Control method and system for medicine product boxing and stacking production line

Abstract

The invention discloses a control method and system for a medicine product boxing and stacking production line, and relates to the technical field of medicine packaging, and the control method comprises the steps that product bar code information of a product box body is obtained; arranging the medicine product box bodies into a middle package packaging column; based on the carrying manipulator, the medium package packaging columns are placed in the box body to form a first stacking layer and a second stacking layer; the box body is sealed, a box code is generated according to the coding information of the product box body, and the box code is attached to the corner position of the box body through labeling equipment; based on box code information of the box bodies scanned by the box carrying robot, the positions and poses of the box bodies are adjusted through cyclic counting, and the box bodies are correspondingly stacked on the trays; and the box stacking operation of the trays is completed, and the box code information of the boxes on the trays is written into the tray codes by scanning the tray codes. By adjusting the poses of the medicine products, the stacking stability is improved, the information of the packaged medicine products is registered and bound, and the information traceability reliability and accuracy of medicine packaging and transportation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of pharmaceutical packaging, and in particular to a control method and system for a pharmaceutical product packaging and palletizing production line. Background Art

[0002] Packing and box stacking of pharmaceutical products are the main work processes of pharmaceutical packaging and transportation. Currently, pharmaceutical packaging operations are mainly carried out by staff manually or with semi-automatic equipment to register and pack drugs. This method of packaging and transportation is prone to human operational errors, which affects the stability of pharmaceutical packaging operations.

[0003] The existing pharmaceutical product packaging production line registers the information of the drugs when they are produced, and enters the box code label information when they are packed and output. There is no review and binding of the drug information during the packaging and packing process. The transportation tracking and information management of pharmaceutical products are insufficient, which affects the reliability and accuracy of the traceability of pharmaceutical product information. Summary of the invention

[0004] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a control method and system for a pharmaceutical product box packing and palletizing production line, which improves the stability and efficiency of packaging, box packing and box palletizing by adjusting the posture of the pharmaceutical products, and registers and binds the pharmaceutical product information after each packaging, thereby improving the reliability and accuracy of information traceability of pharmaceutical packaging and transportation.

[0005] The present invention provides a control method for a pharmaceutical product packaging and palletizing production line, the control method comprising: S11: Scan and confirm the product box on the conveyor line to obtain the product barcode information of the product box; S12: Arrange a plurality of product boxes into a middle package packaging row based on a grabbing robot; S13: The handling robot grabs the middle package array at the second material sorting position of the conveyor line and places it in the box to form a first stacking layer; S14: Record the real-time number of layers of the first stacking layer of the box body, and detect whether the real-time number of layers reaches the first threshold value. If not, repeat steps S12 to S14; if yes, proceed to step S15; S15: The handling robot grabs the middle package array at the first material sorting position of the conveyor line and places it in the box to form a second stacking layer; S16: sealing the box and generating a box code according to the coding information of the product box, and pasting the box code on the corner of the box by a labeling device; S17: Based on the box code information scanned by the box-moving robot, the position of the box is adjusted through cycle counting, and the box is stacked on the pallet accordingly.

[0006] S18: Complete the box stacking operation of the pallet, and write the box code information on the pallet into the pallet code by scanning the pallet code.

[0007] Furthermore, scanning the product box on the conveyor line to confirm and obtain the product barcode information of the product box includes: On the incoming material conveying line of the product box body, the box body bar code of the product box body is scanned based on the scanning device to obtain the product bar code information of the product box body.

[0008] Furthermore, the method of arranging a plurality of boxes into a middle package array based on a grabbing manipulator includes: A plurality of product boxes are grabbed into a packaging device based on a grabbing robot, a plurality of product boxes are arranged based on the grabbing robot, and a plurality of product boxes are coated and packaged by the packaging device to form the middle package packaging array.

[0009] Furthermore, the method of arranging a plurality of product boxes into a middle package array based on a grabbing manipulator also includes: The scanning equipment is used to scan and verify the codes of several product boxes in the middle package packaging column in turn, and the middle package packaging column that has completed the verification is placed on the conveyor line and transported to the material sorting position based on the conveyor line.

[0010] Furthermore, the method of grabbing the middle package array at the second material sorting position of the conveyor line based on the handling robot and placing it in the box to form the first stacking layer includes: Setting a flip height difference at a second material sorting position of the conveyor line, transporting the middle package packaging row to the second material sorting position based on the conveyor line, so that the middle package packaging row is adaptively flipped based on the flip height difference; The turned middle package packaging row is grabbed by a handling robot and placed at a corresponding position of the box.

[0011] Furthermore, the method of grabbing the middle package array at the first material sorting position of the conveyor line based on the handling robot and placing it in the box to form the second stacking layer includes: When the package train is transported to the first material sorting position of the conveyor line, the conveying rate of the conveyor line is adjusted to be reduced; The handling robot identifies the middle package packaging row located at the first material sorting position, and grabs the middle package packaging row to perform boxing and palletizing operations.

[0012] Furthermore, the box sealing operation is performed on the box body and a box code is generated according to the coding information of the product box body, and the box code is attached to the corner position of the box body by a labeling device, including: Print at least two blank box code labels in the labeling device, and perform labeling operations at a group of box corner positions distributed at diagonal positions of the box; The box code label is scanned and registered by a scanning device, and the coding information of the product box body is entered into the box code label.

[0013] Furthermore, the box-moving robot scans the box code information of the box, adjusts the position of the box by cycle counting, and stacks the box on the pallet accordingly, including: A cycle counting module is set inside the box moving robot, and a count value of the cycle counting module is set to N, and an initial value of N is 0; When the box-moving robot completes the transport of the packaged box each time, the count value of the cycle counting module is accumulated and transported so that N=N+1; A cycle count threshold is set, and when the count value of the cycle count module reaches the cycle count threshold, the box stacking operation of the current pallet is completed.

[0014] Furthermore, the method of scanning the box code information of the box based on the box-moving robot, adjusting the posture of the box through cycle counting, and stacking the box on the pallet accordingly also includes: Setting the cycle count threshold according to the box stacking data of the pallet; Set the stacking posture of each box according to the box stacking posture status of the pallet.

[0015] The present invention also provides a control system for a pharmaceutical product packaging and palletizing production line, the control system comprising: Information registration component: Scan the product box on the conveyor line to confirm and obtain the product barcode information of the product box; Film packaging assembly: Arrange several product boxes based on the grabbing robot and organize them into middle packaging rows; The first palletizing component is used to grab the middle package array at the second material sorting position of the conveyor line based on the handling robot and place it in the box to form the first palletizing layer; Judgment component: used to record the real-time number of layers of the first stacking layer of the box body, and detect whether the real-time number of layers reaches a first threshold; If the number of layers of the first palletizing layer is less than the first threshold, performing a case palletizing operation of the middle package row based on the first palletizing component; If the number of layers of the first palletizing layer is equal to the first threshold, then performing a case palletizing operation on the middle package row based on the second palletizing component; The second palletizing component is used to grab the middle package array at the first material sorting position of the conveyor line based on the handling robot and place it in the box to form the second palletizing layer; Labeling component: used to seal the box and generate the box code according to the coding information of the product box, and affix the box code to the corner of the box through the labeling equipment; Box palletizing component: used to scan the box code information of the box based on the box handling robot, adjust the position of the box through cycle counting, and stack the box on the pallet accordingly; Information binding component: used to complete the box stacking operation of the pallet, by scanning the pallet code, the box code information on the pallet is written into the pallet code.

[0016] The present invention provides a control method and system for a pharmaceutical product packing and palletizing production line. By adjusting the packing and arrangement pattern of pharmaceutical products, the pharmaceutical products in the box are arranged compactly, thereby improving the space utilization rate of the box. Based on the cooperation of a grabbing manipulator, a handling manipulator, and a box-moving robot, the product packing posture adjustment and the box posture adjustment palletizing operation are completed, thereby realizing the automated operation of the packing and palletizing production line. By correspondingly binding the barcode of the pharmaceutical product box, the box code label of the pharmaceutical product packing, and the coding information of the pallet, the accuracy and reliability of the product information traceability management of the packaging, packing, and palletizing transportation of pharmaceutical products are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a flow chart of a control method for a pharmaceutical product packing and palletizing production line according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the palletizing operation process of the pharmaceutical product packing and palletizing production line in an embodiment of the present invention; Figure 3 Schematic diagram of the structure of a pharmaceutical product packing and palletizing production line according to an embodiment of the present invention; Figure 4 It is a schematic diagram of a control system for a pharmaceutical product packing and palletizing production line in an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0019] Figure 1 A flow chart of a control method for a pharmaceutical product packaging and palletizing production line according to an embodiment of the present invention is shown, and the control method includes: S11: Scan and confirm the product box on the conveyor line to obtain the product barcode information of the product box.

[0020] Specifically, after the drugs are sorted and packaged by the packaging equipment, a barcode is sprayed on the box of each drug product, so that the barcode on the product box can contain relevant production information of the drug product.

[0021] The product box is conveyed on the conveyor line by a loading device or an operator manually loading the product, and the barcode information of the product box is scanned and confirmed by a scanning device of a grabbing robot, thereby obtaining the product barcode information of the product box.

[0022] S12: Arrange a plurality of product boxes based on a grasping robot and organize them into a middle package packaging row.

[0023] Specifically, the pharmaceutical product boxes on the conveyor line are identified and grasped by a grasping robot. During the grasping process, the coding information of the pharmaceutical product is obtained by the scanning device of the grasping robot. It can verify whether the production information of the pharmaceutical product corresponds to the specification information of the pharmaceutical product processed by the packing and palletizing production line. If not, the grasping robot can remove the pharmaceutical product to avoid misloading.

[0024] Furthermore, the grasping robot grasps the pharmaceutical product box and grabs the pharmaceutical product into the packaging equipment, and according to the size of the packaging station of the packaging equipment, several product boxes are filled on the packaging station of the packaging equipment, and the packaging equipment is used to coat and package several product boxes, so that several product boxes can form a middle packaging column.

[0025] Furthermore, the grabbing robot carries the middle package packaging train that has completed the film-covering packaging to the conveyor line, and transports it to the product box packing station based on the conveyor line, so as to perform box packing operations on several middle package packaging trains.

[0026] S13: The handling robot grabs the middle package array at the second material sorting position of the conveyor line and places it in the box to form a first stacking layer.

[0027] Specifically, the transport robot scans and identifies the middle package packaging column entering the boxing and packaging station, and the scanning device based on the transport robot sequentially scans and identifies the bar codes of several product boxes in the middle package packaging column, thereby verifying the product information of the middle package packaging column.

[0028] Furthermore, when the middle package packaging row enters the second material sorting position, the handling robot can grab the middle package packaging row and place the middle package packaging row in the box according to a preset stacking sequence, thereby forming a first stacking layer in the box.

[0029] Specifically, the second material sorting position of the conveyor line is provided with a flipping height difference, that is, a step structure is formed on the conveyor line, so that when the middle package packaging column passes through the second material sorting position, the middle package packaging column can realize adaptive flipping at the second material sorting position based on its own gravity, so that the middle package packaging column can be flipped 90°, thereby changing the posture state of the middle package packaging column.

[0030] S14: Record the real-time number of layers of the first stacking layer of the box body, and detect whether the real-time number of layers reaches a first threshold value. If not, repeat steps S12 to S14; if yes, proceed to step S15.

[0031] Specifically, the first stacking layer in the box is detected in real time, the handling robot grabs a plurality of middle packages in a row and places them in the box, and the first stacking layer in the box is counted by the counter of the handling robot. When the handling robot completes one layer of the first stacking layer, the handling robot can count the first stacking layer in the box, thereby recording the number of the first stacking layers in the box in real time.

[0032] Furthermore, it is detected whether the number of the first stacking layer in the box reaches a preset threshold. If so, the grasping posture and arrangement of the middle package packaging row are adjusted to meet the packaging requirements of the middle package packaging row in the box.

[0033] S15: The handling robot grabs the middle package array at the first material sorting position of the conveyor line and places it in the box to form a second stacking layer.

[0034] Specifically, a first material sorting position and a second material sorting position are sequentially arranged on the conveying line according to the conveying direction, so that the middle package array can pass through the first material sorting position and the second material sorting position sequentially.

[0035] When the number of the first stacking layers in the box reaches a preset threshold, the handling robot can grab the middle package packaging row at the first material sorting position, so that the first middle package packaging row can be in an initial placement position, and place the middle package packaging row in the box based on the handling robot to form the second stacking layer.

[0036] S16: The box is sealed and a box code is generated according to the coding information of the product box, and the box code is attached to the corner of the box by a labeling device.

[0037] Specifically, after the placement of the second stacking layer is completed, the box is sealed by means of a box sealing device. The box is sealed based on the box sealing device, based on the cooperation of several first stacking layers and one second stacking layer, thereby reducing the number of stacking layers of several middle package packaging columns in the box, improving the efficiency of grabbing and handling the middle package packaging columns by the handling robot, and at the same time improving the space utilization rate of the internal space of the box, so that several middle package packaging columns can be neatly and compactly arranged in the box, reducing undesirable conditions such as bulging of the package after the box is sealed.

[0038] Furthermore, at least two box code labels with blank information are generated based on the marking device, and the two box code labels with blank information are correspondingly affixed on a group of diagonally distributed edges of the box body. By affixing the box code labels at the corner positions of the edges, the labeling operation is performed on the edges at the diagonal positions, so that the two labels can cover the four side walls of the box body, so that the operator can quickly obtain the box code position of the box body, thereby improving the intuitiveness of the box code information identification of the box body and the convenience of obtaining the box code information.

[0039] Specifically, a box-moving robot is used to move and palletize boxes, and the box code label is scanned by the scanning device of the box-moving robot. The barcode information of the corresponding pharmaceutical product in the box is entered into the box code label, so as to record the information of the transportation, packaging, boxing, palletizing and transportation of the pharmaceutical products, thereby improving the traceability reliability of pharmaceutical production.

[0040] S17: Based on the box code information scanned by the box-moving robot, the position of the box is adjusted through cycle counting, and the box is stacked on the pallet accordingly.

[0041] After several boxes are packed and packaged, they are moved to pallets by box-moving robots for palletizing. When palletizing the boxes, the positions and postures of the boxes need to be adjusted so that the placement positions and postures of the boxes form a three-dimensional arrangement structure of staggered stacking, thereby improving the stability of the stacking of multiple boxes on the pallet.

[0042] Specifically, the built-in cycle counting module of the box moving robot counts the number of times the box is moved, and according to the preset box stacking operation instructions, the posture of the box moved each time is adjusted, and the box is placed on the pallet accordingly, forming a stacking effect on the pallet.

[0043] Furthermore, a cycle counting module is provided in the box moving robot, and the cycle counting module is provided with a cycle counting threshold, and the cycle counting threshold is set according to the number of boxes to be stacked on the pallet. When the number of times the box moving robot moves boxes reaches the cycle counting threshold, the count value of the cycle counting module of the box moving robot can be reset, and the box moving robot can perform box moving and stacking operations on the next blank pallet.

[0044] S18: Complete the box stacking operation of the pallet, and write the box code information on the pallet into the pallet code by scanning the pallet code.

[0045] Specifically, after completing the box stacking operation on the pallet, the box moving robot can scan the pallet code of the pallet based on its own scanning equipment, and enter the box code label information of several boxes into the pallet code of the pallet, thereby binding the pallet with the drug information of several boxes for the subsequent transportation and delivery of the pharmaceutical products.

[0046] The embodiment of the present invention provides a control method for a pharmaceutical product packing and palletizing production line. By adjusting the packing and arrangement pattern of pharmaceutical products, the pharmaceutical products in the box are arranged compactly, thereby improving the space utilization rate of the box. Based on the cooperation of a grabbing manipulator, a handling manipulator, and a box-moving robot, the product packing posture adjustment and the box posture adjustment palletizing operation are completed, thereby realizing the automated operation of the packing and palletizing production line. By correspondingly binding the barcode of the pharmaceutical product box, the box code label of the pharmaceutical product packing, and the coding information of the pallet, the accuracy and reliability of the product information traceability management of the packaging, packing, and palletizing transportation of pharmaceutical products are improved.

[0047] Embodiment 2: Figure 2 The schematic diagram of the palletizing operation process of the pharmaceutical product packing and palletizing production line in the embodiment of the present invention is shown. Figure 3 The schematic diagram of the structure of the pharmaceutical product packing and palletizing production line in the embodiment of the present invention is shown; the pharmaceutical product packing and palletizing production line comprises: a conveyor line, a plurality of grabbing manipulators, a plurality of handling manipulators and a plurality of box-moving robots; The conveyor line is used for conveying and transporting pharmaceutical products. Packing equipment, carton sealing equipment and labeling equipment are arranged in sequence along the conveying direction of the conveyor line. The packing equipment 3 is used to coat and plastic-seal several pharmaceutical product boxes, the carton sealing equipment 4 is used to seal the boxes, and the labeling equipment 6 is used to attach box code labels to the boxes.

[0048] Furthermore, the pharmaceutical product packing and palletizing production line is also provided with a plurality of scanning devices, which are arranged one by one in a plurality of grasping manipulators 2, a plurality of transporting manipulators 5 and a plurality of box-moving robots 7, and the plurality of scanning devices are connected based on wireless signals, so that data information transmission can be satisfied between the plurality of scanning devices.

[0049] Specifically, the palletizing operation process includes: S101: Obtain product information.

[0050] Specifically, scanning the product box on the conveyor line 1 to confirm the product barcode information of the product box includes: On the incoming material conveyor line 1 of the product box, the scanning device based on the grasping robot 2 scans the box bar code of the product box to obtain the product bar code information of the product box, so that the pharmaceutical product box packing and palletizing production line can obtain the information of the pharmaceutical products entering the box packing and palletizing production line in real time, thereby performing box packing and palletizing operations on the pharmaceutical products.

[0051] Specifically, after the drugs are sorted and packaged by the packaging equipment, a barcode is sprayed on the box of each drug product, so that the barcode on the product box can contain relevant production information of the drug product.

[0052] The product boxes are conveyed on the conveyor line 1 by a loading device or an operator manually loading the boxes, and the barcode information of the product boxes is scanned and confirmed by a scanning device of the grabbing robot 2, thereby obtaining the product barcode information of the product boxes.

[0053] The pharmaceutical product boxes on the conveyor line 1 are identified and grasped by the grasping robot 2. During the grasping process, the coding information of the pharmaceutical product is obtained by the scanning device of the grasping robot 2. It can be verified whether the production information of the pharmaceutical product corresponds to the specification information of the pharmaceutical product processed by the packing and palletizing production line. If not, the grasping robot 2 can remove the pharmaceutical product to avoid misloading.

[0054] S102: Plastic-seal the pharmaceutical products.

[0055] The grasping robot 2 grasps a plurality of product boxes into the packaging device 3, arranges the plurality of product boxes based on the grasping robot 2, and performs film coating and packaging on the plurality of product boxes through the packaging device 3 to form the middle packaging array.

[0056] Based on the grasping robot 2, the pharmaceutical product box is grasped and placed into the packaging device 3. According to the size of the packaging station of the packaging device 3, several product boxes are filled in the packaging station of the packaging device 3. The packaging device 3 performs film coating and packaging on several product boxes, so that several product boxes can form a middle packaging column.

[0057] Furthermore, the packaging device 3 performs plastic sealing on the product boxes of several pharmaceutical products through a transparent film. The material of the transparent film may be polyethylene (PE), which has good moisture resistance and can provide good plastic sealing protection for the pharmaceutical products.

[0058] Furthermore, packaging several boxed pharmaceutical products into a middle-package packaging array based on plastic packaging can improve the convenience of the box packaging operation of the pharmaceutical products, while improving the compactness of the arrangement of several pharmaceutical products and improving the space utilization rate of the internal space of the box.

[0059] S103: Review drug product information.

[0060] The scanning device of the grabbing robot 2 scans and verifies the codes of several product boxes in the middle package packaging column in turn, places the middle package packaging column that has completed the verification on the conveyor line 1, and transports it to the material sorting position based on the conveyor line 1.

[0061] Furthermore, the pharmaceutical product boxes on the conveyor line 1 are identified and grasped by the grasping robot 2. During the grasping process, the coding information of the pharmaceutical product is obtained by the scanning device of the grasping robot 2. It is possible to verify whether the production information of the pharmaceutical product corresponds to the specification information of the pharmaceutical product processed by the packing and palletizing production line. If not, the grasping robot 2 can remove the pharmaceutical product and avoid misloading.

[0062] S104: Stacking the first palletizing layer.

[0063] The method of grabbing the middle package array at the second material sorting position of the conveyor line 1 based on the handling robot 5 and placing it in the box to form the first stacking layer includes: A turning height difference is set at a second material sorting position of the conveyor line 1, and the middle package packaging row is transported to the second material sorting position based on the conveyor line 1, so that the middle package packaging row is adaptively turned based on the turning height difference; The handling robot 5 grabs the flipped middle package packaging row and places it at the corresponding position of the box. By setting a second material sorting position with a flipping height difference, the middle package packaging row of the pharmaceutical product can adaptively adjust its own posture during the transportation process to meet the placement and stacking operation requirements of the middle package packaging row in the box.

[0064] Specifically, a first material sorting position and a second material sorting position are arranged in sequence along the transport direction of the conveyor line 1, so that the middle package packaging column can pass through the first material sorting position and the second material sorting position in sequence, and the second material sorting position is set to a step structure. By forming a step structure on the conveyor line 1, a flipping height difference is formed at the second material sorting position. When the middle package packaging column passes through the second material sorting position, the middle package packaging column can realize adaptive flipping at the second material sorting position based on its own gravity, so that the middle package packaging column can be flipped 90°, thereby changing the posture state of the middle package packaging column.

[0065] Furthermore, the handling robot 5 can be located below the second material sorting position, so as to timely grab the middle package packaging column after it is turned over, and pack and palletize the middle package packaging column.

[0066] S105: Check the number of the first palletizing layer.

[0067] Specifically, the first stacking layer in the box is detected in real time, based on the handling robot 5 grabbing and placing a plurality of middle packages in the box, and the first stacking layer in the box is counted by the counter of the handling robot 5. When the handling robot 5 completes one layer of the first stacking layer, the handling robot 5 can count the first stacking layer in the box, thereby recording the number of the first stacking layers in the box in real time.

[0068] The palletizing program for the first palletizing layer is preset in the handling robot 5, the palletizing quantity of the middle package packaging column involved in the single-layer first palletizing layer, as well as the initial palletizing position and the last palletizing position of the first palletizing layer are set, and based on the palletizing position of the middle package packaging column identified by the handling robot 5, the palletizing operation of the first palletizing layer is detected by adjusting the number of grabbing times of the middle package packaging column and the palletizing position of the handling robot 5.

[0069] S106: Stacking the second palletizing layer.

[0070] The method of grabbing the middle package array at the first material sorting position of the conveyor line 1 based on the handling robot 5 and placing it in the box to form the second stacking layer includes: When the middle package array is transported to the first material sorting position of the conveyor line 1, the conveying rate of the conveyor line 1 is slowed down, and a sensor is set on the conveyor line 1 to detect whether there is a middle package array in the first material sorting position and the second material sorting position. If so, the conveying rate of the conveyor line 1 is reduced so that the handling robot 5 has enough grasping time to grasp and transport the middle package array.

[0071] Furthermore, the conveying rate of the conveying line 1 is , the conveying rate of conveyor line 1 after speed reduction is , and stated The constraint relationship between them is: 0≤ ≤0.5* That is, the conveying rate of the conveyor line 1 drops to half of the initial rate or less. When stacking the first stacking layer, the middle package packaging row can smoothly perform adaptive flipping operation when entering the second material sorting position to avoid posture errors.

[0072] When stacking the second stacking layer, the handling robot 5 may have sufficient grasping action time, based on which the handling robot 5 identifies the middle package packaging column located at the first material sorting position and grasps the middle package packaging column to perform boxing and palletizing operations.

[0073] S107: Box packaging.

[0074] Based on the sealing device 4, the box is sealed, based on the cooperation of several first stacking layers and one second stacking layer, so as to reduce the number of stacking layers of several middle package packaging arrays in the box, improve the efficiency of grabbing and handling the middle package packaging arrays by the handling robot 5, and at the same time improve the space utilization rate of the internal space of the box, so that several middle package packaging arrays can be neatly and compactly arranged in the box, and reduce the undesirable conditions such as bulging of the package after the box is sealed.

[0075] Furthermore, in this embodiment, the number of first stacking layers is set to 3, that is, three first stacking layers are matched with one second stacking layer to be arranged in the box, so that several rows of middle packages can be neatly stacked in the box, and the stacking height is lower than the top box opening height of the box, which can meet the packing requirements of several pharmaceutical products in the box and improve the compactness and space utilization of the box packaging.

[0076] S108: Paste the box code label.

[0077] The sealing operation of the box body and generating a box code according to the coding information of the product box body, and attaching the box code to the corner position of the box body by the labeling device 6 includes: Print at least two blank box code labels in the labeling device 6, and perform labeling operations at a group of box corner positions distributed at diagonal positions of the box; Two blank box code labels are correspondingly attached to a set of diagonally distributed edges of the box. By attaching the box code labels at the corner positions of the edges, the labeling operation is performed on the diagonal edges, so that the two labels can cover the four side walls of the box, so that the operator can quickly obtain the box code position of the box, thereby improving the intuitiveness of the box code information identification and the convenience of obtaining the box code information.

[0078] S109: Enter box code label information.

[0079] Specifically, the box code label is scanned and registered by a scanning device, and the coding information of the product box is entered into the box code label. The box moving robot 7 performs box moving and palletizing operations on the box, and the box code label is scanned by the scanning device of the box moving robot 7, and the barcode information of the corresponding pharmaceutical product in the box is entered into the box code label, so as to record the information of the transportation, packaging, packing, palletizing and transportation of the pharmaceutical product, and improve the traceability reliability of pharmaceutical production.

[0080] S110: Palletizing of boxes.

[0081] The method of scanning the box code information of the box by the box-moving robot 7, adjusting the posture of the box by cycle counting, and stacking the box on the pallet accordingly comprises: A cycle counting module is set inside the box moving robot 7, and the count value of the cycle counting module is set to N, and the initial value of N is 0; When the box-moving robot 7 completes the transport of the packaged box each time, the count value of the cycle counting module is accumulated and transported so that N=N+1; A cycle count threshold is set, and when the count value of the cycle count module reaches the cycle count threshold, the box stacking operation of the current pallet is completed.

[0082] After several boxes have been packed and packaged, the boxes are moved to a pallet by a box-moving robot 7 for palletizing. When the boxes are palletized, the positions and postures of the boxes need to be adjusted so that the placement positions and postures of the boxes form a three-dimensional arrangement structure of staggered stacking, thereby improving the stability of the stacking of multiple boxes on the pallet.

[0083] Specifically, the built-in cycle counting module of the box-moving robot 7 counts the number of times the boxes are moved, and according to the preset box stacking operation instructions, the posture of the boxes moved each time is adjusted, and the boxes are placed on the pallet accordingly, forming a stacking effect on the pallet.

[0084] The method of scanning the box code information of the box by the box-moving robot 7, adjusting the position of the box by cycle counting, and stacking the box on the pallet accordingly also includes: Setting the cycle count threshold according to the box stacking data of the pallet; The stacking posture of each box is set according to the box stacking posture state of the pallet, and the placement posture adjustment instructions corresponding to each box moving operation are set in the box moving robot 7, so that the box moving robot 7 can meet the posture adjustment requirements of several boxes and form a three-dimensional stacking structure with staggered stacking of several boxes.

[0085] S111: Enter pallet code information.

[0086] Specifically, after completing the box stacking operation on the pallet, the box moving robot can scan the pallet code of the pallet based on its own scanning equipment, and enter the box code label information of several boxes into the pallet code of the pallet, thereby binding the pallet with the drug information of several boxes for the subsequent transportation and delivery of the pharmaceutical products.

[0087] The embodiment of the present invention provides a control method for a pharmaceutical product packing and palletizing production line, which makes the pharmaceutical product stacking arrangement compact in the box by adjusting the packing arrangement pattern of the pharmaceutical product, thereby improving the space utilization rate of the box; based on the cooperation of the grabbing manipulator 2, the handling manipulator 5 and the box moving robot 7, the product packing posture adjustment and the box posture adjustment stacking operation are completed, thereby realizing the automated operation of the packing and palletizing production line. By correspondingly binding the barcode of the pharmaceutical product box, the box code label of the pharmaceutical product packing and the coding information of the pallet, the accuracy and reliability of the product information traceability management of the packaging, packing and palletizing transportation of the pharmaceutical product are improved.

[0088] Embodiment three: Figure 4 A schematic diagram of a control system for a pharmaceutical product packaging and palletizing production line according to an embodiment of the present invention is shown, and the control system includes: Information registration component 10: Scan and confirm the product box on the conveyor line to obtain the product barcode information of the product box; Film-covering and packaging component 20: Arranges a number of product boxes based on a grabbing robot and organizes them into a middle-pack packaging row; The first palletizing assembly 30 is used to grab the middle package array at the second material sorting position of the conveyor line based on the handling robot and place it in the box to form a first palletizing layer; The judging component 40 is used to record the real-time number of layers of the first stacking layer of the box body, and detect whether the real-time number of layers reaches a first threshold value; If the number of layers of the first palletizing layer is less than the first threshold, performing a case palletizing operation of the middle package row based on the first palletizing component; If the number of layers of the first palletizing layer is equal to the first threshold, then performing a case palletizing operation on the middle package row based on the second palletizing component; The second palletizing assembly 50 is used to grab the middle package array at the first material sorting position of the conveyor line based on the handling robot and place it in the box to form a second palletizing layer; Labeling component 60: used to seal the box and generate a box code according to the coding information of the product box, and to attach the box code to the corner of the box through the labeling equipment; Box palletizing component 70: used for adjusting the position of the box through cycle counting based on the box code information of the box scanned by the box moving robot, and palletizing the box on the pallet accordingly; Information binding component 80: used to complete the box stacking operation of the pallet, by scanning the pallet code, and writing the box code information on the pallet into the pallet code.

[0089] The embodiment of the present invention provides a control system for a pharmaceutical product packing and palletizing production line, which scans and registers the relevant product information of the pharmaceutical product when the pharmaceutical product is received, and sequentially performs film packaging, box packaging, and box palletizing on the pharmaceutical product, and performs real-time rechecking and information binding on the product information during the film packaging, box packaging, and box palletizing operation steps, thereby improving the accuracy and reliability of the traceability of the packaging and transportation information of the pharmaceutical product. When packing and palletizing the pharmaceutical product and box palletizing the pharmaceutical product, the posture of the pharmaceutical product is adjusted according to the corresponding number of grasping and carrying steps, so that the pharmaceutical product can be palletized according to the preset palletizing posture, thereby improving the space utilization rate of the internal space of the box and the compactness of the palletizing of the pharmaceutical product in the box, and at the same time, the stability of the box palletizing structure can be met during box palletizing, thereby improving the reliability of the palletizing and transportation of the pharmaceutical product.

[0090] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0091] In addition, the embodiments of the present invention are described in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control method for a pharmaceutical product packaging and palletizing production line, characterized in that: The control method comprises: S11: Scan and confirm the product box on the conveyor line to obtain the product barcode information of the product box; S12: Arrange a plurality of product boxes into a middle package packaging row based on a grabbing robot; S13: The handling robot grabs the middle package array at the second material sorting position of the conveyor line and places it in the box to form a first stacking layer; S14: Record the real-time number of layers of the first stacking layer of the box body, and detect whether the real-time number of layers reaches the first threshold value. If not, repeat steps S12 to S14; if yes, proceed to step S15; S15: The handling robot grabs the middle package array at the first material sorting position of the conveyor line and places it in the box to form a second stacking layer; S16: sealing the box and generating a box code according to the coding information of the product box, and pasting the box code on the corner of the box by a labeling device; S17: Based on the box code information scanned by the box-moving robot, the box is adjusted in position through cycle counting, and the box is stacked on the pallet accordingly; S18: Complete the box stacking operation of the pallet, and write the box code information on the pallet into the pallet code by scanning the pallet code.

2. The control method for the pharmaceutical product packaging and palletizing production line according to claim 1, characterized in that: Scanning and confirming the product box on the conveyor line to obtain the product barcode information of the product box includes: On the incoming material conveying line of the product box body, the box body bar code of the product box body is scanned based on the scanning device to obtain the product bar code information of the product box body.

3. The control method for the pharmaceutical product packaging and palletizing production line according to claim 1, characterized in that: The method of arranging a plurality of boxes based on a grabbing manipulator and arranging them into a middle package packaging row includes: A plurality of product boxes are grasped into a packaging device based on a grasping robot, a plurality of product boxes are arranged based on the grasping robot, and a plurality of product boxes are coated and packaged by the packaging device to form the middle package packaging array.

4. The control method for the pharmaceutical product packaging and palletizing production line according to claim 3, characterized in that: The method of arranging a plurality of product boxes into a middle package array based on a grabbing manipulator also includes: The scanning equipment is used to scan and verify the codes of several product boxes in the middle package packaging column in turn, and the middle package packaging column that has completed the verification is placed on the conveyor line and transported to the material sorting position based on the conveyor line.

5. The control method for the pharmaceutical product packaging and palletizing production line according to claim 1, characterized in that: The method of grabbing the middle package array at the second material sorting position of the conveyor line based on the handling robot and placing it in the box to form the first stacking layer includes: Setting a flip height difference at a second material sorting position of the conveyor line, transporting the middle package packaging row to the second material sorting position based on the conveyor line, so that the middle package packaging row is adaptively flipped based on the flip height difference; The turned middle package packaging row is grabbed by a handling robot and placed at a corresponding position of the box.

6. The control method for the pharmaceutical product packaging and palletizing production line according to claim 1, characterized in that: The method of grabbing the middle package array at the first material sorting position of the conveyor line based on the handling robot and placing it in the box to form the second stacking layer includes: When the package train is transported to the first material sorting position of the conveyor line, the conveying rate of the conveyor line is adjusted to be reduced; The handling robot identifies the middle package packaging row located at the first material sorting position, and grabs the middle package packaging row to perform boxing and palletizing operations.

7. The control method for the pharmaceutical product packaging and palletizing production line according to claim 1, characterized in that: The sealing operation of the box body and generating a box code according to the coding information of the product box body, and attaching the box code to the corner position of the box body by a labeling device includes: Print at least two blank box code labels in the labeling device, and perform labeling operations at a group of box corner positions distributed at diagonal positions of the box; The box code label is scanned and registered by a scanning device, and the coding information of the product box body is entered into the box code label.

8. The control method for the pharmaceutical product packaging and palletizing production line according to claim 1, characterized in that: The method of scanning the box code information of the box based on the box moving robot, adjusting the posture of the box through cycle counting, and stacking the box on the pallet accordingly includes: A cycle counting module is set inside the box moving robot, and a count value of the cycle counting module is set to N, and an initial value of N is 0; When the box-moving robot completes the transport of the packaged box each time, the count value of the cycle counting module is accumulated and transported so that N=N+1; A cycle count threshold is set, and when the count value of the cycle count module reaches the cycle count threshold, the box stacking operation of the current pallet is completed.

9. The control method for the pharmaceutical product packaging and palletizing production line according to claim 8, characterized in that: The method of scanning the box code information of the box by the box-moving robot, adjusting the posture of the box by cycle counting, and stacking the box on the pallet accordingly also includes: Setting the cycle count threshold according to the box stacking data of the pallet; Set the stacking posture of each box according to the box stacking posture status of the pallet.

10. A control system for a pharmaceutical product packaging and palletizing production line, characterized in that: The control system comprises: Information registration component: Scan the product box on the conveyor line to confirm and obtain the product barcode information of the product box; Film packaging assembly: Arrange several product boxes based on the grabbing robot and organize them into middle packaging rows; The first palletizing component is used to grab the middle package array at the second material sorting position of the conveyor line based on the handling robot and place it in the box to form the first palletizing layer; Judgment component: used to record the real-time number of layers of the first stacking layer of the box body, and detect whether the real-time number of layers reaches a first threshold; If the number of layers of the first palletizing layer is less than the first threshold, performing a case palletizing operation of the middle package row based on the first palletizing component; If the number of layers of the first palletizing layer is equal to the first threshold, then performing a case palletizing operation on the middle package row based on the second palletizing component; The second palletizing component is used to grab the middle package array at the first material sorting position of the conveyor line based on the handling robot and place it in the box to form the second palletizing layer; Labeling component: used to seal the box and generate the box code according to the coding information of the product box, and paste the box code on the corner of the box through the labeling equipment; Box palletizing component: used to scan the box code information of the box based on the box handling robot, adjust the position of the box through cycle counting, and stack the box on the pallet accordingly; Information binding component: used to complete the box stacking operation of the pallet, by scanning the pallet code, the box code information on the pallet is written into the pallet code.

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