A medicine packing machine

Abstract

The application discloses a medicine packing machine, which comprises a frame with an upper assembly base plate and a moving seat base plate, wherein the upper assembly base plate is provided with a bag storage mechanism and a medicine storage mechanism; a mechanical hand base plate is arranged on the moving seat base plate and is in sliding connection with the moving seat base plate; a first mechanical hand and a second mechanical hand are arranged on the mechanical hand base plate, and a clamping space is formed between the first mechanical hand and the second mechanical hand. The medicine packing machine improves the packing efficiency of medicines.

Description

Technical Field

[0001] This invention relates to the field of pharmaceutical packaging equipment technology, specifically to a moving mechanism for a bag-picking and opening mechanism of a pharmaceutical packaging machine. Background Technology

[0002] The existing CN115246504B drug packaging bag is directly at the dispensing port, without taking into account the problem of the packaging bag and the dispensing port not being in the same location. Summary of the Invention

[0003] The purpose of this invention is to provide a pharmaceutical packaging machine that improves the packaging efficiency of pharmaceuticals.

[0004] The technical solution proposed in this invention is a pharmaceutical packaging machine, comprising:

[0005] The frame has an upper component base plate and a movable base plate, wherein the upper component base plate is provided with a storage bag mechanism and a drug storage mechanism.

[0006] The upper component substrate is provided with a first notch and a second notch, wherein the first position is the first notch and a storage bag mechanism is provided at the first notch, and the second position is the second notch and a medicine storage mechanism is provided at the second notch;

[0007] A robotic arm base plate is provided on the movable base plate. The robotic arm base plate is slidably connected to the movable base plate. A first robotic arm and a second robotic arm are provided on the robotic arm base plate. A clamping space is formed between the first robotic arm and the second robotic arm.

[0008] Furthermore, the first robotic arm includes: a support frame, a clamping timing belt, and a drive motor;

[0009] The bottom of the support frame is connected to the clamping timing belt. A drive motor is installed at the bottom of the support frame, and the clamping timing belt is connected to the drive motor. A suction cup is installed at the front of the support frame, and an air pump is installed at the rear of the support frame, which is connected to the suction cup.

[0010] Furthermore, the support frame includes a robot arm X-axis base plate and a robot arm Y-axis base plate;

[0011] The robot arm's X-axis substrate is slidably connected to the robot arm substrate, and the robot arm's Y-axis substrate is set perpendicular to the robot arm's X-axis substrate.

[0012] The support frame also includes a connecting plate, which is positioned perpendicular to the front of the robot's Y-axis base plate. A suction cup is mounted on the connecting plate, and an air pump is installed on the robot's X-axis base plate, connected to the suction cup. A triangular plate is positioned between the robot's X-axis base plate and Y-axis base plate. The right-angled side of the triangular plate is connected to the back of the robot's Y-axis base plate, and the shorter right-angled side of the triangular plate is connected to the robot's X-axis base plate.

[0013] Furthermore, the second robotic arm includes: a second support frame;

[0014] The second support frame is equipped with a second drive motor, a synchronous belt, and a lifting seat.

[0015] The second drive motor is connected to a synchronous belt, which is connected to a lifting platform. The lifting platform is equipped with a suction cup.

[0016] Furthermore, the second support frame includes a side support plate and a Z-axis base plate;

[0017] A second drive motor and a synchronous belt are mounted on the side support plate. A lifting seat is provided on the Z-axis base plate. The lifting seat includes a rotating platform mounting plate and a support plate. The rotating platform mounting plate is connected to the synchronous belt. A suction cup is provided on the support plate. The support plate is rotatably connected to the rotating platform mounting plate. An electric rotary table is provided on the rotating platform mounting plate and the support plate. The electric rotary table is connected to the support plate. An air pump is provided on the rotating platform mounting plate. A suction nozzle is provided on the suction cup. The air pump is connected to the suction nozzle. A guide block is provided at the rear end of the rotating platform mounting plate. A guide bar is provided on the Z-axis base plate. The guide block is positioned within the guide bar. A bracket chain is provided between the Z-axis base plate and the moving seat base plate of the frame.

[0018] Furthermore, the upper component substrate is also provided with a labeling mechanism and a sealing mechanism. The labeling mechanism is used to print labels on the packaging bags, and the sealing mechanism is used to seal the packaging bags. The labeling mechanism is located on the left side of the drug storage mechanism, and the sealing mechanism is located on the right side of the drug storage mechanism.

[0019] Furthermore, the drug storage mechanism includes an electric push rod, a paddle holder, and a drug inlet;

[0020] Two electric push rods are provided on both sides of the second notch. The top of the electric push rod is equipped with a paddle fixing frame, and the medicine inlet is connected to the fixing frame to form a medicine delivery channel.

[0021] A feeding trough is provided between the inlet and the outlet. The feeding trough is an arc-shaped conveying channel with an angle of 90 degrees. The inlet is a funnel-shaped opening with a cross-sectional area at the feeding end that is larger than that at the outlet.

[0022] Furthermore, the medicine storage mechanism also includes a left support bag lever, a right support bag lever, and a cylinder;

[0023] The left and right support bag levers are respectively connected to the lever fixing bracket, and the cylinders are respectively connected to the left and right support bag levers;

[0024] The sides of the left and right support bag levers are inverted triangles. A left connecting piece is provided between the left support bag lever and the cylinder, and a right connecting piece is provided between the right support bag lever and the cylinder.

[0025] Furthermore, a moving mechanism is provided at the bottom of the moving base plate. The moving mechanism includes a drive motor and a transmission belt assembly. The drive motor is installed at the bottom of the moving base plate. The moving base plate has a notch. A connecting block is provided on the lower side of the robot base plate. The connecting block is connected to the transmission belt assembly. Guide bars are distributed on both sides of the notch. There are two guide bars, and the two guide bars are arranged in parallel.

[0026] The beneficial effects of the technical solution of this invention are:

[0027] 1. When the position of the drug dispensing port and the position of the packaging bag do not match, the drug feeding direction can be changed by setting a drug feeding trough. A movable drug storage mechanism can be set between the drug dispensing port and the packaging bag to form a temporary storage compartment, which avoids the movement of the packaging bag and improves the adaptability of the drug packaging machine.

[0028] 2. Because it is a right triangle, the downward movement of the installation platform only requires a certain distance, which is significantly less than the length of the left support bag lever. Therefore, it can quickly improve the efficiency of medicine bag support and further improve packaging efficiency.

[0029] 3. The drive motor drives the clamping timing belt, which in turn drives the first robotic arm to move the suction cup. The suction cup holds the side of the packaging bag to be opened, preventing the packaging bag from suddenly opening and breaking.

[0030] 4. The storage bag mechanism is simple. By setting a second drive motor and a suction cup, the second robotic arm can take the packaging bag out of the storage bag mechanism, ensuring the efficiency of packaging medicines.

[0031] 5. The packaging bag is moved from the first position to the second position using a moving mechanism, which improves the efficiency of dispensing medicine. Attached Figure Description

[0032] Figure 1 This is a front view of the pharmaceutical packaging machine of the present invention;

[0033] Figure 2 This is a perspective view of the pharmaceutical packaging machine of the present invention;

[0034] Figure 3 This is a structural diagram of the drug storage mechanism of the drug packaging machine in this invention;

[0035] Figure 4 The moving mechanism structure of the pharmaceutical packaging machine in this invention. Figure 1 ;

[0036] Figure 5 The moving mechanism structure of the pharmaceutical packaging machine in this invention. Figure 2 ;

[0037] Figure 6 This is a structural diagram of the first and second robotic arms of the pharmaceutical packaging machine in this invention.

[0038] Explanation of reference numerals in the attached drawings: 10. Frame; 18. Upper component base plate; 11. Bag storage mechanism; 121. Electric push rod; 122. Paddle holder; 123. Medicine inlet; 124. Left bag support paddle; 125. Right bag support paddle; 126. Cylinder; 127. Left connector; 128. Right connector; 19. Moving base plate; 191. Drive motor; 192. Transmission belt assembly; 193. Connecting block; 194. Guide bar; 195. Robotic arm base plate; 15. First robotic arm; 152. Robotic arm X-axis base plate; 153. Machine... 154. Y-axis base plate of robotic arm; 155. Connecting plate; 156. Triangular plate; 157. Suction cup; 158. Suction pump; 159. Clamping timing belt; 160. First drive motor; 161. Second robotic arm; 162. Electric rotary table; 163. Side support plate; 164. Z-axis base plate; 165. Rotary platform mounting plate; 166. Support plate; 167. Second drive motor; 168. Timing belt; 169. Lifting seat; 160. Guide block; 170. Second suction cup; 180. Guide strip; 19. Labeling mechanism; 101. Sealing mechanism. Detailed Implementation

[0039] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some components in the drawings may be omitted, enlarged, or reduced, and do not represent the actual dimensions of the product. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0040] like Figure 1 As shown, a pharmaceutical packaging machine includes a frame 10 with a two-layer structure. One layer is an upper component base plate 18, and the other layer is a movable base plate 19. The upper component base plate 18 is located above the movable base plate 19. A drug dispensing port is provided at the front end of the frame 10. The upper component base plate 18 is provided with a bag storage mechanism 11 and a drug storage mechanism. The bag storage mechanism 11 is used to store the pharmaceuticals to be placed into the packaging bag, and the bag storage mechanism 11 is used to store the packaging bag containing the pharmaceuticals.

[0041] The upper component substrate 18 is provided with a first notch and a second notch, wherein the first notch is located at the first position and a storage bag mechanism 11 is provided at the first notch. The second notch is located at the second position and a medicine storage mechanism is provided at the second notch.

[0042] The medicine storage mechanism includes an electric push rod 121, a paddle holder 122, and a medicine inlet 123. Two electric push rods 121 are located on either side of the second notch. A paddle holder 122 is mounted on the top of each electric push rod 121. The medicine inlet 123 connects to the holder to form a medicine delivery channel. A medicine inlet trough is provided between the medicine inlet 123 and the dispensing port. The medicine inlet trough is an arc-shaped delivery channel with an angle of 90 degrees. The medicine inlet 123 is designed as a funnel opening, with the cross-sectional area of ​​the inlet end larger than that of the outlet end.

[0043] The medicine storage mechanism also includes a left support bag lever 124, a right support bag lever 125, and a cylinder 126. The left support bag lever 124 and the right support bag lever 125 are respectively connected to the lever fixing frame 122, and the cylinder 126 is connected to both the left support bag lever 124 and the right support bag lever 125. The sides of the left support bag lever 124 and the right support bag lever 125 are inverted triangles, which are right-angled triangles. A left connecting member 127 is provided between the left support bag lever 124 and the cylinder 126, and a right connecting member 128 is provided between the right support bag lever 125 and the cylinder 126.

[0044] The bag storage mechanism 11 has an inlet and an opening, with the opening facing downwards. The opening is equipped with two opposing baffles, and the packaging bag is placed horizontally in the bag storage mechanism 11.

[0045] A robotic arm base plate 195 is mounted on a movable base plate 19, and the robotic arm base plate 195 is slidably connected to the movable base plate 19. A guide block 169 is located at the bottom of the robotic arm base plate 195, and a guide strip 194 is mounted on the movable base plate 19. The guide block 169 is positioned within the guide strip 194. A transmission chain is provided on the movable base plate 19, and the transmission chain is connected to the robotic arm base plate 195. A moving mechanism is located at the bottom of the movable base plate 19, including a drive motor 191 and a transmission belt assembly 192. The drive motor 191 is mounted on the bottom of the movable base plate 19. The movable base plate 19 has a notch, and a connecting block 193 is located on the lower side of the robotic arm base plate 195. The connecting block 193 is connected to the transmission belt assembly 192. Two guide strips 194 are distributed on both sides of the notch, and the two guide strips 194 are arranged parallel to each other.

[0046] When the robotic arm base plate 195 slides to the first position, the robotic arm base plate 195 is located below the storage bag mechanism 11. When the robotic arm base plate 195 slides to the second position, the robotic arm base plate 195 is located below the drug storage mechanism.

[0047] A first robotic arm 15 and a second robotic arm 16 are provided on the robotic arm base plate 195, and a clamping space is formed between the first robotic arm 15 and the second robotic arm 16.

[0048] The first robotic arm 15 includes: a support frame, a clamping timing belt 158, and a first drive motor 159. The bottom of the support frame is connected to the clamping timing belt 158, and the first drive motor 159 is located at the bottom of the support frame. The clamping timing belt 158 ​​is connected to the first drive motor 159, and the first drive motor 159 drives the clamping timing belt 158, which in turn moves the first robotic arm 15. A suction cup 156 is located at the front of the support frame, and an air pump 157 is located at the rear of the support frame, connected to the suction cup 156. The suction cup 156 can hold one side of the packaging bag, preventing the bag from detaching from the support frame.

[0049] The support frame includes a robot arm X-axis base plate 152 and a robot arm Y-axis base plate 153. The robot arm X-axis base plate 152 is slidably connected to a robot arm base plate 195, and the robot arm Y-axis base plate 153 is set perpendicular to the robot arm X-axis base plate 152. The support frame also includes a connecting plate 154, which is set perpendicular to the front of the robot arm Y-axis base plate 153. A suction cup 156 is provided on the connecting plate 154, and an air suction pump 157 is mounted on the robot arm X-axis base plate 152 and connected to the suction cup 156. A triangular plate 155 is provided between the robot arm X-axis base plate 152 and the robot arm Y-axis base plate 153. The right-angled side of the triangular plate 155 is connected to the back of the robot arm Y-axis base plate 153, and the short right-angled side of the triangular plate 155 is connected to the robot arm X-axis base plate 152.

[0050] The second robotic arm 16 includes: a second support frame, on which a second drive motor 166, a synchronous belt 167, and a lifting seat 168 are mounted. The second drive motor 166 is connected to the synchronous belt 167, and the synchronous belt 167 is connected to the lifting seat 168. A suction cup 156 is provided on the lifting seat 168.

[0051] The second support frame includes a side support plate 162 and a Z-axis base plate 163. A second drive motor 166 and a synchronous belt 167 are mounted on the side support plate 162. A lifting seat 168 is provided on the Z-axis base plate 163. The lifting seat 168 includes a rotary platform mounting plate 164 and a support plate 165. The rotary platform mounting plate 164 is connected to the synchronous belt 167. A second suction cup 160 is provided on the support plate 165. The support plate 165 is rotatably connected to the rotary platform mounting plate 164. The rotary platform mounting plate 164 and the support plate 165 are rotatably connected. The support plate 165 is equipped with an electric rotary table 161, which is connected to the support plate 165. The rotating platform mounting plate 164 is equipped with an air suction pump 157. The second suction cup 160 is equipped with a suction nozzle, and the air suction pump 157 is connected to the suction nozzle. The rear end of the rotating platform mounting plate 164 is equipped with a guide block 169. The Z-axis base plate 163 is equipped with a guide bar 194, and the guide block 169 is positioned within the guide bar 194. A bracket chain is provided between the Z-axis base plate 163 and the movable seat base plate 19 of the frame 10.

[0052] The upper component substrate 18 is also provided with a labeling mechanism 13 and a sealing mechanism 14. The labeling mechanism 13 is used to print labels on the packaging bags, and the sealing mechanism 14 is used to seal the packaging bags. The labeling mechanism 13 is located on the left side of the drug storage mechanism, and the sealing mechanism 14 is located on the right side of the drug storage mechanism.

[0053] The principle of this invention is:

[0054] When the bag is picked up, the robotic arm base plate 195 moves to the first position, and the second drive motor 166 on the second robotic arm 16 on the robotic arm base plate 195 drives the second suction cup 160 to approach the packaging bag. After the suction cup 156 picks up the packaging bag, the second drive motor 161 drives the second suction cup 160 to leave the bag storage mechanism 11, and the bag picking action is completed.

[0055] When the suction cup 156 descends to the set position, the electric rotary table 161 drives the second suction cup 160 to rotate 90 degrees, turning the packaging bag from the horizontal to the vertical direction, thus completing the flipping action.

[0056] The first drive motor 159 drives the first robotic arm 15 to approach the packaging bag and uses the suction cup 156 to suck up the side of the packaging bag to be sucked. After sucking up the packaging bag, the first drive motor 159 drives the first robotic arm 15 to move away from the packaging bag until the two sides of the packaging bag are pulled open to the appropriate position, at which point the bag-opening action is completed.

[0057] After the bag-holding action is completed, the drive motor 191 drives the robotic arm base plate 195 to move to the second position, at which point the bag-transfer action is completed.

[0058] The electric push rod 121 pushes the paddle fixing bracket 122 down, and the left bag support paddle 124 and the right bag support paddle 125 enter the packaging bag, completing the bag insertion action.

[0059] Cylinder 126 opens the left support bag lever 124 and the right support bag lever 125, releasing the medicine from the medicine storage mechanism, and the medicine enters the packaging bag.

[0060] The robotic arm base plate 195 continues to move, and the packaging bag is sealed by the sealing mechanism 14.

[0061] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A pharmaceutical packaging machine, characterized in that: include: The frame has an upper component base plate and a movable base plate, wherein the upper component base plate is provided with a storage bag mechanism and a drug storage mechanism. The upper component substrate is provided with a first notch and a second notch, wherein the first position is the first notch and a storage bag mechanism is provided at the first notch, and the second position is the second notch and a medicine storage mechanism is provided at the second notch; A robotic arm base plate is mounted on a movable base plate, and the robotic arm base plate is slidably connected to the movable base plate. A first robotic arm and a second robotic arm are mounted on the robotic arm base plate, and a clamping space is formed between the first robotic arm and the second robotic arm. The bag storage mechanism has an inlet and an opening, with the opening facing downwards. The opening is equipped with two opposing baffles, and the packaging bag is placed horizontally in the bag storage mechanism.

2. The pharmaceutical packaging machine according to claim 1, characterized in that: When the robotic arm base plate slides to the first position, it is located below the storage bag mechanism; when it slides to the second position, it is located below the drug storage mechanism.

3. The pharmaceutical packaging machine according to claim 2, characterized in that: The first robotic arm includes: a support frame, a clamping timing belt, and a drive motor; The bottom of the support frame is connected to the clamping timing belt. A drive motor is installed at the bottom of the support frame, and the clamping timing belt is connected to the drive motor. A suction cup is installed at the front of the support frame, and an air pump is installed at the rear of the support frame, which is connected to the suction cup.

4. The pharmaceutical packaging machine according to claim 3, characterized in that: The support frame includes the robot's X-axis base plate and the robot's Y-axis base plate; The robot arm's X-axis substrate is slidably connected to the robot arm substrate, and the robot arm's Y-axis substrate is set perpendicular to the robot arm's X-axis substrate. The support frame also includes a connecting plate, which is positioned perpendicular to the front of the robot's Y-axis base plate. A suction cup is mounted on the connecting plate, and an air pump is installed on the robot's X-axis base plate, connected to the suction cup. A triangular plate is positioned between the robot's X-axis base plate and Y-axis base plate. The right-angled side of the triangular plate is connected to the back of the robot's Y-axis base plate, and the shorter right-angled side of the triangular plate is connected to the robot's X-axis base plate.

5. The pharmaceutical packaging machine according to claim 4, characterized in that: The second robotic arm includes: a second support frame; The second support frame is equipped with a second drive motor, a synchronous belt, and a lifting seat. The second drive motor is connected to a synchronous belt, which is connected to a lifting platform. The lifting platform is equipped with a suction cup.

6. The pharmaceutical packaging machine according to claim 5, characterized in that: The second support frame includes a side support plate and a Z-axis base plate; A second drive motor and a synchronous belt are mounted on the side support plate. A lifting seat is provided on the Z-axis base plate. The lifting seat includes a rotating platform mounting plate and a support plate. The rotating platform mounting plate is connected to the synchronous belt. A suction cup is provided on the support plate. The support plate is rotatably connected to the rotating platform mounting plate. An electric rotary table is provided on the rotating platform mounting plate and the support plate. The electric rotary table is connected to the support plate. An air pump is provided on the rotating platform mounting plate. A suction nozzle is provided on the suction cup. The air pump is connected to the suction nozzle. A guide block is provided at the rear end of the rotating platform mounting plate. A guide bar is provided on the Z-axis base plate. The guide block is positioned within the guide bar. A bracket chain is provided between the Z-axis base plate and the moving seat base plate of the frame.

7. The pharmaceutical packaging machine according to claim 6, characterized in that: The upper component substrate is also equipped with a labeling mechanism and a sealing mechanism. The labeling mechanism is used to print labels on the packaging bags, and the sealing mechanism is used to seal the packaging bags. The labeling mechanism is located on the left side of the drug storage mechanism, and the sealing mechanism is located on the right side of the drug storage mechanism.

8. The pharmaceutical packaging machine according to claim 7, characterized in that: The drug storage mechanism includes an electric push rod, a paddle holder, and a drug inlet; Two electric push rods are provided on both sides of the second notch. The top of the electric push rod is equipped with a paddle fixing frame, and the medicine inlet is connected to the fixing frame to form a medicine delivery channel. A feeding trough is provided between the inlet and the outlet. The feeding trough is an arc-shaped conveying channel with an angle of 90 degrees. The inlet is a funnel-shaped opening with a cross-sectional area at the feeding end that is larger than that at the outlet.

9. The pharmaceutical packaging machine according to claim 8, characterized in that: The medicine storage mechanism also includes a left support bag lever, a right support bag lever, and a cylinder; The left and right support bag levers are respectively connected to the lever fixing bracket, and the cylinders are respectively connected to the left and right support bag levers; The sides of the left and right support bag levers are inverted triangles, which are right triangles. A left connector is provided between the left support bag lever and the cylinder, and a right connector is provided between the right support bag lever and the cylinder.

10. The pharmaceutical packaging machine according to claim 9, characterized in that: A moving mechanism is provided at the bottom of the moving base plate. The moving mechanism includes a drive motor and a transmission belt assembly. The drive motor is installed at the bottom of the moving base plate. The moving base plate has a notch. A connecting block is provided on the lower side of the robot arm base plate. The connecting block is connected to the transmission belt assembly. Guide bars are distributed on both sides of the notch. There are two guide bars, and the two guide bars are arranged in parallel.

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