A medicine packaging box picking and placing device

Abstract

The present invention provides a device for picking and placing medicine packaging boxes, which belongs to the field of medicine packaging technology, and 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 to move by the robotic arm. The lifting assembly is movably arranged at the bottom of the picking and placing tube body. 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 compared with the picking and placing tube body. When the piston assembly moves upward, it adsorbs the folded and stacked medicine packaging box to the bottom of the lifting assembly. When the lifting assembly moves upward, it pulls the folded and stacked medicine packaging box to unfold. Compared with the prior art, the embodiments of the present invention can stably clamp the medicine packaging box when picking and placing the medicine packaging box, thereby improving the picking and placing effect and efficiency of the medicine packaging box.

Description

Technical Field

[0001] The invention belongs to the technical field of medicine packaging, and in particular is a medicine packaging box taking and placing device. Background Art

[0002] At present, the packaging process of medicine packaging boxes generally includes the following steps: the folded and stacked medicine packaging boxes are adsorbed by means of a vacuum suction nozzle and the adsorbed folded and stacked medicine packaging boxes are placed on a packaging line, and then the packaging line transports the folded and stacked medicine packaging boxes so that the folded and stacked medicine packaging boxes pass through the unfolding station, the loading station and the packaging station in sequence. When the folded and stacked medicine packaging box passes through the unfolding station, the folded and stacked medicine packaging box is unfolded by the unfolding mechanism at the unfolding station. When the unfolded medicine packaging box passes through the loading station, the loading mechanism at the loading station is used to load the medicine into the medicine packaging box. When the medicine packaging box loaded with medicine passes through the packaging station, the packaging box is sealed by the packaging mechanism at the packaging station.

[0003] However, when using a vacuum suction nozzle to absorb the folded and stacked medicine packaging box and placing the packaging box on the packaging line, the folded and stacked medicine packaging box is prone to unfolding by itself due to the influence of gravity, and the unfolded medicine packaging box is prone to shaking during the movement, which in turn causes the vacuum environment of the vacuum suction nozzle to be easily destroyed, making the medicine packaging box prone to falling during placement, thereby affecting the smooth placement of the medicine packaging box. Summary of the Invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a device for taking and placing a medicine packaging box.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A medicine packaging box picking and placing device, comprising a picking and placing tube body, a driving assembly, a clamping assembly, a lifting assembly and a piston assembly;

[0007] The pick-and-place tube body is mounted on a robotic arm and is controlled to move by the robotic arm;

[0008] The lifting assembly is movably arranged at the bottom of the pick-up and placement tube body, and the piston assembly is arranged inside the pick-up and placement tube body;

[0009] The driving assembly is mounted on the side wall of the pick-and-place tube body, and is used to drive the piston assembly and the lifting assembly to move up and down relative to the pick-and-place tube body;

[0010] When the piston assembly moves upward, the folded and stacked medicine packaging box is adsorbed to the bottom of the lifting assembly, and when the lifting assembly moves upward, the folded and stacked medicine packaging box is pulled to unfold;

[0011] The clamping assembly is hingedly arranged on the outer wall of the taking and placing tube body. When the folded and folded medicine packaging box is unfolded, the clamping assembly extends from the side of the unfolded medicine packaging box into the inner side of the medicine packaging box.

[0012] As a further improvement of the present invention: a first notch is provided on the side wall of the pick-and-place tube along the length direction, and a top plate is fixedly provided on the top of the pick-and-place tube;

[0013] The driving assembly includes a cylinder, a first connecting rod and a lifting column;

[0014] 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 from the first notch into the inside of the pick-and-place tube body and is fixedly connected to the lifting column;

[0015] The piston assembly includes a second connecting rod and a piston block;

[0016] 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.

[0017] As a further improvement of the present invention: the lifting assembly includes a lifting pipe, a suction cup and a lifting plate;

[0018] The lifting plate is movably arranged inside the pick-and-place tube body and is located below the piston block. The lifting plate is hollow inside, and a plurality of second through holes are opened on the top wall of the lifting plate. The suction cup is arranged below the pick-and-place tube body. The suction cup is hollow inside, and a plurality of first through holes are opened on the bottom wall of the suction cup.

[0019] One end of the lifting pipe is fixedly connected to the bottom wall of the lifting plate and communicates with the inner cavity of the lifting plate, and the other end extends to the bottom of the picking and placing tube body and is fixedly connected to the suction cup, and the lifting pipe is communicated with the inner cavity of the suction cup.

[0020] As a further improvement of the present invention, the bottom wall of the lifting plate is connected to the inner bottom wall of the picking and placing tube body via a third elastic member, and the third elastic member is used to provide elastic pulling force to the lifting plate.

[0021] 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;

[0022] There are two groups of arc-shaped clamping rods, which are respectively arranged on opposite sides of the outside of the pick-and-place tube body, and a group of support rods are fixedly arranged on the side walls of the two groups of arc-shaped clamping rods;

[0023] The two groups of support rods extend away from one end of the corresponding arc-shaped clamping rod to the inner side of the picking and placing tube body, and the two groups of support rods are hingedly connected to the side wall of the picking and placing tube body. The two groups of support rod side walls are respectively connected to the outer wall of the picking and placing tube body through a group of the first elastic parts, and the first elastic parts are used to provide elastic support for the support rods.

[0024] As a further improvement of the present invention: two sets of second slots for the support rods to pass through are further provided on the side wall of the pick-up and place tube body, and supports are fixedly provided on the outer wall of the pick-up and place tube body on the sides of the second slots;

[0025] A rotating shaft is fixedly provided on the side wall of the support, and one end of the rotating shaft away from the support passes through the support rod and is rotatably engaged with the support rod.

[0026] As a further improvement of the present invention: a first air inlet hole is provided on the side wall of the lifting pipe, a sealing sleeve is slidingly provided on the outside of the lifting pipe, a second air inlet hole corresponding to the first air inlet hole is provided on the side wall of the sealing sleeve, the bottom of the sealing sleeve is connected to the suction cup through a second elastic member, and the second elastic member is used to provide elastic support for the sealing sleeve.

[0027] As a further improvement of the present invention: a pressure sensor is provided at the bottom of the suction cup, and the pressure sensor is electrically connected to the cylinder.

[0028] 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 springs.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] In the embodiment of the present invention, when it is necessary to place the folded and stacked medicine packaging box on the packaging line, the pick-up and placement tube body can be controlled by the robotic arm to move so that the lifting component is located above the folded and stacked medicine packaging box, and then the robotic arm controls the pick-up and placement tube body to move downward so that the lifting component contacts the upper surface of the folded and stacked medicine packaging box, and then the driving component is used to drive the piston assembly and the lifting component to move upward compared to the pick-up and placement tube body. When the piston assembly moves upward, the folded and stacked medicine packaging box is adsorbed to the bottom of the lifting component by the negative pressure effect, and then as the lifting component moves upward, the upper part of the folded and stacked medicine packaging box is pulled upward, so that the folded and stacked medicine packaging box Unfold. When the folded and folded medicine packaging box is unfolded, the clamping component extends from the side of the unfolded medicine packaging box into the inner side of the medicine packaging box, thereby completing the clamping of the medicine packaging box. Finally, the pick-up and placement tube body is controlled by the robotic arm to move to a position above the packaging line. The pick-up and placement tube body synchronously moves the clamped medicine packaging box to a position above the packaging line through the clamping component. At this time, the clamping component withdraws from the inner side of the medicine packaging box, and then places the medicine packaging box on the packaging line, thereby completing the picking and placing of the medicine packaging box. Compared with the existing technology, when picking and placing the medicine packaging box, the medicine packaging box can be stably clamped, thereby improving the picking and placing effect and efficiency of the medicine packaging box. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a structural diagram of a device for taking and placing medicine packaging boxes;

[0032] Figure 2 This is a structural diagram of a drug packaging box picking and placing device in a working state;

[0033] Figure 3 A schematic diagram of the structure of the lifting component in a drug packaging box picking and placing device Figure 1 ;

[0034] Figure 4 A schematic diagram of the structure of the lifting component in a drug packaging box picking and placing device Figure 2 ;

[0035] Figure 5 A schematic diagram of the structure of the lifting component in a drug packaging box picking and placing device Figure 3 ;

[0036] Figure 6 for Figure 1 A magnified schematic diagram of area A in the middle;

[0037] Figure 7 for Figure 2 A magnified schematic diagram of area B in the middle;

[0038] In the figure: 10-pick-up and place tube body, 101-first notch, 102-top plate, 103-second notch, 104-support, 105-rotating shaft, 20-driving assembly, 201-cylinder, 202-first connecting rod, 203-lifting column, 30-clamping assembly, 301-support rod, 302-first elastic member, 303-arc-shaped clamping rod, 40-lifting assembly, 401-lifting pipe, 4011-first air inlet, 402-suction cup, 4021-first through hole, 4022-pressure sensor, 403-sealing sleeve, 4031-second air inlet, 404-second elastic member, 405-lifting plate, 4051-second through hole, 406-third elastic member, 50-piston assembly, 501-second connecting rod, 502-piston block. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be further described in detail below in conjunction with specific implementation methods.

[0040] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0041] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are 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 cannot be understood as limiting the present invention.

[0042] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," and "disposed" should be understood in a broad sense. For example, they may refer to fixed connection or disposition, detachable connection or disposition, or integral connection or disposition. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0043] See also Figure 1 as well as Figure 2The present embodiment provides a device for picking and placing a medicine package box, comprising a picking and placing tube body 10, a driving assembly 20, a gripping assembly 30, a lifting assembly 40 and a piston assembly 50. The picking and placing tube body 10 is mounted on a robotic arm (not shown) and is controlled to move by the robotic arm. 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 mounted 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 package box to the bottom of the lifting assembly 40. When the lifting assembly 40 moves upward, it pulls the folded and stacked medicine package box to unfold. The gripping assembly 30 is hingedly arranged on the outer wall of the picking and placing tube body 10. When the folded and stacked medicine package box is unfolded, the gripping assembly 30 extends into the inner side of the medicine package box from the side of the unfolded medicine package box.

[0044] When the folded and stacked medicine packaging box needs to be placed on the packaging line, the robot arm can be used to control the movement of the pick-up and placement tube body 10 so that the lifting component 40 is located above the folded and stacked medicine packaging box. Then the robot arm controls the pick-up and placement tube body 10 to move downward so that the lifting component 40 contacts the upper surface of the folded and stacked medicine packaging box. Then, the driving component 20 is used to drive the piston component 50 and the lifting component 40 to move upward compared to the pick-up and placement tube body 10. When the piston component 50 moves upward, the folded and stacked medicine packaging box is adsorbed to the bottom of the lifting component 40 by the negative pressure effect. Then, as the lifting component 40 moves upward, the medicine packaging box is moved downward. The upper part of the folded and stacked medicine packaging box is pulled upward, so that the folded and stacked medicine packaging box is unfolded. When the folded and stacked medicine packaging box is unfolded, the clamping component 30 extends from the side of the unfolded medicine packaging box into the inner side of the medicine packaging box, thereby completing the clamping of the medicine packaging box. Finally, the robotic arm controls the pick-up and placement tube body 10 to move to a position above the packaging line. The pick-up and placement tube body 10 synchronously moves the clamped medicine packaging box to a position above the packaging line through the clamping component 30. At this time, the clamping component 30 withdraws from the inner side of the medicine packaging box, and then places the medicine packaging box on the packaging line, thereby completing the picking and placing of the medicine packaging box.

[0045] See also Figure 1 as well as Figure 2In one embodiment, a first notch 101 is opened on the side wall of the picking and placing tube body 10 along the length direction, and a top plate 102 is fixedly provided on the top of the picking and placing 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, and the lifting column 203 is movably arranged inside the picking and placing 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 from the first notch 101 into the interior of the picking and placing tube body 10 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 picking and placing 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.

[0046] When the robotic arm controls the movement of the picking and placing tube body 10 so that the lifting assembly 40 contacts the upper surface of the folded and stacked medicine packaging box, the cylinder 201 drives the first connecting rod 202 to move upward along the inside of the first slot 101, thereby driving the lifting column 203 to move upward along the inside of the picking and placing tube body 10. When the lifting column 203 moves upward, the second connecting rod 501 drives the piston block 502 to move upward synchronously along the inside of the picking and placing tube body 10, thereby adsorbing the upper surface of the folded and stacked medicine packaging box to the bottom of the lifting assembly 40.

[0047] See also Figure 1 、 Figure 3 、 Figure 4 as well as Figure 5 In one embodiment, the lifting assembly 40 includes a lifting pipe 401, a suction cup 402 and a lifting plate 405. The lifting plate 405 is movably arranged inside the picking and placing tube body 10 and is located below the piston block 502. The lifting plate 405 is hollow inside, and a plurality of second through holes 4051 are provided on the top wall of the lifting plate 405. The suction cup 402 is arranged below the picking and placing tube body 10, the suction cup 402 is hollow inside, and a plurality of first through holes 4021 are provided on 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 plate 405 and communicates with the inner cavity of the lifting plate 405, and the other end extends to the bottom of the picking and placing 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.

[0048] The robot arm controls the pick-and-place tube body 10 so that the bottom of the suction cup 402 contacts the upper surface of the folded and flat medicine packaging box. Then, the cylinder 201 is used to drive 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. 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 through the lifting pipe 401, the inner cavity of the lifting plate 405 and the plurality of second through holes 4051 to the pick-and-place box. The inside of the tube body 10 causes a negative pressure effect to appear inside the suction cup 402, thereby sucking the upper surface of the folded and stacked medicine packaging box to the bottom of the suction cup 402. At the same time, when the piston block 502 moves upward along the inside of the picking and placing tube body 10, it can pull the lifting plate 405, thereby driving the lifting plate 405 to move upward along the inside of the picking and placing tube body 10. The lifting plate 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 box upward, so that the folded and stacked medicine packaging box is unfolded.

[0049] See also Figure 1 as well as 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. The arc-shaped clamping rod 303 is provided with two groups. The two groups of arc-shaped clamping rods 303 are respectively arranged on opposite sides of the outside of the picking and placing tube body 10. The side walls of the two groups of arc-shaped clamping rods 303 are fixed with a group of support rods 301. The two groups of support rods 301 extend away from one end of the corresponding arc-shaped clamping rod 303 to the inner side of the picking and placing tube body 10. The two groups of support rods 301 are hingedly connected to the side walls of the picking and placing tube body 10. The side walls of the two groups of 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 member 302. The first elastic member 302 is used to provide elastic support for the support rods 301.

[0050] When the suction cup 402 acts on the upper surface of the folded and stacked medicine packaging box, the two sets of arc-shaped clamping rods 303 are unfolded on the outer sides of both ends of the folded and stacked medicine packaging box (such as Figure 2When the piston block 502 moves upward along the inside of the pick-and-place tube 10, the upper part of the folded and stacked medicine packaging box is pulled upward by the suction cup 402, and the folded and stacked medicine packaging box is unfolded. At the same time, when the piston block 502 moves upward, it can act on one end of the two sets of support rods 301 located inside the pick-and-place tube 10, thereby pushing the two sets of support rods 301 to rotate. When the two sets of support rods 301 rotate, they drive the two sets of arc clamping rods 303 to rotate relative to each other. When the two sets of arc clamping rods 303 rotate relative to each other, they extend into the inner side of the medicine packaging box from both sides of the unfolded medicine packaging box. After the two sets of arc clamping rods 303 extend into the inner side of the medicine packaging box, they act on the inner top wall of the medicine packaging box, thereby pressing the medicine packaging box to the bottom of the suction cup 402, thereby stably clamping the medicine packaging box. After the medicine packaging box is clamped, the robot arm controls the pick-and-place tube 10 to move above the packaging line, and then the cylinder 201 drives the second When the lifting column 203 is lifted up, the lifting column 203 is lifted up, and the lifting column 203 is lifted up, so that the lifting column 203 is lifted up, and the lifting column 203 is lifted up, so that the lifting column 203 is lifted up, and the lifting column 203 is lifted up, so that the lifting column 203 is lifted up, and the lifting column 203 is lifted up, so that the lifting column 203 is lifted up, and the lifting column 203 is lifted up, so that the lifting column 203 is lifted up, so that the lifting column 203 is lifted up, and the lifting column 203 is lifted up, so that the lifting column 203 is lifted up,

[0051] See also Figure 6 In one embodiment, two groups of second slots 103 are provided on the side wall of the picking and placing tube body 10 for the support rod 301 to pass through. A support 104 is fixedly provided on the outer wall of the picking and placing tube body 10 on the side of the second slot 103. A rotating shaft 105 is fixedly provided on the side wall of the support 104. The end of the rotating shaft 105 away from the support 104 passes through the support rod 301 and rotates with the support rod 301.

[0052] When the piston block 502 moves upward along the inside of the picking and placing tube body 10 and pushes the two groups of support rods 301 at one end inside the picking and placing tube body 10, the two groups of support rods 301 are pushed and rotated 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 toward each other, thereby extending into the inside of the unfolded medicine packaging box and pressing the medicine packaging box to the bottom of the suction cup 402, thereby achieving the clamping of the medicine packaging box.

[0053] See also Figure 3 、 Figure 5as well as Figure 7 In one embodiment, the bottom wall of the lifting plate 405 is connected to the inner bottom wall of the picking and placing tube body 10 by a third elastic member 406. The third elastic member 406 is used to provide elastic tension to the lifting plate 405. A first air inlet hole 4011 is provided on the side wall of the lifting pipe 401. A sealing sleeve 403 is slidingly provided on the outside of the lifting pipe 401. A second air inlet hole 4031 corresponding to the first air inlet hole 4011 is provided 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.

[0054] Initially, the sealing sleeve 403 is sleeved on the outside of the lifting pipe 401, and the second air inlet 4031 is located above the first air inlet 4011 and is offset from the first air inlet 4011. The sealing sleeve 403 seals the first air inlet 4011. As the suction cup 402 attracts the folded and flat medicine packaging box to move upward and unfold, the third elastic member 406 is stretched and gradually extends, and the lifting pipe 401 drives the sealing sleeve 403 to move upward synchronously. When the two sets of arc-shaped clamping rods 303 extend into the inner side of the medicine packaging box and press the medicine packaging box to the bottom of the suction cup 402, the sealing sleeve 403 acts on the taking and placing pipe. The bottom wall of the body 10 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 connected, the negative pressure environment inside the suction cup 402 is destroyed, and the third elastic member 406 can pull the lifting plate 405 so that the lifting plate 405 moves 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 exerts downward pressure on the medicine packaging box, thereby further pressing the medicine packaging box onto the two sets of arc-shaped clamping rods 303, thereby improving the clamping stability of the medicine packaging box.

[0055] See also Figure 4 In one embodiment, a pressure sensor 4022 is provided at the bottom of the suction cup 402 , and the pressure sensor 4022 is electrically connected to the cylinder 201 .

[0056] When the bottom of the suction cup 402 acts on the upper surface of the folded and stacked medicine packaging box, the pressure sensor 4022 is pressurized and transmits a signal to the cylinder 201, thereby driving the cylinder 201 to work, so as to drive the first connecting rod 202, the lifting column 203, the second connecting rod 501 and the piston block 502 to move upward, thereby realizing the automatic adsorption of the folded and stacked medicine packaging box and driving the adsorbed folded and stacked medicine packaging box to automatically unfold.

[0057] In one embodiment, the first elastic member 302 , the second elastic member 404 and the third elastic member 406 may be springs or metal springs, which are not limited herein.

[0058] In the embodiment of the present invention, when it is necessary to place the folded and stacked medicine packaging box on the packaging line, the robot arm can be used to control the movement of the pick-up and placement tube body 10 so that the lifting component 40 is located above the folded and stacked medicine packaging box. Then, the robot arm controls the pick-up and placement tube body 10 to move downward so that the lifting component 40 contacts the upper surface of the folded and stacked medicine packaging box. Then, the driving component 20 is used to drive the piston component 50 and the lifting component 40 to move upward compared with the pick-up and placement tube body 10. When the piston component 50 moves upward, the negative pressure is used to adsorb the folded and stacked medicine packaging box to the bottom of the lifting component 40. Then, as the lifting component 40 moves upward, the upper part of the folded and stacked medicine packaging box is pulled upward, so that the folded and stacked medicine packaging box is The medicine packaging box is unfolded. When the folded and folded medicine packaging box is unfolded, the clamping component 30 extends from the side of the unfolded medicine packaging box into the inner side of the medicine packaging box, thereby completing the clamping of the medicine packaging box. Finally, the robotic arm controls the pick-up and placement tube body 10 to move to a position above the packaging line. The pick-up and placement tube body 10 synchronously moves the clamped medicine packaging box to a position above the packaging line through the clamping component 30. At this time, the clamping component 30 withdraws from the inner side of the medicine packaging box, and then places the medicine packaging box on the packaging line, thereby completing the picking and placing of the medicine packaging box. Compared with the existing technology, when picking and placing the medicine packaging box, the medicine packaging box can be stably clamped, thereby improving the picking and placing effect and efficiency of the medicine packaging box.

[0059] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description. It is intended that all variations within the meaning and range of equivalents of the claims be embraced herein, and any reference signs in the claims should not be construed as limiting the claims to which they relate.

[0060] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity, and those skilled in the art should regard the specification as a whole.

Claims

1. A device for picking up and placing medicine packaging boxes, characterized in that: It comprises a pick-and-place tube body (10), a driving assembly (20), a clamping assembly (30), a lifting assembly (40) and a piston assembly (50); The pick-and-place tube body (10) is mounted on a robotic arm and is controlled to move by the robotic arm; The lifting assembly (40) is movably arranged at the bottom of the pick-up and placement tube body (10), and the piston assembly (50) is arranged inside the pick-up and placement tube body (10); The driving assembly (20) is mounted on the side wall of the pick-and-place tube (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 (10); When the piston assembly (50) moves upward, the folded and stacked medicine packaging box is adsorbed to the bottom of the lifting assembly (40), and when the lifting assembly (40) moves upward, the folded and stacked medicine packaging box is pulled to unfold; The clamping assembly (30) is hingedly arranged on the outer wall of the pick-and-place tube (10). When the folded and flat medicine packaging box is unfolded, the clamping assembly (30) extends from the side of the unfolded medicine packaging box into the inner side of the medicine packaging box. A first notch (101) is provided on the side wall of the pick-and-place tube body (10) along the length direction, and a top plate (102) is fixedly provided on the top of the pick-and-place tube body (10); The driving assembly (20) comprises 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-up and placement 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 from the first notch (101) to the inside of the pick-up and placement tube body (10) 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 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).

2. A medicine packaging box taking and placing device according to claim 1, characterized in that: The lifting assembly (40) includes a lifting pipe (401), a suction cup (402) and a lifting plate (405); The lifting plate (405) is movably arranged inside the pick-and-place tube body (10) and is located below the piston block (502); the lifting plate (405) is hollow inside, and a plurality of second through holes (4051) are opened on the top wall of the lifting plate (405); the suction cup (402) is arranged below the pick-and-place tube body (10); the suction cup (402) is hollow inside, and a plurality of first through holes (4021) are opened on 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 plate (405) and communicates with the inner cavity of the lifting plate (405), and the other end extends to the bottom of the picking and placing tube body (10) and is fixedly connected to the suction cup (402), and the lifting pipe (401) is communicated with the inner cavity of the suction cup (402).

3. A medicine packaging box taking and placing device according to claim 2, characterized in that: The bottom wall of the lifting plate (405) and the inner bottom wall of the pick-and-place tube body (10) are also connected via a third elastic member (406), and the third elastic member (406) is used to provide elastic pulling force to the lifting plate (405).

4. A device for taking and placing medicine packaging boxes according to claim 3, characterized in that: The clamping assembly (30) comprises a support rod (301), a first elastic member (302), and an arc-shaped clamping rod (303); The arc-shaped clamping rods (303) are provided in two groups, and the two groups of arc-shaped clamping rods (303) are respectively arranged on opposite sides of the outside of the pick-and-place tube body (10), and a group of support rods (301) are fixedly provided on the side walls of the two groups of arc-shaped clamping rods (303); The two groups of support rods (301) extend away from one end of the corresponding arc-shaped clamping rod (303) to the inner side of the pick-up and placement tube body (10), and the two groups of support rods (301) are hingedly connected to the side walls of the pick-up and placement tube body (10). The side walls of the two groups of support rods (301) are respectively connected to the outer wall of the pick-up and placement tube body (10) through a group of the first elastic members (302), and the first elastic members (302) are used to provide elastic support for the support rods (301).

5. A device for taking and placing medicine packaging boxes according to claim 4, characterized in that: Two sets of second slots (103) for the support rods (301) to pass through are also provided on the side wall of the pick-and-place tube body (10), and a support (104) is fixedly provided on the outer wall of the pick-and-place tube body (10) on the side of the second slots (103); A rotating shaft (105) is fixedly provided on the side wall of the support (104), and one end of the rotating shaft (105) away from the support (104) passes through the support rod (301) and is rotatably engaged with the support rod (301).

6. The device for taking and placing medicine packaging boxes according to claim 4, characterized in that: A first air inlet hole (4011) is provided on the side wall of the lifting pipe (401), a sealing sleeve (403) is slidably provided on the outside of the lifting pipe (401), a second air inlet hole (4031) corresponding to the first air inlet hole (4011) is provided on the side wall of the sealing sleeve (403), and the bottom of the sealing sleeve (403) is connected to the suction cup (402) via a second elastic member (404), and the second elastic member (404) is used to provide elastic support for the sealing sleeve (403).

7. The device for taking and placing medicine packaging boxes according to claim 2, characterized in that: A pressure sensor (4022) is provided at the bottom of the suction cup (402), and the pressure sensor (4022) is electrically connected to the cylinder (201).

8. The device for taking and placing medicine packaging boxes according to claim 6, characterized in that: The first elastic member (302), the second elastic member (404) and the third elastic member (406) are springs or metal springs.

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