Multi-group suction cup transplanting mechanism of medicament packaging production line

Abstract

The utility model discloses a multi-group type sucking disc transplanting mechanism of a medicament packaging production line, which comprises a sucking disc assembly, a plurality of sucking disc rows which are arranged in parallel, each sucking disc row comprises a plurality of sucking disc heads, and the orientation of the sucking disc heads is vertical to the length direction of the sucking disc rows; each suction cup row is connected with an independent action assembly, and the action assemblies drive the suction cup rows to do linear reciprocating motion in the direction of the suction cup heads; the sensor assemblies are arranged in gaps between the adjacent suction cup rows, a plurality of photoelectric sensors are arranged on the two sides of each sensor assembly at equal intervals, and the orientation of the photoelectric sensors is parallel to the orientation of the suction cup heads. According to the utility model, medicament packages are independently sucked or released by virtue of the sucker head, the medicament packages transplanted by the manipulator each time can be multiplied by enlarging the width under the condition that the limitation of the longest length is not broken, and the manipulator is fully utilized, so that the transplanting efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the field of automatic transplanting mechanisms, in particular to a multi-group suction cup transplanting mechanism for a medicine packaging production line. Background Art

[0002] The most commonly used devices in the automated production line for pharmaceutical packaging are the fixed roller line responsible for horizontal transmission and the robot responsible for leapfrogging transplanting. The two work together to achieve automated turnover of pharmaceutical packaging.

[0003] Due to the production process, when the medicine packages are manufactured and conveyed on the roller line, they are conveyed in a single row, that is, the medicine packages are in a form of very narrow width and very small length. The robot has a limit on the maximum size of the objects to be transferred each time, otherwise interference will occur. If only a single row of medicine packages is transferred each time, and the total length of the single row of medicine packages happens to be less than the maximum limit of the robot, even so, it is a waste of the robot's transfer capacity. This also forces the robot to frequently reciprocate, and the efficiency is not very high. Utility Model Content

[0004] The problem to be solved by the utility model is to provide a multi-group suction cup transplanting mechanism for a medicine packaging production line, which uses a suction cup head to independently suck or release the medicine packages. Without breaking the limit of the maximum length, the width is expanded to increase the number of medicine packages transplanted by the manipulator each time by multiples, thereby making full use of the manipulator and greatly improving the transplanting efficiency.

[0005] In order to solve the above problems, the utility model provides a multi-group suction cup transplanting mechanism for a pharmaceutical packaging production line. In order to achieve the above purpose, the technical solution adopted by the utility model to solve its technical problems is:

[0006] A multi-group suction cup transplanting mechanism for a pharmaceutical packaging production line comprises: a suction cup assembly, comprising a plurality of suction cup rows arranged in parallel, the suction cup rows comprising a plurality of suction cup heads, the orientation of the suction cup heads being perpendicular to the length direction of the suction cup rows; an action assembly, each suction cup row being connected with an independent action assembly, the action assembly driving the suction cup rows to perform linear reciprocating motion along the direction of the suction cup heads; a sensor assembly, a sensor assembly being arranged in the gap between adjacent suction cup rows, a plurality of photoelectric sensors being arranged at equal intervals on both sides of the sensor assembly itself, the orientation of the photoelectric sensors being parallel to the orientation of the suction cup heads.

[0007] The beneficial effect of adopting the above technical solution is: multiple rows of suction cups are designed to be parallel to each other, and each row of suction cups can move in and out independently, that is, the suction cup head is used to independently absorb or release the medicine package. Therefore, the manipulator can absorb several rows of medicine packages each time. As for how many rows of medicine packages are adsorbed, it depends on how many rows of suction cups are designed. In this way, without breaking the limit of the maximum length, the width is expanded to increase the number of medicine packages transplanted by the manipulator each time, thereby greatly improving the transplanting efficiency and facilitating subsequent packing. In actual use, the manipulator does not move, and the action component moves several times to achieve the grabbing of several rows of medicine packages. After the grabbing is completed, the manipulator moves again.

[0008] In addition, the sensor components are arranged at intervals in the suction cup row, and the sensors are used to sense whether the adjacent suction cup heads have adsorbed the medicine packaging to avoid leakage.

[0009] As a further improvement of the present invention, the suction cup assembly includes two rows of suction cups, and a row of sensor assemblies is arranged between the two rows of suction cups.

[0010] The beneficial effect of adopting the above technical solution is that one row of sensor components can take into account the two rows of suction cups on both sides thereof.

[0011] As a further improvement of the present invention, the suction cup row is connected to a plurality of suction cup modules through a longitudinal cavity profile, and the end of the longitudinal cavity profile is connected to a trachea joint; the plurality of suction cup modules are connected end to end in sequence on the longitudinal cavity profile, and each suction cup module has a plurality of suction cup heads in a rectangular array on the same surface.

[0012] The beneficial effect of adopting the above technical solution is that the air pipe joint is used to connect to the external negative pressure air source, and the longitudinal cavity profile is equivalent to the main structure of the suction cup row, which is convenient for fixing and connecting several suction cup modules.

[0013] As a further improvement of the utility model, the suction cup row and the sensor assembly are arranged in a horizontal direction, the action assembly includes a vertical cylinder, each suction cup assembly is equipped with a vertical cylinder, the output rod of the vertical cylinder is equipped with a bottom plate, the cylinder body of the vertical cylinder is fixed with a top plate at the end away from the bottom plate, and the top plate and the bottom plate are movably assembled through guide columns.

[0014] The beneficial effect of adopting the above technical solution is that the vertical cylinder provides independent control and power for the lifting and lowering of each suction cup row, and the guide column plays a linear guiding role.

[0015] As a further improvement of the present invention, the vertical cylinder is fixed to the top plate via a fixing seat.

[0016] As a further improvement of the present invention, the sensor assembly includes a longitudinal horizontal beam, and a plurality of photoelectric sensors are arranged at equal intervals on both side walls of the longitudinal horizontal beam; the suction cup head is oriented vertically downward, and the height of the photoelectric sensor is always higher than the height of the suction cup head.

[0017] The beneficial effect of adopting the above technical solution is that the photoelectric sensor will not interfere with the medicine package and will not affect the adsorption and release actions of the suction cup head.

[0018] As a further improvement of the present invention, the number of suction cup modules is an integer multiple of the number of photoelectric sensors, and the multiple of the number of suction cup modules to photoelectric sensors is equal to the ratio of the distance between the centroids of two longitudinally adjacent photoelectric sensors to the distance between the centroids of two longitudinally adjacent suction cup modules.

[0019] The beneficial effect of adopting the above technical solution is that, because one suction cup module or multiple suction cup modules may be used to absorb one medicine package, the number of photoelectric sensors is equal to the number of medicine packages actually grasped each time, ensuring a one-to-one correspondence between sensors and medicine packages.

[0020] As a further improvement of the present invention, a flange is provided at the centroid of the upper surface of the top plate.

[0021] The beneficial effect of adopting the above technical solution is that the flange is easy to fix to the end of the robot arm.

[0022] As a further improvement of the utility model, the bottom of the guide post is fixed to the bottom plate, and the top plate is provided with a guide sleeve for the guide post to pass through.

[0023] The beneficial effect of adopting the above technical solution is that the guide sleeve can reduce the friction force when the guide column moves relative to each other.

[0024] As a further improvement of the utility model, from a viewing angle along the width direction of the suction cup row, the guide pillars are mirror-symmetrically arranged on both sides of the symmetry axis of the suction cup row itself, and the output rod of the vertical cylinder coincides with the symmetry axis of the suction cup row.

[0025] The beneficial effect of adopting the above technical solution is: ensuring that the overall force is symmetrical and the entire mechanism is not prone to tilt or deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1It is a top view of an implementation method of the utility model;

[0028] Figure 2 It is an AA cross-sectional view of an embodiment of the utility model;

[0029] Figure 3 It is a BB cross-sectional view of an embodiment of the utility model;

[0030] Figure 4 It is a three-dimensional diagram of an embodiment of the utility model;

[0031] Figure 5 It is a three-dimensional diagram of an embodiment of the utility model;

[0032] Figure 6 It is a partial enlarged view of position C of an implementation mode of the utility model;

[0033] Figure 7 It is a three-dimensional diagram of an action component of one embodiment of the utility model;

[0034] Figure 8 is a three-dimensional diagram of a sensor assembly according to one embodiment of the utility model;

[0035] Fig. 9 It is an application schematic diagram of an implementation mode of the utility model.

[0036] 1-medicine package; 2-top plate; 3-bottom plate; 4-vertical cylinder; 5-guide column; 6-guide sleeve; 7-fixed seat; 8-vertical rod; 9-longitudinal horizontal beam; 10-photoelectric sensor; 11-longitudinal cavity profile; 12-suction cup head; 13-trachea joint; 14-suction cup module; 15-flange. DETAILED DESCRIPTION

[0037] The following is a further detailed description of the present invention in conjunction with specific embodiments:

[0038] In order to achieve the purpose of the utility model, a multi-group suction cup transplanting mechanism of a pharmaceutical packaging production line includes: a suction cup assembly, including a plurality of suction cup rows arranged parallel to each other, the suction cup row including a plurality of suction cup heads 12, the orientation of the suction cup heads 12 being perpendicular to the length direction of the suction cup row; an action assembly, each suction cup row is connected with an independent action assembly, the action assembly drives the suction cup row to perform linear reciprocating motion along the direction of the suction cup head 12; a sensor assembly, a sensor assembly is provided in the gap between adjacent suction cup rows, a plurality of photoelectric sensors 10 are arranged at equal intervals on both sides of the sensor assembly itself, and the orientation of the photoelectric sensors 10 is parallel to the orientation of the suction cup heads 12.

[0039] The medicine packages 1 (or packaging bottles) are arranged side by side. The medicine packages 1 can be soft ampoules, which are ampoules made of soft plastic. For example, the packaging of common nebulizer medicines is as follows: Fig. 9 shown.

[0040] The beneficial effect of adopting the above technical solution is: a plurality of rows of suction cups parallel to each other are designed, and each row of suction cups can be independently moved in and out, that is, the medicine package can be independently sucked or released by means of the suction cup head. Therefore, the manipulator can suck several rows of medicine packages each time. As for how many rows of medicine packages are adsorbed, it depends on how many rows of suction cups are designed. In this way, without breaking the limit of the longest length, the width is expanded to increase the number of medicine packages transplanted by the manipulator each time, thereby greatly improving the transplanting efficiency. In actual use, the manipulator is not moving, and the action component can grasp several rows of medicine packages by moving several times. After the grasping is completed, the manipulator moves again. In addition, the sensor components are arranged at intervals in the suction cup row, and the sensors are used to sense whether the adjacent suction cup heads have adsorbed the medicine package to avoid leakage.

[0041] In some other embodiments of the present invention, the suction cup assembly includes two rows of suction cups, and a row of sensor assemblies is disposed between the two rows of suction cups.

[0042] The beneficial effect of adopting the above technical solution is that one row of sensor components can take into account the two rows of suction cups on both sides thereof.

[0043] In other embodiments of the utility model, a suction cup row is connected to a plurality of suction cup modules 14 through a longitudinal cavity profile 11, and an air pipe joint 13 is connected to the end of the longitudinal cavity profile 11; a plurality of suction cup modules 14 are sequentially connected end to end on the longitudinal cavity profile 11, and a rectangular array on the same surface of each suction cup module 14 has a plurality of suction cup heads 12.

[0044] like Figure 3 As shown, it can be clearly seen that each suction cup module 14 is connected to the internal cavity of the longitudinal cavity profile 11.

[0045] The beneficial effect of adopting the above technical solution is that the air pipe joint is used to connect to the external negative pressure air source, and the longitudinal cavity profile is equivalent to the main structure of the suction cup row, which is convenient for fixing and connecting several suction cup modules.

[0046] In some other embodiments of the utility model, the suction cup row and the sensor assembly are arranged in a horizontal direction, the action assembly includes a vertical cylinder 4, each suction cup assembly is equipped with a vertical cylinder 4, the output rod of the vertical cylinder 4 is equipped with a bottom plate 3, and the cylinder body of the vertical cylinder 4 is fixed with a top plate 2 at the end away from the bottom plate 3, and the top plate 2 and the bottom plate 3 are movably assembled through a guide column 5.

[0047] like Figure 4 , Figure 5 As shown, from the visual effect, the end of the output rod of the vertical cylinder 4 seems to pass through the base plate 3, which is due to the need for the size positioning of each component of the assembly drawing. In fact, the end of the output rod of the vertical cylinder 4 is fixedly contacted with the upper surface of the base plate 3.

[0048] The beneficial effect of adopting the above technical solution is that the vertical cylinder provides independent control and power for the lifting and lowering of each suction cup row, and the guide column plays a linear guiding role.

[0049] In other embodiments of the present invention, the vertical cylinder 4 is fixed to the top plate 2 via a fixing seat 7 .

[0050] In other embodiments of the utility model, the sensor assembly includes a longitudinal horizontal beam 9, and a plurality of photoelectric sensors 10 are arranged at equal intervals on the two side walls of the longitudinal horizontal beam 9; the suction cup head 12 is oriented vertically downward, and the height of the photoelectric sensor 10 is always higher than the height of the suction cup head 12.

[0051] like Figure 2 As shown, the longitudinal horizontal beam 9 is a channel steel with an opening facing downward.

[0052] The beneficial effect of adopting the above technical solution is that the photoelectric sensor will not interfere with the medicine package and will not affect the adsorption and release actions of the suction cup head.

[0053] like Figure 5 As shown, in other embodiments of the present invention, the number of suction cup modules 14 is an integer multiple of the number of photoelectric sensors 10, and the multiple of the number of suction cup modules 14 to the number of photoelectric sensors 10 is equal to the ratio of the distance between the centroids of two longitudinally adjacent photoelectric sensors 10 to the distance between the centroids of two longitudinally adjacent suction cup modules 14.

[0054] The beneficial effect of adopting the above technical solution is that, because one suction cup module or multiple suction cup modules may be used to absorb one medicine package, the number of photoelectric sensors is equal to the number of medicine packages actually grasped each time, ensuring a one-to-one correspondence between sensors and medicine packages.

[0055] In some other embodiments of the present invention, a flange 15 is provided at the centroid of the upper surface of the top plate 2 .

[0056] The beneficial effect of adopting the above technical solution is that the flange is easy to fix to the end of the robot arm.

[0057] like Fig. 9 As shown, in some other embodiments of the present invention, the bottom of the guide column 5 is fixed to the bottom plate 3, and the top plate 2 is provided with a guide sleeve 6 for the guide column 5 to pass through.

[0058] The beneficial effect of adopting the above technical solution is that the guide sleeve can reduce the friction force when the guide column moves relative to each other.

[0059] like Fig. 9 As shown, in other embodiments of the utility model, from the perspective along the width direction of the suction cup row, the guide pillars 5 are mirror-symmetrically arranged on both sides of the symmetry axis of the suction cup row itself, and the output rod of the vertical cylinder 4 coincides with the symmetry axis of the suction cup row.

[0060] The entire transplanting mechanism has two mutually perpendicular symmetry planes.

[0061] The beneficial effect of adopting the above technical solution is: ensuring that the overall force is symmetrical and the entire mechanism is not prone to tilt or deformation.

[0062] Fig. 9 compared to Figure 4 and Figure 5 , Fig. 9 Several soft ampoules 1 are shown in FIG.

[0063] The above embodiments are only for illustrating the technical concept and features of the utility model, and their purpose is to enable people familiar with this technology to understand the content of the utility model and implement it. They cannot be used to limit the protection scope of the utility model. All equivalent changes or modifications made according to the spirit of the utility model should be included in the protection scope of the utility model.

Claims

1. A multi-group suction cup transplanting mechanism for a pharmaceutical packaging production line, characterized in that: include: The suction cup assembly comprises a plurality of suction cup rows arranged in parallel with each other, wherein the suction cup rows comprise a plurality of suction cup heads, and the orientation of the suction cup heads is perpendicular to the length direction of the suction cup rows; Action component, each suction cup row is connected with an independent action component, and the action component drives the suction cup row to perform linear reciprocating motion along the direction of the suction cup head; A sensor assembly is provided in the gaps between adjacent rows of suction cups, and a plurality of photoelectric sensors are arranged at equal intervals on both sides of the sensor assembly itself, and the orientation of the photoelectric sensors is parallel to the orientation of the suction cup heads.

2. The multi-group suction cup transplanting mechanism of the pharmaceutical packaging production line according to claim 1 is characterized in that: The suction cup assembly includes two suction cup rows, and a row of sensor assemblies is arranged between the two suction cup rows.

3. The multi-group suction cup transplanting mechanism of the pharmaceutical packaging production line according to claim 1 is characterized in that: The suction cup row is connected to a plurality of suction cup modules through a longitudinal cavity profile, and the end of the longitudinal cavity profile is connected to a trachea joint; the plurality of suction cup modules are sequentially connected end to end on the longitudinal cavity profile, and a rectangular array on the same surface of each suction cup module has a plurality of suction cup heads.

4. The multi-group suction cup transplanting mechanism of the pharmaceutical packaging production line according to claim 1 is characterized in that: The suction cup row and sensor assembly are arranged in a horizontal direction, the action assembly includes a vertical cylinder, each suction cup assembly is equipped with a vertical cylinder, the output rod of the vertical cylinder is equipped with a bottom plate, the cylinder body of the vertical cylinder is fixed with a top plate at the end away from the bottom plate, and the top plate and the bottom plate are movably assembled through guide columns.

5. The multi-group suction cup transplanting mechanism for the pharmaceutical packaging production line according to claim 4, characterized in that: All vertical cylinders are fixed to the top plate through a fixing seat.

6. The multi-group suction cup transplanting mechanism of the pharmaceutical packaging production line according to claim 3 is characterized in that: The sensor assembly comprises a longitudinal horizontal beam, and a plurality of photoelectric sensors are arranged at equal intervals on both side walls of the longitudinal horizontal beam; The suction cup head is oriented vertically downward, and the height of the photoelectric sensor is always higher than the height of the suction cup head.

7. The multi-group suction cup transplanting mechanism of the pharmaceutical packaging production line according to claim 6, characterized in that: The number of the suction cup modules is an integral multiple of the number of the photoelectric sensors, and the multiple of the number of the suction cup modules to the photoelectric sensors is equal to the ratio of the distance between the centroids of two longitudinally adjacent photoelectric sensors to the distance between the centroids of two longitudinally adjacent suction cup modules.

8. The multi-group suction cup transplanting mechanism of the pharmaceutical packaging production line according to claim 4, characterized in that: A flange is arranged at the centroid of the upper surface of the top plate.

9. The multi-group suction cup transplanting mechanism of the pharmaceutical packaging production line according to claim 4, characterized in that: The bottom of the guide post is fixed to the bottom plate, and the top plate is provided with a guide sleeve for the guide post to pass through.

10. The multi-group suction cup transplanting mechanism for a pharmaceutical packaging production line according to claim 4, characterized in that: From the perspective along the width direction of the suction cup row, the guide pillars are arranged in a mirror-symmetrical manner on both sides of the symmetry axis of the suction cup row itself, and the output rod of the vertical cylinder coincides with the symmetry axis of the suction cup row.

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