Bottle grabbing manipulator for detecting visible foreign matters in bottled liquid medicine

Abstract

The invention discloses a bottle grabbing manipulator for detecting visible foreign matters in bottled liquid medicines, and relates to the technical field of manipulators. And the grabbing and clamping assembly is arranged at one end of the mechanical arm, and the grabbing and clamping assembly comprises an opening and closing piece. After the cylindrical shell slidably connected to the lower portion of the hollow long strip makes contact with the outer surface of a medicine bottle, the cylindrical shell moves along the outer surface of the medicine bottle under continuous driving of the hollow long strip, and the distance between the cylindrical shell and the medicine bottle is enlarged along the radian of the outer surface of the medicine bottle due to blocking of the outer wall of the medicine bottle during moving; meanwhile, a cylindrical shell drives a moving seat to move along a groove through a winding rod and a connecting rod, the connecting rod drives a gear to roll on a rack, the winding rod releases a packaging belt, the packaging belt wraps the medicine bottle under traction of the cylindrical shell, when the two hollow long strip faces are attached to each other, an anti-skid groove and a corresponding anti-skid head are clamped, the medicine bottle is completely clamped, and the clamping effect is good. During clamping, surface contact with the medicine bottle is achieved, pressure is evenly distributed, excessive clamping is not needed, and the damage risk of the medicine bottle is effectively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a bottle-grabbing manipulator for detecting visible foreign matter in bottled liquid medicines. Background Art

[0002] Bottled medicines refer to various medicinal liquids, suspensions, emulsions, drops, oral solutions, lotions or other liquid medicines loaded in special containers (usually bottles). They are packaged, sealed and labeled for use in medical treatment, pharmacies or consumers. The container type is mainly medicinal bottles (glass bottles or plastic bottles), which meet the requirements of drug stability and anti-pollution. Drug categories include but are not limited to pre-packaged liquid medicines, drops, oral solutions, and injectable liquids. Foreign matter detection in bottled liquid medicines is an important link in ensuring the quality and safety of medicines. Effective foreign matter detection methods should be able to identify different types of foreign matter (such as metal pieces, plastic fragments, fibers, etc.) and meet relevant national and industry standards. Current foreign matter detection is automated, and most of the time, a robot is required to clamp the bottled medicine and move it to the detection position.

[0003] The existing patent document CN205685329U discloses a bottle grabbing robot, comprising: a support, a driving cylinder, at least two lifting transmission assemblies, at least two pairs of transmission plates and two clamping plates; the lifting transmission assembly comprises a lifting rod and a transmission disk, the transmission disk is arranged at the top end of the lifting rod and is integrally connected to the lifting rod; the transmission disk is cylindrical, and the diameter of the transmission disk is larger than the diameter of the lifting rod; each pair of transmission plates has at least two upper plates and at least two lower plates, and the upper plate and the lower plate are respectively clamped on the upper surface and lower surface of a transmission disk; the transmission plate also has a fixed surface; the bottom end of the clamping plate is fixed on the fixed surface, and the top end of the clamping plate has a clamping claw; the lifting rod is fixed on the support and connected to the driving cylinder; the driving cylinder drives the lifting rod to move in a direction perpendicular to the support, driving the transmission disk to move accordingly, so that the angle between the fixed surface of the transmission plate and the lifting rod changes, driving the two clamping plates to open and close synchronously with the movement of the lifting rod.

[0004] In the above-mentioned robot disclosed, when the hard material of the splint comes into contact with the medicine bottle, the contact area is small and the rigidity is high, resulting in pressure concentrated on several points or lines on the medicine bottle. When the local stress exceeds the tensile strength of the medicine bottle, the medicine bottle will directly produce microcracks, and in severe cases, it may even break. Summary of the Invention

[0005] The purpose of the present invention is to provide a bottle-grabbing robot for detecting visible foreign matter in bottled liquid medicines, which solves the problem that when a traditional bottle-grabbing robot for detecting visible foreign matter in bottled liquid medicines comes into contact with the medicine bottle, the contact area is small and the rigidity is high, resulting in pressure concentrated on several points or lines on the medicine bottle. When the local stress exceeds the tensile strength of the medicine bottle, the medicine bottle will directly produce microcracks, and in severe cases, even break.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions, which include: robotic arm; A gripping assembly, the gripping assembly being arranged at one end of the robotic arm, the gripping assembly comprising an opening and closing member, a clamping member and a resetting member, the opening and closing member comprising a mounting shell arranged at one end of the robotic arm, connecting wings being fixed on both sides of the mounting shell, a slide rail groove being provided at the bottom of each of the two connecting wings, the clamping member being arranged at the bottom of the connecting wings, the clamping member comprising sliding arms respectively arranged at the bottom of each of the two connecting wings, a slider being fixed at the top of each of the two sliding arms, and the slider sliding inside the slide rail groove; A hollow strip is fixed at the bottom of the sliding arm, a groove is provided on one side of the inner wall of the hollow strip, and a through slot is provided on the other side of the inner wall of the hollow strip. Two movable seats are provided on the inner side of the hollow strip, and both sides of the movable seat extend to the inner sides of the groove and the through slot respectively. A retractable driving member is provided at the bottom of the two movable seats, and a wrapping member is provided between the two retractable driving members.

[0007] Preferably, a mounting groove is provided at the bottom of the movable seat, and the retractable driving member includes a connecting rod rotating inside the mounting groove and a rack fixed to the inner wall of the hollow strip, and a gear is fixed on the outer surface of the connecting rod, and the gear is meshed with the tooth surface of the rack.

[0008] Preferably, two slide grooves are provided at the bottom of the hollow strip, and the wrapping piece includes two cylindrical shells, and two connecting columns are fixed on the top of the two cylindrical shells, and one end of the two connecting columns slides in the two slide grooves respectively, and a winding rod is rotated between the top and bottom of the inner walls of the two cylindrical shells, and one end of the winding rod extends to the outside of the cylindrical shell and is fixedly connected to one end of the connecting rod. The outer surfaces of the two cylindrical shells are provided with through grooves, and a wrapping belt is provided between the two winding rods, and the wrapping belt is passed through the through groove.

[0009] Preferably, an anti-slip groove is provided on one side of the movable seat, and an anti-slip head is fixed on the inner side of the through groove.

[0010] Preferably, the reset member includes a reset bar fixed to one side of the two connecting wings and a cylindrical head fixed to the top of the movable seat, and the reset bar is inserted between the hollow strip and the sliding arm.

[0011] Preferably, an anti-movement groove is provided on one side of the movable seat, two through holes are provided on one side of the inner wall of the groove, and elastic anti-movement strips are fixed on the inner walls of the two through holes.

[0012] Preferably, the opening and closing member also includes a cylinder fixed to the bottom of the inner wall of the mounting shell, two baffles fixed to the inner side of the mounting shell, and mounting brackets respectively fixed to one side of the two sliding arms. A lifting plate is provided between the two baffles, one end of the cylinder telescopic rod is fixed to the bottom of the lifting plate, and opening and closing rods are rotatably provided on both sides of the bottom of the lifting plate, and one end of the opening and closing rod is rotatably connected to one end of the mounting bracket.

[0013] Preferably, the wrapping belt is made of rubber, and the outer surface of the wrapping belt is provided with an anti-slip texture.

[0014] Compared with the prior art, the beneficial effects of the present invention are: After the cylindrical shell connected to the bottom of the hollow strip by sliding contacts the outer surface of the medicine bottle, it moves along the outer surface of the medicine bottle under the continued drive of the hollow strip, and is hindered by the outer wall of the medicine bottle during movement and expands the distance between the two along the curvature of the outer surface of the medicine bottle. At the same time, the cylindrical shell drives the moving seat to move along the groove through the winding rod and the connecting rod, and the connecting rod drives the gear to roll on the rack, so that the winding rod releases the wrapping tape and wraps it on the medicine bottle under the traction of the cylindrical shell. When the two hollow strips are face to face, the anti-slip groove and the corresponding anti-slip head are stuck, and the medicine bottle is completely clamped. When clamping, surface contact is achieved between the medicine bottle and the medicine bottle, and the pressure is evenly distributed without excessive clamping, which effectively reduces the risk of damage to the medicine bottle.

[0015] According to the different outer dimensions of the part of the medicine bottle to be clamped, the anti-slip groove on the movable seat will be engaged with the anti-slip heads at different positions, so that medicine bottles of various sizes can be used.

[0016] After clamping the medicine bottle, the cylinder is started to drive the lifting plate to descend. The lifting plate pulls the hollow strip toward the reset strip through the opening and closing rod and the sliding arm. After the cylindrical heads on the two moving seats enter the inner side of the reset strip, they are limited by the inner wall of the reset strip and gradually move toward each other until the hollow strip stops moving. At this time, the cylindrical head will drive the moving seat to the position corresponding to the anti-displacement groove and the elastic anti-displacement strip. The elastic anti-displacement strip is stuck in the anti-displacement groove to limit the initial position of the moving seat and the cylindrical shell. At the same time, the connecting rod drives the gear to roll on the rack to rewind the previously released wrapping tape for next use. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic diagram of the overall structure of the present invention; Figure 2 This is a disassembled cross-sectional view of the opening and closing member, the sliding arm, and the hollow strip in the present invention; Figure 3 It is a structural schematic diagram of the clamping member and the resetting member in the present invention; Figure 4 for Figure 3 Schematic diagram of the splitting; Figure 5 It is a partial structural cross-sectional view of the clamping member and the resetting member in the present invention; Figure 6 for Figure 5 Enlarged schematic diagram of part A in the middle.

[0018] Figure 7 Schematic diagram of the disassembly of the cylindrical shell, connecting rod and wrapping belt in the present invention.

[0019] Figure 8 It is a cross-sectional view of two hollow strips in the present invention.

[0020] 1. Robotic arm; 2. Grasping assembly; 21. Mounting shell; 22. Connecting wing; 23. Slide rail groove; 24. Sliding arm; 25. Slider; 26. Hollow strip; 27. Groove; 28. Through groove; 29. ​​Moving seat; 210. Mounting groove; 211. Connecting rod; 212. Rack; 213. Gear; 214. Slide groove; 215. Cylindrical shell; 216. Connecting column; 217. Winding rod; 218. Through groove; 219. Wrapping belt; 220. Anti-skid groove; 221. Anti-skid head; 222. Reset strip; 223. Cylindrical head; 224. Anti-shift groove; 225. Through hole; 226. Elastic anti-shift strip; 227. Cylinder; 228. Shielding plate; 229. Mounting frame; 230. Lifting plate; 231. Opening and closing rod. DETAILED DESCRIPTION

[0021] The above and other technical features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.

[0022] The present invention provides a technical solution: a bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines, such as Figure 1-8 As shown, it includes a robotic arm 1 and a gripping assembly 2 provided at one end of the robotic arm 1. The gripping assembly 2 includes an opening and closing member, a clamping member, and a resetting member. The opening and closing member includes a mounting shell 21 provided at one end of the robotic arm 1, a cylinder 227 fixed to the bottom of the inner wall of the mounting shell 21, two baffles 228 fixed to the inner side of the mounting shell 21, and mounting brackets 229 respectively fixed to one side of two sliding arms 24. Connecting wings 22 are fixed on both sides of the mounting shell 21. The bottoms of the two connecting wings 22 are provided with slide rail grooves 23. The two baffles 228 are sleeved between them. A lifting plate 230 is provided, and one end of the telescopic rod of the cylinder 227 is fixed to the bottom of the lifting plate 230 and fixedly connected. Opening and closing rods 231 are rotatably provided on both sides of the bottom of the lifting plate 230. The opening and closing rods 231 are arranged outside the mounting shell 21. Two mounting brackets 229 are fixed on one side of each hollow strip 26. Two opening and closing rods 231 are also respectively provided on both sides of the bottom of the lifting plate 230, and each opening and closing rod 231 position corresponds to a mounting bracket 229. One end of the opening and closing rod 231 is rotatably connected to one end of the mounting bracket 229 corresponding to the upper and lower sides thereof.

[0023] The clamping member is provided at the bottom of the connecting wing 22. The clamping member includes a sliding arm 24 provided at the bottom of the two connecting wings 22. The top of the two sliding arms 24 is fixed with a slider 25. The slider 25 slides correspondingly inside the slide rail groove 23. The bottom of the sliding arm 24 is fixed with a hollow strip 26. A groove 27 is provided on one side of the inner wall of the hollow strip 26. A through groove 28 is provided on the other side of the inner wall of the hollow strip 26. The through groove 28 is provided on the outer side walls opposite to each other of the two hollow strips 26. The groove 27 and the through groove 28 are provided opposite to each other on the left and right sides. The inner side of the hollow strip 26 is provided with a groove 27. Two movable seats 29 are provided, and both sides of the movable seat 29 extend to the inner sides of the groove 27 and the through groove 28 respectively. A rubber layer can be provided at the sliding connection parts between the movable seat 29 and the groove 27 and the through groove 28 to ensure that the movement of the movable seat 29 in the groove 27 has a certain resistance, but there should not be too much resistance, to avoid excessive resistance causing difficulty in moving the movable seat 29, thereby causing excessive squeezing force of the cylindrical shell 215 on the medicine bottle and causing damage to the medicine bottle. The bottoms of the two movable seats 29 are provided with retractable driving parts, and a wrapping part is provided between the two retractable driving parts.

[0024] A mounting groove 210 is provided at the bottom of the movable seat 29, and the retracting and releasing driving member includes a connecting rod 211 rotating inside the mounting groove 210 and a rack 212 fixed to the inner wall of the hollow strip 26. A gear 213 is fixed to the outer surface of the connecting rod 211 and meshed with the tooth surface of the rack 212. Two slide grooves 214 are provided on both sides of the bottom of the hollow strip 26. The wrapping member includes two cylindrical shells 215. The top of the cylindrical shell 215 slides in the two slide grooves 214 through two connecting columns 216 fixed thereto. A winding rod 217 is rotated between the top and bottom of the inner walls of the two cylindrical shells 215. One end of the winding rod 217 extends to the outside of the cylindrical shell 215 and is engaged with the connecting rod 211. One end is fixedly connected, and the outer surfaces of the two cylindrical shells 215 are provided with grooves 218, and a wrapping belt 219 is provided between the two winding rods 217. The wrapping belt 219 passes through the cylindrical shells 215 from the grooves 218 on the two cylindrical shells 215, and is wrapped and rolled on the two winding rods 217. The wrapping belt 219 is made of rubber material with anti-slip function, which is used to increase the friction between the medicine bottle and the medicine bottle to prevent slipping. The outer surface of the wrapping belt 219 is provided with an anti-slip texture, which can be a granular texture, horizontal or vertical stripes, a honeycomb structure (i.e., hexagonal texture) or a wavy or arc-shaped texture, which is used to help enhance the friction between the medicine bottle and the wrapping belt 219, so that the medicine bottle is more stable when clamped.

[0025] An anti-slip groove 220 is provided on one side of the movable seat 29 close to the through groove 28, and an anti-slip head 221 is fixed on the inner side of the through groove 28. The number of anti-slip heads 221 is determined by the user, and each anti-slip head 221 and the anti-slip groove 220 are connected to a medicine bottle of different outer sizes, so that medicine bottles of various sizes can be used. The anti-slip heads 221 in the through grooves 28 on the two hollow strips 26 are not located on the same horizontal plane, but are staggered up and down to avoid being obstructed by the anti-slip heads 221 when the two hollow strips 26 are closed. The reset member includes a reset bar 222 fixed to one side of the two connecting wings 22 and a reset bar fixed to the movable seat 29. The cylindrical head 223 at the top and the reset bar 222 are arranged between the hollow strip 26 and the sliding arm 24. The cylindrical head 223 and the reset bar 222 are on the same horizontal plane. The maximum spacing at the opening of the reset bar 222 is slightly larger than the length of the through groove 28 and the groove 27 in the hollow strip 26, ensuring that the two moving seats 29 in the hollow strip 26 can also drive the cylindrical head 223 to move into the reset bar 222 when the spacing is maximum. An anti-displacement groove 224 is provided on one side of the moving seat 29, and two through holes 225 are provided on one side of the inner wall of the groove 27. Elastic anti-displacement strips 226 with sizes matching the anti-displacement groove 224 are fixed on the inner walls of the two through holes 225.

[0026] During use: the robotic arm 1 moves the gripping assembly 2 to the position of the medicine to be grasped, so that the medicine is between the two wrapping belts 219, and the cylinder 227 is started. The telescopic rod of the cylinder 227 extends to drive the lifting plate 230 to move upward, and the lifting plate 230 drives the opening and closing rods 231 on both sides of the bottom to move upward with it. During the upward movement, the opening and closing rods 231 will deflect toward the direction between the two opening and closing rods 231 with the upper end as the rotation point. When the opening and closing rod 231 deflects, it will push the sliding arm 24 to the medicine under the sliding connection between the slider 25 and the slide rail groove 23 through the mounting bracket 229. The bottle approaches, thereby driving the hollow strip 26 to drive the cylindrical shell 215 and the wrapping belt 219 to approach the medicine bottle. After the cylindrical shells 215 below the two hollow strips 26 are in contact with the outer surface of the clamped part of the medicine bottle, the two hollow strips 26 will continue to move closer to each other under the continued drive of the opening and closing rod 231 and the sliding arm 24 until the opposite sides of the two hollow strips 26 are in contact with each other. At the same time, when the hollow strip 26 continues to move, the two cylindrical shells 215 that are in contact with the medicine bottle will be hindered by the outer wall of the medicine bottle and the distance between them will be expanded along the curvature of the outer surface of the medicine bottle. The cylindrical shell 215 is connected to the bottle. The sliding connection between the connecting post 216 and the slide groove 214 expands the spacing and moves on the outer surface of the medicine bottle. At the same time, the cylindrical shell 215 drives the moving seat 29 to move along the groove 27 through the winding rod 217 and the connecting rod 211. The two moving seats 29 located in the same hollow strip 26 change the spacing respectively with the cylindrical shell 215 connected thereto. When the connecting rod 211 moves, it drives the gear 213 to roll on the rack 212, so that the connecting rod 211 drives the winding rod 217 to rotate. When the cylindrical shell 215 moves along the outer surface of the medicine bottle, the winding rod 217 wraps the wrapping belt 21 9 is released, and the wrapping belt 219 is driven by the cylindrical shell 215 to wrap around the medicine bottle until the two hollow strips 26 are face to face, and the anti-slip groove 220 on the movable seat 29 will be locked with the anti-slip head 221 corresponding to it at this time, and the anti-slip head 221 is inserted into the anti-slip groove 220, which can prevent the movable seat 29 from sliding away from the medicine bottle due to gravity when the direction is changed after the medicine is clamped, causing the medicine bottle to fall. According to the different outer dimensions of the clamped part of the medicine bottle, the anti-slip groove 220 on the movable seat 29 will be locked with the anti-slip head 221 at different positions, so that medicine bottles of various sizes can be used.

[0027] After the medicine bottle is clamped, the robot arm 1 and the gripping assembly 2 send the medicine bottle to the position for foreign body detection. After the detection is completed, the medicine bottle is put down, and the telescopic end of the cylinder 227 retracts to drive the lifting plate 230 to descend. The lifting plate 230 drives the end connected to the opening and closing rod 231 to move downward and deflect toward both sides of the mounting shell 21. The other end of the opening and closing rod 231 will pull the sliding arm 24 through the mounting bracket 229, so that the sliding arm 24 drives the hollow strip 26 to move toward the reset strip 222. The cylindrical heads 223 on the two moving seats 29 enter the inner side of the reset strip 222 and are then received by the reset strip 222. The side wall limits gradually move toward each other until the hollow strip 26 stops moving. At this time, the cylindrical head 223 will drive the movable seat 29 to move to the position corresponding to the anti-displacement groove 224 and the elastic anti-displacement strip 226. The elastic anti-displacement strip 226 will be stuck in the anti-displacement groove 224 to limit the initial position of the movable seat 29 and the cylindrical shell 215. When the cylindrical head 223 drives the movable seat 29 to move, the connecting rod 211 will also drive the gear 213 to roll on the rack 212, so that the winding rod 217 will rewind the previously released wrapping belt 219 for next use.

[0028] The above description is merely a preferred embodiment of the present invention and is intended to be illustrative rather than restrictive of the present invention. Those skilled in the art will appreciate that many changes, modifications, and even equivalents may be made to the present invention within the spirit and scope of the claims, all of which fall within the scope of protection of the present invention.

Claims

1. A bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines, characterized in that: include: Robotic arm (1); A gripping assembly (2), wherein the gripping assembly (2) is arranged at one end of the robot arm (1), the gripping assembly (2) includes an opening and closing member, a clamping member, and a resetting member, the opening and closing member includes a mounting shell (21) arranged at one end of the robot arm (1), connecting wings (22) are fixed on both sides of the mounting shell (21), and the bottoms of the two connecting wings (22) are provided with slide rail grooves (23), the clamping member is arranged at the bottom of the connecting wings (22), the clamping member includes sliding arms (24) respectively arranged at the bottoms of the two connecting wings (22), and the tops of the two sliding arms (24) are fixed with sliders (25), and the sliders (25) slide inside the slide rail grooves (23); A hollow strip (26) is fixed to the bottom of the sliding arm (24), a groove (27) is provided on one side of the inner wall of the hollow strip (26), and a through slot (28) is provided on the other side of the inner wall of the hollow strip (26). Two movable seats (29) are provided on the inner side of the hollow strip (26), and both sides of the movable seat (29) extend to the inner side of the groove (27) and the through slot (28), respectively. The bottoms of the two movable seats (29) are both provided with a retractable driving member, and a wrapping member is provided between the two retractable driving members.

2. The bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines according to claim 1 is characterized in that: A mounting groove (210) is provided at the bottom of the movable seat (29), and the retractable driving member includes a connecting rod (211) rotating inside the mounting groove (210) and a rack (212) fixed to the inner wall of the hollow strip (26). A gear (213) is fixed to the outer surface of the connecting rod (211), and the gear (213) is meshed with the tooth surface of the rack (212).

3. The bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines according to claim 2 is characterized in that: Two slide grooves (214) are provided at the bottom of the hollow strip (26), and the wrapping member includes two cylindrical shells (215), and two connecting columns (216) are fixed on the top of the two cylindrical shells (215), and one end of the two connecting columns (216) slides in the two slide grooves (214) respectively. A winding rod (217) is rotated between the top and the bottom of the inner wall of the two cylindrical shells (215), and one end of the winding rod (217) extends to the outside of the cylindrical shell (215) and is fixedly connected to one end of the connecting rod (211). The outer surfaces of the two cylindrical shells (215) are provided with a through groove (218), and a wrapping belt (219) is provided between the two winding rods (217), and the wrapping belt (219) is passed through the through groove (218).

4. The bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines according to claim 3 is characterized in that: An anti-slip groove (220) is provided on one side of the movable seat (29), and an anti-slip head (221) is fixed on the inner side of the through groove (28).

5. The bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines according to claim 4 is characterized in that: The reset member comprises a reset bar (222) fixed to one side of the two connecting wings (22) and a cylindrical head (223) fixed to the top of the movable seat (29). The reset bar (222) is arranged between the hollow strip (26) and the sliding arm (24).

6. The bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines according to claim 1 is characterized in that: An anti-movement groove (224) is provided on one side of the movable seat (29), and two through holes (225) are provided on one side of the inner wall of the groove (27). Elastic anti-movement strips (226) are fixed on the inner walls of the two through holes (225).

7. The bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines according to claim 1 is characterized in that: The opening and closing member further comprises a cylinder (227) fixed to the bottom of the inner wall of the mounting shell (21), two shielding plates (228) fixed to the inner side of the mounting shell (21), and mounting frames (229) respectively fixed to one side of the two sliding arms (24). A lifting plate (230) is provided between the two shielding plates (228). One end of the telescopic rod of the cylinder (227) is fixed to the bottom of the lifting plate (230). Opening and closing rods (231) are rotatably provided on both sides of the bottom of the lifting plate (230). One end of the opening and closing rod (231) is rotatably connected to one end of the mounting frame (229).

8. The bottle grabbing robot for detecting visible foreign matter in bottled liquid medicines according to claim 3 is characterized in that: The wrapping belt (219) is made of rubber, and the outer surface of the wrapping belt (219) is provided with an anti-slip texture.

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