Medicine packaging box taking and placing device

Abstract

The invention provides a medicine packaging box taking and placing device and belongs to the technical field of medicine packaging, the medicine packaging box taking and placing device comprises a taking and placing pipe body, a driving assembly, a clamping assembly, a lifting assembly and a piston assembly, the taking and placing pipe body is installed on a mechanical arm and controlled by the mechanical arm to move, and the lifting assembly is movably arranged at the bottom of the taking and placing pipe body; the piston assembly is arranged in the taking and placing pipe body, the driving assembly is installed on the side wall of the taking and placing pipe body and used for driving the piston assembly and the lifting assembly to move up and down relative to the taking and placing pipe body, and when the piston assembly moves upwards, medicine packaging boxes which are folded and flatly stacked are adsorbed to the bottom of the lifting assembly. When the lifting assembly moves upwards, the medicine packaging boxes which are folded and flatly folded are pulled to be unfolded. Compared with the prior art, when the medicine packaging box is taken and placed, the medicine packaging box can be stably clamped, and therefore the taking and placing effect and the taking and placing efficiency of the medicine packaging box are improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of drug packaging, and specifically relates to a device for picking and placing drug packaging boxes. Background Art

[0002] Currently, the encapsulation process for drug packaging boxes generally includes the following steps: adsorbing the folded and flattened drug packaging boxes with a vacuum suction nozzle and placing the adsorbed folded and flattened drug packaging boxes on the packaging line. Then, the packaging line transports the folded and flattened drug packaging boxes, causing the folded and flattened drug packaging boxes to pass through the unfolding station, the drug loading station, and the encapsulation station in sequence. When the folded and flattened drug packaging box passes through the unfolding station, the unfolding mechanism at the unfolding station is used to unfold the folded and flattened drug packaging box. When the unfolded drug packaging box passes through the drug loading station, the drug loading mechanism at the drug loading station is used to load drugs into the drug packaging box. When the drug packaging box filled with drugs passes through the encapsulation station, the encapsulation mechanism at the encapsulation station is used to seal the packaging box.

[0003] However, when using a vacuum suction nozzle to adsorb the folded and flattened drug packaging box and place the packaging box on the packaging line, the folded and flattened drug packaging box is prone to self-unfolding under the influence of gravity. The unfolded drug packaging box is prone to shaking during movement, which may cause the vacuum environment of the vacuum suction nozzle to be easily damaged, resulting in the drug packaging box being prone to falling during placement, thereby affecting the smooth picking and placing of the drug packaging box. Summary of the Invention

[0004] In view of the above deficiencies in the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a device for picking and placing drug packaging boxes.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: A device for picking and placing drug packaging boxes includes a picking and placing tube body, a driving assembly, a clamping assembly, a lifting assembly, and a piston assembly; The picking and placing tube body is installed on a robotic arm and is controlled by the robotic arm to move; The lifting assembly is movably arranged at the bottom of the picking and placing tube body, and the piston assembly is arranged inside the picking and placing tube body; The driving assembly is installed on the side wall of the picking and placing tube body and is used to drive the piston assembly and the lifting assembly to move up and down relative to the picking and placing tube body; When the piston assembly moves upward, it adsorbs the folded and flattened drug packaging box to the bottom of the lifting assembly, and when the lifting assembly moves upward, it pulls the folded and flattened drug packaging box to unfold; The clamping assembly is hinged to the outer wall of the picking and placing tube body. When the folded and flattened drug packaging box unfolds, the clamping assembly extends into the inside of the drug packaging box from the side of the unfolded drug packaging box.

[0006] As a further improvement of the present invention: a first notch is formed in the side wall of the pick-and-place tube body along the length direction, and a top plate is fixedly arranged on the top of the pick-and-place tube body; The driving assembly includes a cylinder, a first connecting rod and a lifting column; The cylinder is arranged at the bottom of the top plate, the lifting column is movably arranged inside the pick-and-place tube body, one end of the first connecting rod is connected to the output end of the cylinder, and the other end extends into the pick-and-place tube body from the first notch and is fixedly connected to the lifting column; The piston assembly includes a second connecting rod and a piston block; The piston block is movably arranged inside the pick-and-place tube body and is located below the lifting column. One end of the second connecting rod is fixedly connected to the piston block, and the other end is fixedly connected to the lifting column.

[0007] As a further improvement of the present invention: the lifting assembly includes a lifting pipe, a suction cup and a lifting disc; The lifting disc is movably arranged inside the pick-and-place tube body and is located below the piston block. The interior of the lifting disc is hollow, and a plurality of second through holes are formed in the top wall of the lifting disc. The suction cup is arranged below the pick-and-place tube body, the interior of the suction cup is hollow, and a plurality of first through holes are formed in the bottom wall of the suction cup; One end of the lifting pipe is fixedly connected to the bottom wall of the lifting disc and communicates with the inner cavity of the lifting disc, and the other end extends below the pick-and-place tube body and is fixedly connected to the suction cup. The lifting pipe communicates with the inner cavity of the suction cup.

[0008] As a further improvement of the present invention: a third elastic member is further connected between the bottom wall of the lifting disc and the inner bottom wall of the pick-and-place tube body, and the third elastic member is used to provide an elastic pulling force for the lifting disc.

[0009] As a further improvement of the present invention: the clamping assembly includes a support rod, a first elastic member and an arc-shaped clamping rod; There are two groups of the arc-shaped clamping rods, and the two groups of arc-shaped clamping rods are respectively arranged on the opposite sides outside the pick-and-place tube body. A group of support rods are fixedly arranged on the side walls of the two groups of arc-shaped clamping rods; One ends of the two groups of support rods far away from the corresponding arc-shaped clamping rods extend to the inner side of the pick-and-place tube body. The two groups of support rods are hinged to the side wall of the pick-and-place tube body. The side walls of the two groups of support rods are respectively connected to the outer wall of the pick-and-place tube body through a group of first elastic members, and the first elastic members are used to provide elastic support for the support rods.

[0010] As a further improvement of the present invention: Two groups of second notches through which the support rods can pass are further formed on the side wall of the pick-and-place tube body, and a support is fixedly arranged on the outer wall of the pick-and-place tube body on the side of the second notch; A rotating shaft is fixedly arranged on the side wall of the support, and one end of the rotating shaft away from the support penetrates through the support rod and is rotationally matched with the support rod.

[0011] As a further improvement of the present invention: A first air inlet hole is formed on the side wall of the lifting pipe, a sealing sleeve is slidably arranged outside the lifting pipe, a second air inlet hole corresponding to the first air inlet hole is formed on the side wall of the sealing sleeve, the bottom of the sealing sleeve is connected with the suction cup through a second elastic member, and the second elastic member is used to provide elastic support for the sealing sleeve.

[0012] As a further improvement of the present invention: A pressure sensor is arranged at the bottom of the suction cup, and the pressure sensor is electrically connected with the air cylinder.

[0013] As a further improvement of the present invention: The first elastic member, the second elastic member and the third elastic member are springs or metal elastic sheets.

[0014] Compared with the prior art, the beneficial effects of the present invention are: In the embodiment of the present invention, when it is necessary to place the folded and stacked medicine packaging boxes on the packaging line, the pick-and-place tube body can be controlled by the robotic arm to move, so that the lifting assembly is located above the folded and stacked medicine packaging boxes. Subsequently, the robotic arm controls the pick-and-place tube body to move downward, so that the lifting assembly contacts the upper surface of the folded and stacked medicine packaging boxes. Then, the driving assembly is used to drive the piston assembly and the lifting assembly to move upward relative to the pick-and-place tube body. When the piston assembly moves upward, the folded and stacked medicine packaging boxes are adsorbed to the bottom of the lifting assembly by means of negative pressure. Subsequently, as the lifting assembly moves upward, the upper part of the folded and stacked medicine packaging boxes is pulled upward, so that the folded and stacked medicine packaging boxes are unfolded. When the folded and stacked medicine packaging boxes are unfolded, the clamping assembly extends into the inner side of the unfolded medicine packaging boxes from the side, so as to complete the clamping of the medicine packaging boxes. Finally, the robotic arm controls the pick-and-place tube body to move to a position above the packaging line, and the pick-and-place tube body synchronously moves the clamped medicine packaging boxes to a position above the packaging line through the clamping assembly. At this time, the clamping assembly withdraws from the inner side of the medicine packaging boxes, and then places the medicine packaging boxes on the packaging line, so as to complete the picking and placing of the medicine packaging boxes. Compared with the prior art, when picking and placing the medicine packaging boxes, the medicine packaging boxes can be stably clamped, so as to improve the picking and placing effect and efficiency of the medicine packaging boxes. Description of the Drawings

[0015] Figure 1 It is a structural schematic diagram of a device for picking and placing medicine packaging boxes; Figure 2 It is a schematic structural diagram of a medicine packaging box picking and placing device when it is in a working state; Figure 3 It is a schematic structure of the lifting component in a medicine packaging box picking and placing device Figure 1 ; Figure 4 It is a schematic structure of the lifting component in a medicine packaging box picking and placing device Figure 2 ; Figure 5 It is a schematic structure of the lifting component in a medicine packaging box picking and placing device Figure 3 ; Figure 6 It is Figure 1 an enlarged schematic diagram of area A in; Figure 7 It is Figure 2 an enlarged schematic diagram of area B in; In the figure: 10 - picking and placing tube body, 101 - first notch, 102 - top plate, 103 - second notch, 104 - support, 105 - rotating shaft, 20 - driving component, 201 - cylinder, 202 - first connecting rod, 203 - lifting column, 30 - clamping component, 301 - support rod, 302 - first elastic member, 303 - arc-shaped clamping rod, 40 - lifting component, 401 - lifting pipe, 4011 - first air inlet hole, 402 - suction cup, 4021 - first through hole, 4022 - pressure sensor, 403 - sealing sleeve, 4031 - second air inlet hole, 404 - second elastic member, 405 - lifting disc, 4051 - second through hole, 406 - third elastic member, 50 - piston component, 501 - second connecting rod, 502 - piston block. Specific embodiments

[0016] The technical solutions of the present invention will be further described in detail below in combination with specific embodiments.

[0017] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0019] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", "attachment", and "setting" should be understood in a broad sense. For example, it can be fixedly connected and set, or detachably connected and set, or integrally connected and set. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] Please refer to Figure 1 and Figure 2 , this embodiment provides a device for picking and placing medicine packaging boxes, including a picking and placing tube body 10, a driving assembly 20, a clamping assembly 30, a lifting assembly 40, and a piston assembly 50. The picking and placing tube body 10 is installed on a robotic arm (not shown in the figure) and is controlled by the robotic arm to move. The lifting assembly 40 is movably arranged at the bottom of the picking and placing tube body 10. The piston assembly 50 is arranged inside the picking and placing tube body 10. The driving assembly 20 is installed on the side wall of the picking and placing tube body 10 and is used to drive the piston assembly 50 and the lifting assembly 40 to move up and down relative to the picking and placing tube body 10. When the piston assembly 50 moves upward, it adsorbs the folded and stacked medicine packaging boxes to the bottom of the lifting assembly 40. When the lifting assembly 40 moves upward, it pulls the folded and stacked medicine packaging boxes to unfold. The clamping assembly 30 is hingedly arranged on the outer wall of the picking and placing tube body 10. After the folded and stacked medicine packaging boxes unfold, the clamping assembly 30 extends into the inside of the medicine packaging box from the side of the unfolded medicine packaging box.

[0021] When it is necessary to place the folded and stacked medicine packaging boxes on the packaging line, the robotic arm can be used to control the movement of the picking and placing tube body 10 so that the lifting assembly 40 is located above the folded and stacked medicine packaging boxes. Subsequently, the robotic arm controls the picking and placing tube body 10 to move downward so that the lifting assembly 40 contacts the upper surface of the folded and stacked medicine packaging boxes. Then, the driving assembly 20 is used to drive the piston assembly 50 and the lifting assembly 40 to move upward relative to the picking and placing tube body 10. When the piston assembly 50 moves upward, it adsorbs the folded and stacked medicine packaging boxes to the bottom of the lifting assembly 40 by means of negative pressure. Subsequently, as the lifting assembly 40 moves upward, the upper part of the folded and stacked medicine packaging boxes is pulled upward, causing the folded and stacked medicine packaging boxes to unfold. After the folded and stacked medicine packaging boxes unfold, the clamping assembly 30 extends into the inside of the medicine packaging box from the side of the unfolded medicine packaging box, thereby completing the clamping of the medicine packaging box. Finally, the robotic arm is used to control the picking and placing tube body 10 to move to a position above the packaging line, and the picking and placing tube body 10 synchronously moves the clamped medicine packaging box to a position above the packaging line through the clamping assembly 30. At this time, the clamping assembly 30 withdraws from the inside of the medicine packaging box, and then the medicine packaging box is placed on the packaging line, thereby completing the picking and placing of the medicine packaging box.

[0022] Please refer toFigure 1 and Figure 2 In one embodiment, a first notch 101 is formed in the side wall of the pick-and-place tube body 10 along the length direction. A top plate 102 is fixedly arranged at the top of the pick-and-place tube body 10. The driving assembly 20 includes a cylinder 201, a first connecting rod 202 and a lifting column 203. The cylinder 201 is arranged at the bottom of the top plate 102. The lifting column 203 is movably arranged inside the pick-and-place tube body 10. One end of the first connecting rod 202 is connected to the output end of the cylinder 201, and the other end extends into the pick-and-place tube body 10 from the first notch 101 and is fixedly connected to the lifting column 203. The piston assembly 50 includes a second connecting rod 501 and a piston block 502. The piston block 502 is movably arranged inside the pick-and-place tube body 10 and is located below the lifting column 203. One end of the second connecting rod 501 is fixedly connected to the piston block 502, and the other end is fixedly connected to the lifting column 203.

[0023] When the robotic arm controls the movement of the pick-and-place tube body 10 so that the lifting assembly 40 contacts the upper surface of the folded and stacked medicine packaging boxes, the cylinder 201 drives the first connecting rod 202 to move upward along the inside of the first notch 101, thereby driving the lifting column 203 to move upward along the inside of the pick-and-place tube body 10. When the lifting column 203 moves upward, it drives the piston block 502 to move upward synchronously along the inside of the pick-and-place tube body 10 through the second connecting rod 501, thereby adsorbing the upper surface of the folded and stacked medicine packaging boxes to the bottom of the lifting assembly 40.

[0024] Please refer to Figure 1 、 Figure 3 、 Figure 4 and Figure 5 In one embodiment, the lifting assembly 40 includes a lifting pipe 401, a suction cup 402 and a lifting disc 405. The lifting disc 405 is movably arranged inside the pick-and-place tube body 10 and is located below the piston block 502. The inside of the lifting disc 405 is hollow. A plurality of second through holes 4051 are formed in the top wall of the lifting disc 405. The suction cup 402 is arranged below the pick-and-place tube body 10. The inside of the suction cup 402 is hollow. A plurality of first through holes 4021 are formed in the bottom wall of the suction cup 402. One end of the lifting pipe 401 is fixedly connected to the bottom wall of the lifting disc 405 and is communicated with the inner cavity of the lifting disc 405, and the other end extends below the pick-and-place tube body 10 and is fixedly connected to the suction cup 402. The lifting pipe 401 is communicated with the inner cavity of the suction cup 402.

[0025] The manipulator is controlled to pick up and place the pipe body 10 so that the bottom of the suction cup 402 contacts the upper surface of the folded and stacked medicine packaging boxes. Subsequently, the air cylinder 201 drives the first connecting rod 202 to move upward along the inner part of the first notch 101, thereby driving the lifting column 203 to move upward. The lifting column 203 drives the piston block 502 to move upward through the second connecting rod 501. When the piston block 502 moves upward, the air inside the suction cup 402 is extracted into the pipe body 10 through the lifting pipe 401, the inner cavity of the lifting disc 405, and a number of second through holes 4051, so that a negative pressure effect is presented inside the suction cup 402. As a result, the upper surface of the folded and stacked medicine packaging boxes is adsorbed to the bottom of the suction cup 402. At the same time, when the piston block 502 moves upward along the inner part of the pipe body 10, the lifting disc 405 can be twitched, thereby driving the lifting disc 405 to move upward along the inner part of the pipe body 10. The lifting disc 405 drives the suction cup 402 to move upward through the lifting pipe 401, thereby pulling the upper part of the folded and stacked medicine packaging boxes to move upward, so that the folded and stacked medicine packaging boxes are unfolded.

[0026] Please refer to Figure 1 and Figure 2 In one embodiment, the clamping assembly 30 includes a support rod 301, a first elastic member 302, and an arc-shaped clamping rod 303. There are two sets of the arc-shaped clamping rods 303, and the two sets of the arc-shaped clamping rods 303 are respectively arranged on the opposite sides outside the pipe body 10 for picking and placing. A set of the support rods 301 are fixedly arranged on the side walls of the two sets of the arc-shaped clamping rods 303. One ends of the two sets of the support rods 301 far away from the corresponding arc-shaped clamping rods 303 extend to the inside of the pipe body 10 for picking and placing. The two sets of the support rods 301 are hinged to the side wall of the pipe body 10 for picking and placing. The side walls of the two sets of the support rods 301 are respectively connected to the outer wall of the pipe body 10 for picking and placing through a set of the first elastic members 302. The first elastic member 302 is used to provide elastic support for the support rod 301.

[0027] When the suction cup 402 acts on the upper surface of the folded and stacked medicine packaging boxes, the two arc-shaped clamping rods 303 unfold outside the two ends of the folded and stacked medicine packaging boxes (such as Figure 2As shown in the figure, when the cylinder 201 drives the piston block 502 to move upward along the inside of the pick-and-place tube body 10 and then pulls the upper part of the folded and stacked medicine packaging boxes to move upward through the suction cup 402, the folded and stacked medicine packaging boxes unfold. At the same time, when the piston block 502 moves upward, it can act on one end of the two groups of support rods 301 located inside the pick-and-place tube body 10, thereby pushing the two groups of support rods 301 to rotate. When the two groups of support rods 301 rotate, they drive the two groups of arc-shaped clamping rods 303 to rotate relative to each other. When the two groups of arc-shaped clamping rods 303 rotate relative to each other, they respectively extend into the inside of the medicine packaging box from both sides of the unfolded medicine packaging box. After the two groups of arc-shaped clamping rods 303 extend into the inside of the medicine packaging box, they act on the inner top wall of the medicine packaging box, thereby pressing the medicine packaging box against the bottom of the suction cup 402, so as to stably clamp the medicine packaging box. After the medicine packaging box is clamped, the robotic arm controls the pick-and-place tube body 10 to move above the packaging line. Subsequently, the cylinder 201 drives the first connecting rod 202 to move downward along the inside of the first notch 101, thereby driving the lifting column 203 to move downward along the inside of the pick-and-place tube body 10. The lifting column 203 drives the second connecting rod 501 and the piston block 502 to move downward synchronously along the inside of the pick-and-place tube body 10. When the piston block 502 moves downward, on the one hand, it separates from the two groups of support rods 301, and the two groups of first elastic members 302 push the two groups of support rods 301 to make the two groups of support rods 301 rotate in the opposite direction relative to the pick-and-place tube body 10, thereby driving the two groups of arc-shaped clamping rods 303 to move away from each other, so as to withdraw from the inside of the medicine packaging box. On the other hand, the downward movement of the piston block 502 presses the air inside the pick-and-place tube body 10 through a number of second through holes 4051 into the lifting disc 405, and then presses it into the suction cup 402 through the inside of the lifting pipe 401, so that the inner cavity of the suction cup 402 presents a positive pressure effect, thereby releasing the adsorption of the medicine packaging box, so as to place the medicine packaging box on the packaging line.

[0028] Please refer to Figure 6 In one embodiment, two second notches 103 through which the support rods 301 can pass are further opened on the side wall of the pick-and-place tube body 10. A support 104 is fixedly arranged on the outer wall of the pick-and-place tube body 10 on the side of the second notch 103. A rotating shaft 105 is fixedly arranged on the side wall of the support 104. One end of the rotating shaft 105 away from the support 104 penetrates through the support rod 301 and is rotationally matched with the support rod 301.

[0029] When the piston block 502 moves upward along the inside of the pick-and-place tube body 10 and then pushes one end of the two groups of support rods 301 located inside the pick-and-place tube body 10, the two groups of support rods 301 are pushed to rotate relative to the rotating shaft 105. The two groups of support rods 301 respectively drive the two groups of arc-shaped clamping rods 303 to rotate towards each other, so as to extend into the inside of the unfolded medicine packaging box and press the medicine packaging box against the bottom of the suction cup 402, realizing the clamping of the medicine packaging box.

[0030] Please refer to Figure 3 、 Figure 5and Figure 7 In one embodiment, the bottom wall of the lifting disc 405 and the inner bottom wall of the picking and placing tube body 10 are further connected by a third elastic member 406. The third elastic member 406 is used to provide an elastic pulling force to the lifting disc 405. A first air inlet hole 4011 is formed on the side wall of the lifting pipe 401. A sealing sleeve 403 is slidably arranged outside the lifting pipe 401. A second air inlet hole 4031 corresponding to the first air inlet hole 4011 is formed on the side wall of the sealing sleeve 403. The bottom of the sealing sleeve 403 is connected to the suction cup 402 by a second elastic member 404. The second elastic member 404 is used to provide elastic support to the sealing sleeve 403.

[0031] Initially, the sealing sleeve 403 is sleeved outside the lifting pipe 401, and the second air inlet hole 4031 is located above the first air inlet hole 4011 and is misaligned with the first air inlet hole 4011. The sealing sleeve 403 seals the first air inlet hole 4011. As the suction cup 402 attracts and closes the flat-folded medicine packaging box and moves upward to unfold, the third elastic member 406 is gradually stretched under tension. The lifting pipe 401 drives the sealing sleeve 403 to move upward synchronously. When the two groups of arc-shaped clamping rods 303 extend into the inner side of the medicine packaging box and press the medicine packaging box against the bottom of the suction cup 402, the sealing sleeve 403 acts on the bottom wall of the picking and placing tube body 10 and is then pushed by the bottom wall of the picking and placing tube body 10 to slide down along the outside of the lifting pipe 401. When the first air inlet hole 4011 and the second air inlet hole 4031 are correspondingly communicated, the negative pressure environment inside the suction cup 402 is damaged. The third elastic member 406 can pull the lifting disc 405 to make the lifting disc 405 move downward along the inside of the picking and placing tube body 10, thereby driving the lifting pipe 401 and the suction cup 402 to move downward. When the suction cup 402 moves downward, it applies a downward pressure to the medicine packaging box, thereby further pressing the medicine packaging box against the two groups of arc-shaped clamping rods 303, so as to improve the clamping stability of the medicine packaging box.

[0032] Please refer to Figure 4 In one embodiment, a pressure sensor 4022 is arranged at the bottom of the suction cup 402. The pressure sensor 4022 is electrically connected to the air cylinder 201.

[0033] When the bottom of the suction cup 402 acts on the upper surface of the closed and flat-folded medicine packaging box, the pressure sensor 4022 is pressed and transmits a signal to the air cylinder 201, thereby driving the air cylinder 201 to work to drive the first connecting rod 202, the lifting column 203, the second connecting rod 501 and the piston block 502 to move upward, realizing the automatic adsorption of the closed and flat-folded medicine packaging box and driving the adsorbed closed and flat-folded medicine packaging box to automatically unfold.

[0034] In one embodiment, the first elastic member 302, the second elastic member 404, and the third elastic member 406 may be springs or metal shrapnel, and there is no limitation here.

[0035] In the embodiment of the present invention, when it is necessary to place the folded and flat drug packaging box on the packaging line, the pick-and-place tube body 10 can be controlled by the robotic arm to move, so that the lifting assembly 40 is located above the folded and flat drug packaging box. Subsequently, the robotic arm controls the pick-and-place tube body 10 to move downward, so that the lifting assembly 40 contacts the upper surface of the folded and flat drug packaging box. Then, the driving assembly 20 drives the piston assembly 50 and the lifting assembly 40 to move upward relative to the pick-and-place tube body 10. When the piston assembly 50 moves upward, the folded and flat drug packaging box is adsorbed to the bottom of the lifting assembly 40 by the negative pressure. Subsequently, as the lifting assembly 40 moves upward, the upper part of the folded and flat drug packaging box is pulled upward, so that the folded and flat drug packaging box unfolds. After the folded and flat drug packaging box unfolds, the clamping assembly 30 extends into the inside of the drug packaging box from the side of the unfolded drug packaging box, thereby completing the clamping of the drug packaging box. Finally, the robotic arm controls the pick-and-place tube body 10 to move to a position above the packaging line, and the pick-and-place tube body 10 synchronously moves the clamped drug packaging box to a position above the packaging line through the clamping assembly 30. At this time, the clamping assembly 30 withdraws from the inside of the drug packaging box, and then places the drug packaging box on the packaging line, thereby completing the picking and placing of the drug packaging box. Compared with the prior art, when picking and placing the drug packaging box, it is possible to stably clamp the drug packaging box, thereby improving the picking and placing effect and efficiency of the drug packaging box.

[0036] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes falling within the meaning and scope of the equivalent elements of the claims in the present invention, and any reference signs in the claims should not be regarded as limiting the claimed claims.

[0037] In addition, it should be understood that although this specification is described according to embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity, and those skilled in the art should regard the specification as a whole.

Claims

1. A device for taking and placing a medicine packaging box, characterized in that, It includes a pick-and-place tube body (10), a drive assembly (20), a clamping assembly (30), a lifting assembly (40), and a piston assembly (50); The pick-and-place tube body (10) is installed on a robotic arm and is controlled by the robotic arm to move; The lifting assembly (40) is movably arranged at the bottom of the pick-and-place tube body (10), and the piston assembly (50) is arranged inside the pick-and-place tube body (10); The drive assembly (20) is installed on the side wall of the pick-and-place tube body (10) and is used to drive the piston assembly (50) and the lifting assembly (40) to move up and down relative to the pick-and-place tube body (10); When the piston assembly (50) moves upward, it adsorbs the folded and flat medicine packaging boxes to the bottom of the lifting assembly (40), and when the lifting assembly (40) moves upward, it pulls the folded and flat medicine packaging boxes to unfold; The clamping assembly (30) is hinged to the outer wall of the pick-and-place tube body (10). After the folded and flat medicine packaging boxes unfold, the clamping assembly (30) extends into the inside of the medicine packaging boxes from the side of the unfolded medicine packaging boxes.

2. The drug packaging box picking and placing device according to claim 1, characterized in that A first notch (101) is formed in the side wall of the pick-and-place tube body (10) along the length direction, and a top plate (102) is fixedly arranged at the top of the pick-and-place tube body (10); The drive assembly (20) includes a cylinder (201), a first connecting rod (202), and a lifting column (203); The cylinder (201) is arranged at the bottom of the top plate (102), the lifting column (203) is movably arranged inside the pick-and-place tube body (10), one end of the first connecting rod (202) is connected to the output end of the cylinder (201), and the other end extends into the pick-and-place tube body (10) from the first notch (101) and is fixedly connected to the lifting column (203); The piston assembly (50) includes a second connecting rod (501) and a piston block (502); The piston block (502) is movably arranged inside the pick-and-place tube body (10) and is located below the lifting column (203). One end of the second connecting rod (501) is fixedly connected to the piston block (502), and the other end is fixedly connected to the lifting column (203).

3. The drug packaging box picking and placing device according to claim 2, characterized in that, The lifting assembly (40) includes a lifting pipe (401), a suction cup (402), and a lifting disc (405); The lifting disc (405) is movably arranged inside the pick-and-place tube body (10) and is located below the piston block (502). The inside of the lifting disc (405) is hollow, and a plurality of second through holes (4051) are formed in the top wall of the lifting disc (405). The suction cup (402) is arranged below the pick-and-place tube body (10), the inside of the suction cup (402) is hollow, and a plurality of first through holes (4021) are formed in the bottom wall of the suction cup (402); One end of the lifting pipe (401) is fixedly connected to the bottom wall of the lifting disc (405) and is communicated with the inner cavity of the lifting disc (405), and the other end extends below the pick-and-place tube body (10) and is fixedly connected to the suction cup (402). The lifting pipe (401) is communicated with the inner cavity of the suction cup (402).

4. The drug packaging box picking and placing device according to claim 3, characterized in that, A third elastic member (406) is further connected between the bottom wall of the lifting disc (405) and the inner bottom wall of the picking and placing tube body (10), and the third elastic member (406) is used to provide an elastic pulling force to the lifting disc (405).

5. The drug packaging box picking and placing device according to claim 4, characterized in that, The clamping assembly (30) includes a support rod (301), a first elastic member (302), and an arc-shaped clamping rod (303); There are two groups of the arc-shaped clamping rods (303), and the two groups of the arc-shaped clamping rods (303) are respectively arranged on the opposite sides outside the picking and placing tube body (10), and a group of the support rods (301) are fixedly arranged on the side walls of the two groups of the arc-shaped clamping rods (303); One ends of the two groups of the support rods (301) away from the corresponding arc-shaped clamping rods (303) extend to the inside of the picking and placing tube body (10), the two groups of the support rods (301) are hinged to the side wall of the picking and placing tube body (10), and the side walls of the two groups of the support rods (301) are respectively connected to the outer wall of the picking and placing tube body (10) through a group of the first elastic members (302), and the first elastic member (302) is used to provide elastic support to the support rod (301).

6. The drug packaging box picking and placing device according to claim 5, characterized in that, Two second notches (103) through which the support rods (301) can pass are further formed on the side wall of the picking and placing tube body (10), and a support (104) is fixedly arranged on the outer wall of the picking and placing tube body (10) on the side of the second notch (103); A rotating shaft (105) is fixedly arranged on the side wall of the support (104), and one end of the rotating shaft (105) away from the support (104) penetrates through the support rod (301) and is rotationally matched with the support rod (301).

7. The drug packaging box picking and placing device according to claim 5, characterized in that, A first air inlet hole (4011) is formed on the side wall of the lifting pipe (401), a sealing sleeve (403) is slidably arranged outside the lifting pipe (401), a second air inlet hole (4031) corresponding to the first air inlet hole (4011) is formed on the side wall of the sealing sleeve (403), the bottom of the sealing sleeve (403) is connected to the suction cup (402) through a second elastic member (404), and the second elastic member (404) is used to provide elastic support to the sealing sleeve (403).

8. The drug packaging box picking and placing device according to claim 3, characterized in that, A pressure sensor (4022) is arranged at the bottom of the suction cup (402), and the pressure sensor (4022) is electrically connected to the air cylinder (201).

9. The drug packaging box picking and placing device according to claim 7, characterized in that, The first elastic member (302), the second elastic member (404), and the third elastic member (406) are springs or metal elastic sheets.

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