and positions the bottom surface of the packaging bag. When the packaging bag moves to the second working position, the clamping assembly 73 presses one side of the packaging bag against the tooling plate 11. As a preferred embodiment, the clamping assembly 73 includes a rotary cylinder 731 and a pressing plate 722. The rotary cylinder 731 drives the rotary motion of the pressing plate 722 to compress and release the packaging bag in the second processing position.

[0050] The second driving member 71 drives the second vacuum suction cup 72 to move vertically toward the top surface of the packaging bag until it contacts the top surface of the packaging bag; then the second driving member 71 drives the second vacuum suction cup 72 to move vertically away from the packaging bag, and the second vacuum suction cup 72 generates an adsorption force on the top surface of the packaging bag. As the second vacuum suction cup 72 continues to move away, the packaging bag is opened and separated from it.

[0051] As a preferred embodiment, the bag opening assembly 7 also includes a bag opening plate 74, which is slidably connected to the Z-axis drive module 63 in the Z-axis direction. A socket is provided on the side of the tooling plate 11 near the bag opening plate 74, and an opening is provided on one side of the packaging bag, with the opening direction corresponding to the socket direction. The Z-axis drive module 63 drives the bag opening plate 74 to move to the same horizontal line as the tooling plate 11. The X-axis drive module 61 and the Y-axis drive module 62 cooperate to drive the bag opening plate 74 in the direction of the opening so that the bag opening plate 74 is inserted into the socket. The Z-axis drive module 63 continues to drive the bag opening plate 74 to move vertically up and down, performing a secondary bag opening on the packaging bag to prevent the bag opening from collapsing due to the separation of the second vacuum suction cup 72 from the packaging bag. Since the bag opening plate 74 and the clamping rotary mechanism 64 are both slidably connected to the Z-axis drive module 63, the Z-axis drive module 63 drives the clamping rotary mechanism 64 to move in the vertical direction to a position relative to the opening, so that the horizontal medicine column 81 and the bag opening plate 74 move simultaneously in the direction of the opening until the bagging action is completed.

[0052] As a preferred embodiment, the bag opening plate 74 is configured to be conical and includes a tip 741 and a contact portion 742. The tip 741 is positioned toward the tooling plate 11, and the width of the bag opening plate 74 gradually decreases from the contact portion 742 toward the tip 741. When the contact portion 742 engages with the socket, the tip 741 abuts against the interior of the packaging bag, away from the opening. When the contact portion 742 engages with the socket, the tip 741 abuts against the interior of the packaging bag, away from the opening. When different specifications of the drug column 81 need to be replaced, the insertion depth of the tip 741 can be controlled by adjusting the width of the contact portion 742 of the bag opening plate 74, thereby more accurately and efficiently controlling the bag opening depth.

[0053] As a preferred embodiment, the bag sealing mechanism 4 further includes a third drive member 431, a servo motor, and a rotary wheel 432. The rotary wheel 432 is fixed to the output end of the servo motor. A self-sealing zipper opening is provided on the side of the packaging bag opening. The third drive member 431 drives the servo motor to move back and forth in a direction parallel to the self-sealing zipper opening, and the movement trajectory of the rotary wheel 432 squeezes and seals the self-sealing zipper opening. After bagging is completed, the third drive member 431 drives the servo motor to move back and forth in a direction parallel to the self-sealing zipper opening, while the servo motor drives the rotary wheel 432 to rotate, further squeezing and sealing the self-sealing zipper opening.

[0054] Working principle:

[0055] During operation, the rotary table 1 rotates continuously and intermittently, and the bagging mechanism 2, bagging mechanism 3, bag sealing mechanism 4 and packaging mechanism 5 located at the first processing position, the second processing position, the third processing position and the fourth processing position work simultaneously.

[0056] Bagging mechanism 2: The packaging bag is placed on the corresponding tooling plate 11 at the first processing position, the first vacuum suction cup 12 adsorbs and positions the bottom surface of the packaging bag, and the rotating workbench 1 rotates the packaging bag at the first processing position to the second processing position.

[0057] Bagging mechanism 3:

[0058] The transport assembly 6 transfers the medicine pellets 81 to be packaged to the second processing position for bagging. Specifically, the rotary disk drives the two sets of tooling disks 91 to rotate, realizing the synchronous loading and unloading. The X-axis drive module 61 and the Y-axis drive module 62 cooperate to realize the displacement of the grabbing member 65 above the tooling disk 91, grabbing the medicine pellets 81 to be packaged and placing them on the support seat 8. The support seat 8 supports the medicine pellets 81 to be packaged at the first position and maintains the vertical shape. The rotating component 93 rotates the medicine pellets 81 so that the QR code is aligned with the QR code camera 92. The QR code camera 92 scans the QR code and collects information about each medicine pellet 81. The drive module drives the clamping rotary mechanism 64 to move to the first position, and the clamping rotary mechanism 64 clamps the medicine pellets 81. Then the drive module drives the clamping rotary mechanism 64 to transfer the medicine pellets 81 to the second position, and the clamping rotary mechanism 64 flips the vertical medicine pellets 81 to a horizontal shape.

[0059] At the same time, the bag opening assembly 7 opens the packaging bag located at the second processing position. Specifically: when the packaging bag moves to the second working position, the pressing assembly 73 presses one side of the packaging bag against the tooling plate 11, and the second driving member 71 drives the second vacuum suction cup 72 to move vertically toward the top surface of the packaging bag until it contacts the top surface of the packaging bag; then the second driving member 71 drives the second vacuum suction cup 72 to move vertically away from the packaging bag, and the second vacuum suction cup 72 generates an adsorption force on the top surface of the packaging bag. As the second vacuum suction cup 72 continues to move away from the packaging bag, the packaging bag is opened and separated from it. The Z-axis driving module 63 continues to drive the bag opening plate 74 to move vertically up and down to perform a second bag opening on the packaging bag to prevent the opening of the packaging bag from collapsing due to the separation of the second vacuum suction cup 72 from the packaging bag. The Z-axis drive module 63 drives the clamping rotary mechanism 64 to move in the vertical direction to a position opposite to the opening, so that the horizontal medicine column 81 and the bag opening plate 74 move toward the opening at the same time until the bagging action is completed. When the abutment portion 742 is engaged with the socket, the tip 741 abuts against the inside of the side of the packaging bag away from the opening.

[0060] Bag sealing mechanism 4:

[0061] After bagging is completed, the first driving member 41 drives the pressing plate 42 to move toward the tooling plate 11 until the packaging bag on the tooling plate 11 is squeezed and the instantaneous exhaust is completed. The third driving member 431 drives the servo motor to move back and forth in the direction parallel to the self-sealing zipper opening. At the same time, the servo motor drives the rotary wheel 432 to rotate to further squeeze and seal the self-sealing zipper opening.

[0062] Packaging Agency 5:

[0063] The grasping robot 51 grasps the packaged medicine columns 81 through a set of clamp heads 54 and places them on the packaging tray 52 for packaging. After packaging, the grasping robot 51 grasps the packaged packaging tray 52 through another set of clamp heads 54 and packs them in the packaging box 53.

[0064] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. An automatic drug column packaging device, characterized by: The invention comprises a rotary worktable (1), wherein a first processing position, a second processing position, a third processing position and a fourth processing position are sequentially arranged on the rotary worktable (1), wherein a tooling plate (11) is arranged on each of the first processing position, the second processing position, the third processing position and the fourth processing position, and wherein the tooling plate (11) is used to position the medicine column (81); a bagging mechanism (2), a bagging mechanism (3), a bag sealing mechanism (4) and a packaging mechanism (5) are respectively arranged on one side corresponding to the first processing position, the second processing position, the third processing position and the fourth processing position; The bagging mechanism (3) comprises a transporting assembly (6) and a bag opening assembly (7), wherein the bag opening assembly (7) opens the packaging bag located at the second processing position, and the transporting assembly (6) transports the medicine column (81) to be packaged to the second processing position for bagging; The bag sealing mechanism (4) comprises a first driving member (41), a pressing plate (42) and a sealing assembly (43); the pressing plate (42) and the tooling plate (11) are both provided with a concave die matching the structure of the medicine column (81); the first driving member (41) drives the pressing plate (42) to move in a direction close to the tooling plate (11) until the packaging bag on the tooling plate (11) is squeezed and the instantaneous exhaust is completed; the rotary table (1) continuously rotates intermittently so that the medicine column (81) on the rotary table (1) moves alternately in the second processing position, the third processing position and the fourth processing position in sequence; The transport assembly (6) includes a drive module and a clamping and rotating mechanism (64), wherein the clamping and rotating mechanism (64) is used to clamp the medicine column (81) to be packaged, and the drive module drives the clamping and rotating mechanism (64) to move back and forth between a first position and a second position; A support seat (8) is provided at the first position, and the support seat (8) supports the medicine column (81) to be packaged and maintains a vertical shape. When the clamping rotary mechanism (64) clamps the medicine column (81) and moves to the second position, the clamping rotary mechanism (64) flips the medicine column (81) to a horizontal shape. The driving module includes an X-axis driving module (61), a Y-axis driving module (62) and a Z-axis driving module (63); The clamping rotary mechanism (64) is slidably connected to the Z-axis drive module (63) in the vertical direction, the Z-axis drive module (63) is slidably connected to one side of the X-axis drive module (61) in the X direction, and the X-axis drive module (61) is slidably connected to the Y-axis drive module (62) in the Y direction; The bag opening assembly (7) further comprises a bag opening plate (74), and the bag opening plate (74) is slidably connected to the Z-axis driving module (63) in the Z-axis direction; a socket is provided on a side of the tooling plate (11) close to the bag opening plate (74), and an opening is provided on one side of the packaging bag, and the direction of the opening corresponds to the direction of the socket; The bag opening plate (74) is configured to be conical, and includes a tip (741) and a contact portion (742). The tip (741) is configured to be close to the tooling plate (11), and the width of the bag opening plate (74) gradually decreases from the contact portion (742) toward the tip (741). When the contact portion (742) is engaged with the socket, the tip (741) contacts the inside of the packaging bag away from the opening.

2. The automatic drug column packaging device according to claim 1, characterized in that: A first vacuum suction cup (12) is provided at the bottom of several of the tooling plates (11), and the first vacuum suction cup (12) adsorbs and positions the bottom surface of the packaging bag; the bag opening component (7) includes a second driving member (71), a second vacuum suction cup (72) and a pressing component (73), and the pressing component (73) presses one side of the packaging bag onto the tooling plate (11), and the second driving member (71) drives the second vacuum suction cup (72) to move in a vertical direction toward or away from the top surface of the packaging bag.

3. The automatic drug column packaging device according to claim 1, characterized in that: The sealing assembly (43) comprises a third driving member (431), a servo motor and a rotating wheel (432); the rotating wheel (432) is fixed to the output end of the servo motor; a self-sealing zipper opening is provided on one side of the opening of the packaging bag; the third driving member (431) drives the servo motor to move back and forth in a direction parallel to the self-sealing zipper opening; and the movement trajectory of the rotating wheel (432) squeezes and seals the self-sealing zipper opening.

4. The automatic drug column packaging device according to claim 1, characterized in that: A turntable (9) is provided on one side close to the support seat (8), two sets of tooling discs (91) are provided on the turntable (9), and the turntable (9) drives the two sets of tooling discs (91) to perform a rotational motion; The two groups of tooling discs (91) are provided with a plurality of limiting grooves, which respectively limit the positions of a plurality of medicine columns (81) to be packaged; the transport assembly (6) further comprises a grabbing member (65), which is slidably connected to the other side of the X-axis drive module (61) in the X-axis direction, and the grabbing member (65) grabs the medicine column (81) placed on the tooling disc (91) on the side close to the support seat (8).

5. The automatic drug column packaging device according to claim 1, characterized in that: A two-dimensional code camera (92) is provided on one side of the support base (8), and a rotating component (93) is also provided on the support base (8), and the rotating component (93) is used to rotate the medicine column (81).

6. The automatic drug column packaging device according to claim 1, characterized in that: The packaging mechanism (5) includes a grabbing robot (51), one side of which is provided with a packaging tray (52) and a packaging box (53). The grabbing robot (51) includes two groups of clamp heads (54) of different specifications, which are used to grab the medicine column (81) and the packaging tray (52) respectively.

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