Dropper grabbing machine facilitating integrated packaging of droppers and medicine bottles

Abstract

A plurality of droppers are placed in a dropper elevator, flow out through an outlet of the elevator and enter a dropper conveying belt, the droppers enter a mechanical arm conveying belt after passing through a visual detection device, the visual detection device detects the positions and forms of the droppers and sends signals to a mechanical arm, and the mechanical arm conveys the droppers to the dropper conveying belt. The mechanical arm grabs the droppers and places the droppers into the boxing machine product chain station where the medicine bottles are located, when the material detection device detects that the medicine bottles and the droppers exist in the boxing machine product chain station at the same time, the boxing machine works to conduct integrated packaging, and the droppers which are not grabbed on the mechanical arm conveying belt are conveyed into the dropper lifting machine through the dropper rotation conveying belt. According to the utility model, the two manipulators are used for double-grabbing and are matched with the visual detection device, so that the grabbing efficiency is improved, different products can be replaced only by changing visual detection parameters and manipulator grabbing parameters when the products are replaced, the application range is wide, the noise pollution is small, no sanitary dead angle exists, and the cleanliness is high.

Description

Technical Field

[0001] The utility model belongs to the technical field of pharmaceutical equipment, in particular to a dropper grabbing machine which is convenient for integrally packaging a dropper and a medicine bottle. Background Art

[0002] With the continuous development of the pharmaceutical industry, people have increasingly stringent requirements for drug supporting equipment and drug packaging. In order to improve the accuracy of the dosage of liquid drugs, more and more pharmaceutical companies will add droppers to liquid drugs. By using droppers to absorb liquid drugs, patients can accurately control the dosage. Each bottle of medicine needs to be equipped with a dropper, and the bottle and dropper need to be placed in a box together.

[0003] At present, when packaging droppers and medicines, most of the time, the medicine bottles are put into the packaging box by machines, and then the droppers are manually put in to complete the integrated packaging of the droppers and medicine bottles. The above operation has a low degree of intelligence, is time-consuming and labor-intensive, has low packaging efficiency, and is easily reduced by too many people, which reduces the cleanliness of the packaging. Utility Model Content

[0004] The problem to be solved by the utility model is to provide a dropper grabbing machine which is convenient for integrated packaging of droppers and medicine bottles, especially the dropper grabbing machine has a simple structure and is easy to operate. The dropper is automatically grabbed by the dropper grabbing machine and placed in the medicine bottle station, and the integrated packaging of the two is completed by the packaging machine. There is no manual intervention in the whole process, and the degree of automation, production efficiency and cleanliness are high.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a dropper grabbing machine which is convenient for integrated packaging of droppers and medicine bottles, comprising a dropper elevator, the dropper elevator is provided with an elevator outlet, a plurality of droppers are placed in the dropper elevator, flow out through the elevator outlet and enter the dropper conveyor belt, the dropper conveyor belt transports the droppers to the manipulator conveyor belt, a manipulator is provided above the manipulator conveyor belt, a visual detection device is provided at the head end of the manipulator conveyor belt, the dropper enters the manipulator conveyor belt after passing through the visual detection device, the visual detection device sends a signal to the manipulator after detecting the position and shape of the dropper, the manipulator grabs the dropper and puts it into the product chain station of the cartoning machine where the medicine bottle is located, a material detection device is provided at the tail end of the product chain of the cartoning machine, when the material detection device detects that there are both medicine bottles and droppers in the product chain station of the cartoning machine, the cartoning machine works to perform integrated packaging, and the droppers not grabbed on the manipulator conveyor belt are sent to the dropper elevator through the dropper rotary conveyor belt.

[0006] Furthermore, the dropper conveyor belt includes a first dropper conveyor belt and a second dropper conveyor belt, the lower part of the elevator outlet is directly opposite to the head end of the first dropper conveyor belt, the tail end of the first dropper conveyor belt is placed above the head end of the second dropper conveyor belt, the conveying direction of the first dropper conveyor belt is perpendicular to the conveying direction of the second dropper conveyor belt, the tail end of the second dropper conveyor belt is placed above the head end of the manipulator conveyor belt, the conveying direction of the second dropper conveyor belt is in a straight line with the conveying direction of the manipulator conveyor belt, the dropper rotary conveyor belt includes a first dropper rotary conveyor belt and a second dropper rotary conveyor belt, the tail end of the manipulator conveyor belt is placed above the first dropper rotary conveyor belt, the conveying direction of the manipulator conveyor belt is perpendicular to the conveying direction of the first dropper rotary conveyor belt, the head end of the second dropper rotary conveyor belt is placed below the tail end of the first dropper rotary conveyor belt, the conveying direction of the second dropper rotary conveyor belt is perpendicular to the conveying direction of the first dropper rotary conveyor belt, and the second dropper rotary conveyor belt returns the ungrabbed droppers to the dropper elevator through the elevator entrance.

[0007] Furthermore, the cartoning machine product chain is arranged side by side and in parallel with the robot conveyor belt, and the head end of the cartoning machine product chain is connected to a platform bottle unscrambler, and the platform bottle unscrambler conveys the medicine bottles to the station of the cartoning machine product chain through a screw, and a detection wheel is provided at the head end of the cartoning machine product chain, and the detection wheel detects whether there are medicine bottles placed at this station, and the detection wheel sends the detection signal to the cartoning machine.

[0008] Furthermore, the visual inspection device is arranged at the head end of the robot conveyor belt, and the material inspection device is arranged at the tail end of the cartoning machine product chain.

[0009] Furthermore, a sheet metal partition is provided on the first dropper conveyor belt, and the sheet metal partition completes the initial diversion. The linear speed of the manipulator conveyor belt is greater than the linear speed of the second dropper conveyor belt, so that the droppers of the second dropper conveyor belt are pulled apart.

[0010] Furthermore, the robot arm is provided with two gripping parts, and the distance between the two gripping parts is consistent with the distance between two adjacent product chain stations of the cartoning machine.

[0011] Furthermore, the grasping part is a suction cup, and the two suction cups are connected to two ends of the rotating plate through two cylinders respectively. A rotating shaft is provided at the center of the upper part of the rotating plate, and the rotating shaft drives the rotating plate to rotate.

[0012] Furthermore, the suction cup is connected to a vacuum generator through a first solenoid valve and an air intake device through a second solenoid valve, the vacuum generator generates negative pressure to suck the dropper, and the air intake device generates positive pressure to separate the dropper from the suction cup.

[0013] Furthermore, the cylinder is a downward pressure cylinder.

[0014] Furthermore, the manipulators include two groups, and the two groups of manipulators are installed in parallel.

[0015] The advantages and positive effects of the utility model are:

[0016] 1. The utility model is designed for the cartoning production line with dropper bottles. During the whole operation of the equipment, it only needs to manually put the dropper into the silo of the dropper elevator. The dropper automatically flows out from the elevator outlet and enters the dropper conveyor belt. The dropper enters the manipulator conveyor belt after passing through the visual detection device. After the visual detection device detects the position and shape of the dropper, it sends a signal to the manipulator. The manipulator grabs the dropper and puts it into the cartoning machine product chain station where the medicine bottle is located. A material detection device is provided at the tail end of the cartoning machine product chain. When the material detection device detects that there are both medicine bottles and droppers in the cartoning machine product chain station, the cartoning machine works for integrated packaging. The droppers not grabbed on the manipulator conveyor belt are sent to the dropper elevator through the dropper rotary conveyor belt. The above operations are all automatically completed through the control of the electric control box, without manual operation, and have a high degree of intelligence.

[0017] 2. The dropper lifter of the utility model adopts a large silo design to reduce the frequency of feeding and greatly reduce the labor intensity of workers. The use of two manipulators for double grabbing and visual inspection devices improves the grabbing efficiency. When changing products, you only need to change the visual inspection parameters and the manipulator grabbing parameters to achieve the replacement of different products, and the application range is wide. The manipulator grabbing is combined with visual inspection, with low noise pollution, and the whole set of equipment has no sanitary dead corners, making it more convenient to clean the equipment and high cleanliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a top view of the overall structure of an embodiment of the utility model.

[0019] Figure 2 It is a schematic diagram of the overall structure of an embodiment of the utility model.

[0020] Figure 3 The figure is a schematic diagram of the structure of a manipulator according to an embodiment of the utility model.

[0021] In the figure:

[0022] 1. Dropper elevator; 2. First dropper conveyor belt; 3. Second dropper rotary conveyor belt;

[0023] 4. Robot; 5. First dropper rotary conveyor belt; 6. Cartoning machine;

[0024] 7. Robot conveyor belt; 8. Cartoning machine product chain; 9. Inspection wheel;

[0025] 10. Platform bottle unscrambler; 11. Second dropper conveyor belt; 12. Visual inspection device;

[0026] 13. Material detection device; 14. Elevator outlet; 15. Elevator inlet;

[0027] 16. Rotating shaft; 17. Rotating plate; 18. Cylinder;

[0028] 19. Suction cup. DETAILED DESCRIPTION

[0029] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0030] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the 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. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0031] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] The following is a further description of the embodiments of the present invention in conjunction with the accompanying drawings:

[0033] like Figure 1 , Figure 2As shown, a dropper grabbing machine that facilitates integrated packaging of droppers and medicine bottles includes a dropper elevator 1, on which an elevator outlet 14 is provided. A number of droppers are placed in the dropper elevator 1, and flow out through the elevator outlet 14 onto the dropper conveyor belt. The dropper conveyor belt transports the droppers to the manipulator conveyor belt 7, and a manipulator 4 is provided above the manipulator conveyor belt 7. A visual inspection device 12 is provided at the head end of the manipulator conveyor belt 7. The droppers enter the manipulator conveyor belt 7 after passing through the visual inspection device 12. After the visual inspection device 12 detects the position and shape of the droppers, it sends a signal to the manipulator 4. The manipulator 4 grabs the dropper and puts it into the station of the cartoning machine product chain 8 where the medicine bottle is located. A material detection device 13 is provided at the tail end of the cartoning machine product chain 8. When the material detection device 13 detects that there are both medicine bottles and droppers in the station of the cartoning machine product chain 8, the cartoning machine 6 works to perform integrated packaging. The droppers that are not caught on the manipulator conveyor belt 7 are delivered to the dropper elevator 1 through the dropper rotary conveyor belt.

[0034] Specifically, Figure 1 , 2 As shown, the dropper conveyor belt includes a first dropper conveyor belt 2 and a second dropper conveyor belt 11. The lower part of the elevator outlet 14 is directly opposite to the head end of the first dropper conveyor belt 2. The dropper falls from the elevator outlet 14 and falls to the head end of the first dropper conveyor belt 2. The first dropper conveyor belt 2 moves, driving the dropper to move to the tail end of the first dropper conveyor belt 2. Preferably, a sheet metal partition is provided on the first dropper conveyor belt 2, and the sheet metal partition completes the initial diversion to avoid the accumulation of droppers. The tail end of the first dropper conveyor belt 2 is placed above the head end of the second dropper conveyor belt 11. The first dropper conveyor belt 2 continues to move, and the dropper at the tail end of the first dropper conveyor belt 2 falls into the head end of the second dropper conveyor belt 11. The transmission direction of the first dropper conveyor belt 2 is perpendicular to the transmission direction of the second dropper conveyor belt 11, thereby changing the movement direction of the dropper and making reasonable use of limited space. The tail end of the second dropper conveyor belt 11 is placed above the head end of the manipulator conveyor belt 7, and the transmission direction of the second dropper conveyor belt 11 is in a straight line with the transmission direction of the manipulator conveyor belt 7. The visual inspection device 12 is arranged at the head end of the manipulator conveyor belt 7. After the dropper moves from the head end of the second dropper conveyor belt 11 to the tail end of the second dropper conveyor belt 11, it falls into the head end of the manipulator conveyor belt 7. The linear velocity of the manipulator conveyor belt 7 is greater than the linear velocity of the second dropper conveyor belt 11, so that the droppers of the second dropper conveyor belt 11 are pulled apart to facilitate the subsequent grasping by the manipulator 4. The visual inspection device 12 here works, and the position and shape of the dropper on the manipulator conveyor belt 7 are given to the manipulator 4 as a signal. The manipulator 4 adopts a double grasping design, and can automatically grasp the dropper according to the signal of the visual inspection device 12. Moreover, one manipulator 4 grasps two droppers at a time. The two manipulators 4 are installed in parallel and grasp at the same time, which greatly improves the grasping efficiency.

[0035] Specifically, Figure 3As shown, the manipulator 4 is provided with two grasping parts. The grasping part provided in this embodiment is a suction cup 19. The two suction cups 19 are respectively connected to the two ends of the rotating plate 17 through two cylinders 18. The suction cups 19 are respectively connected to the vacuum generator through the first solenoid valve and the air intake device through the second solenoid valve. When in use, the vacuum generator generates negative pressure to suck the dropper, and the air intake device generates positive pressure to separate the dropper from the suction cup 19. Preferably, the cylinder 18 is a downward pressure cylinder. Press down while adsorbing to ensure firm and accurate absorption. A rotating shaft 16 is provided at the center of the upper part of the rotating plate 17, and the rotating shaft 16 drives the rotating plate 17 to rotate. When in use, a suction cup 19 first absorbs a dropper, and then the rotating plate 17 rotates. The first suction cup 19 rotates with the sucked dropper to the angle of the second suction cup 19, and the second suction cup 19 absorbs the second dropper, and at the same time, the positions of the two sucked droppers and the suction cup 19 are consistent. Then it rotates synchronously to the position where the dropper is placed with the cartoning machine product chain 8, the distance between the two suction cups 19 is consistent with the distance between the two adjacent cartoning machine product chain 8 stations, and air is blown to place the dropper.

[0036] like Figure 1 , Figure 2 As shown, the manipulator 4 includes two groups, and the two groups of manipulators 4 are installed in parallel to perform grasping at the same time, which greatly improves the grasping efficiency.

[0037] like Figure 1 , Figure 2 As shown, the cartoning machine product chain 8 and the robot conveyor belt 7 are arranged side by side and in parallel, which increases the distance between the two, making it convenient for the robot 4 to quickly grab the dropper on the robot conveyor belt 7 and put it into the cartoning machine product chain 8. The medicine bottle and the dropper are merged on the product chain and enter the cartoning machine 6 together to complete the fully automatic cartoning.

[0038] like Figure 2 As shown, the head end of the cartoning machine product chain 8 is connected to the platform bottle unscrambler 10, which unscrambles and buffers the medicine bottles on it. The platform bottle unscrambler 10 conveys the medicine bottles to the station of the cartoning machine product chain 8 through a screw, and the screw enables the medicine bottles to enter the station and complete the bottle pouring. A detection wheel 9 is provided at the head end of the cartoning machine product chain 8. The detection wheel 9 detects whether there are medicine bottles placed in this station, and the detection wheel 9 sends the detection signal to the cartoning machine 6.

[0039] like Figure 2 As shown, a material detection device 13 is provided at the tail end of the cartoning machine product chain 8. When the front detection wheel 9 detects a medicine bottle, the rear visual detection device 12 has a dropper, and the material detection device 13 detects that a material has passed, the cartoning machine 6 starts to unload instructions, unload boxes, push materials, etc. to complete automatic cartoning.

[0040] The droppers on the robot conveyor belt 7 that are not grasped by the robot 4 will be conveyed to the uncaught dropper rotary conveyor belt. The uncaught droppers will be transferred to the dropper conveyor belt 1 through the rotary conveyor belt and re-enter the working area of ​​the robot 4. No human intervention is required throughout the process, realizing fully automated production.

[0041] Specifically, the dropper rotary conveyor belt includes a first dropper rotary conveyor belt 5 and a second dropper rotary conveyor belt 3. The tail end of the manipulator conveyor belt 7 is placed above the first dropper rotary conveyor belt 5. When the dropper that has not been caught is brought to the tail end of the manipulator conveyor belt 7 by the manipulator conveyor belt 7, it falls onto the first dropper rotary conveyor belt 5. The first dropper rotary conveyor belt 5 continues to move and brings the dropper to the tail end of the first dropper rotary conveyor belt 5. The conveying direction of the manipulator conveyor belt 7 is perpendicular to the conveying direction of the first dropper rotary conveyor belt 5, thereby changing the transport direction of the dropper. The head end of the second dropper rotary conveyor belt 3 is placed below the tail end of the first dropper rotary conveyor belt 5. The first dropper rotary conveyor belt 5 continues to move, causing the dropper to fall into the head end of the second dropper rotary conveyor belt 3. The second dropper rotary conveyor belt 3 continues to move, bringing the dropper to the tail end of the second dropper rotary conveyor belt 3. The conveying direction of the second dropper rotary conveyor belt 3 is perpendicular to the conveying direction of the first dropper rotary conveyor belt 5. The second dropper rotary conveyor belt 3 conveys the ungrabbed droppers back to the dropper elevator 1 through the elevator entrance. Repeat the above operation to achieve the robot 4 grabbing the droppers in the elevator one by one.

[0042] The working principle of the embodiment of the utility model is as follows:

[0043] The workflow of this embodiment is divided into two routes, route one is for medicine bottles to enter the cartoning machine product chain 8, and route two is for droppers to enter the cartoning machine product chain 8. Medicine bottles and droppers enter the cartoning machine product chain 8 in two routes, merge on the product chain, and enter the cartoning machine 6 together to complete fully automatic cartoning.

[0044] Specifically, route one is that the medicine bottle enters the cartoning machine product chain 8. After the medicine bottle is labeled in the previous stage, it enters the platform bottle unscrambler 10 through the conveyor belt, is unscrambled and cached on the platform bottle unscrambler 10, and is conveyed to the cartoning machine product chain 8 station by the screw. The screw enables the medicine bottle to enter the station and completes the bottle inversion. After the medicine bottle enters the cartoning machine product chain 8, it will pass the detection wheel 9 as the product chain moves forward. The detection wheel 9 will detect whether there is a medicine bottle at this station and send a signal to the cartoning machine 6 behind.

[0045] Route 2 is for the dropper to enter the cartoning machine product chain 8. The dropper is manually poured into the silo of the dropper elevator 1. The dropper is transmitted to the first dropper conveyor belt 2 through the dropper elevator 1. The initial diversion is completed on the first dropper conveyor belt 2 through the sheet metal partition to avoid the accumulation of droppers. In order to make rational use of space, the function of the second dropper conveyor belt 11 is to realize the delivery steering of the dropper. The linear speed of the manipulator conveyor belt 7 is greater than that of the second dropper conveyor belt 11. The purpose is to pull the dropper transported on the second dropper conveyor belt 11 apart to facilitate the subsequent grasping of the manipulator 4. After the dropper enters the manipulator conveyor belt 7 and pulls apart, it will first pass through the visual detection device 12. The visual detection device 12 will detect the position and shape of the dropper on the conveyor belt and give a signal to the manipulator 4. The manipulator 4 adopts a double grasping design and will automatically grasp the dropper according to the visual detection signal. One manipulator 4 grasps two droppers at a time. The two manipulators 4 are installed in parallel and grasp at the same time, which greatly improves the grasping efficiency. After the robot 4 grabs the dropper, it will automatically place it in two adjacent stations of the cartoning machine product chain 8, with one dropper placed in each station. After the dropper and the medicine bottle are placed on the cartoning machine product chain 8, the cartoning machine product chain 8 will continue to move forward, passing through the material detection device 13, and a visual inspection system will detect whether there is a dropper in the station of the cartoning machine product chain 8, and give a signal to the cartoning machine 6. Only when the front-end detection wheel 9 detects that there is a medicine bottle and the rear-end material visual inspection device 12 has a dropper, and these two conditions are met at the same time, the cartoning machine 6 starts to load instructions, unload boxes, push materials, etc. to complete automatic cartoning. The droppers on the robot conveyor belt 7 that are not grabbed by the robot 4 will be conveyed to the rotary conveyor belt of the ungrabbed droppers, and the ungrabbed droppers will be transported to the first dropper conveyor belt 2 through the rotary conveyor belt, and re-enter the working area of ​​the robot 4. No human intervention is required throughout the process, and fully automated production is achieved.

[0046] The advantages and positive effects of the utility model are:

[0047] 1. The utility model is designed for the cartoning production line with dropper bottles. During the whole operation of the equipment, it only needs to manually put the dropper into the silo of the dropper elevator. The dropper automatically flows out from the elevator outlet and enters the dropper conveyor belt. The dropper enters the manipulator conveyor belt after passing through the visual detection device. After the visual detection device detects the position and shape of the dropper, it sends a signal to the manipulator. The manipulator grabs the dropper and puts it into the cartoning machine product chain station where the medicine bottle is located. A material detection device is provided at the tail end of the cartoning machine product chain. When the material detection device detects that there are both medicine bottles and droppers in the cartoning machine product chain station, the cartoning machine works for integrated packaging. The droppers not grabbed on the manipulator conveyor belt are sent to the dropper elevator through the dropper rotary conveyor belt. The above operations are all automatically completed through the control of the electric control box, without manual operation, and have a high degree of intelligence.

[0048] 2. The dropper lifter of the utility model adopts a large silo design to reduce the frequency of feeding and greatly reduce the labor intensity of workers. The use of two manipulators for double grabbing and visual inspection devices improves the grabbing efficiency. When changing products, you only need to change the visual inspection parameters and the manipulator grabbing parameters to achieve the replacement of different products, and the application range is wide. The manipulator grabbing is combined with visual inspection, with low noise pollution, and the whole set of equipment has no sanitary dead corners, making it more convenient to clean the equipment and high cleanliness.

[0049] The above is a detailed description of the embodiments of the utility model, but the contents are only preferred embodiments of the utility model and cannot be considered to limit the scope of implementation of the utility model. All equivalent changes and improvements made within the scope of application of the utility model should still fall within the scope of the patent coverage of the utility model.

Claims

1. A dropper grabbing machine that facilitates integrated packaging of droppers and medicine bottles, characterized in that: It comprises a dropper elevator, which is provided with an elevator outlet. Several droppers are put into the dropper elevator, flow out from the elevator outlet and enter the dropper conveyor belt. The dropper conveyor belt transports the droppers to the manipulator conveyor belt. A manipulator is provided above the manipulator conveyor belt. A visual detection device is provided at the head end of the manipulator conveyor belt. The droppers enter the manipulator conveyor belt after passing through the visual detection device. After the visual detection device detects the position and shape of the droppers, the signal is sent to the manipulator. The manipulator grabs the dropper and puts it into the product chain station of the cartoning machine where the medicine bottle is located. A material detection device is provided at the tail end of the product chain of the cartoning machine. When the material detection device detects that there are both medicine bottles and droppers in the product chain station of the cartoning machine, the cartoning machine works to perform integrated packaging. The droppers not grabbed on the manipulator conveyor belt are sent to the dropper elevator through the dropper rotary conveyor belt.

2. A dropper grabbing machine for packaging a dropper and a medicine bottle as a whole according to claim 1, characterized in that: The dropper conveyor belt includes a first dropper conveyor belt and a second dropper conveyor belt. The lower part of the elevator outlet is directly opposite to the head end of the first dropper conveyor belt. The tail end of the first dropper conveyor belt is placed above the head end of the second dropper conveyor belt. The conveying direction of the first dropper conveyor belt is perpendicular to the conveying direction of the second dropper conveyor belt. The tail end of the second dropper conveyor belt is placed above the head end of the manipulator conveyor belt. The conveying direction of the second dropper conveyor belt is in a straight line with the conveying direction of the manipulator conveyor belt. The dropper rotary conveyor belt includes a first dropper rotary conveyor belt and a second dropper rotary conveyor belt. The tail end of the manipulator conveyor belt is placed above the first dropper rotary conveyor belt. The conveying direction of the manipulator conveyor belt is perpendicular to the conveying direction of the first dropper rotary conveyor belt. The head end of the second dropper rotary conveyor belt is placed below the tail end of the first dropper rotary conveyor belt. The conveying direction of the second dropper rotary conveyor belt is perpendicular to the conveying direction of the first dropper rotary conveyor belt. The second dropper rotary conveyor belt returns the droppers that have not been captured to the dropper elevator through the elevator entrance.

3. A dropper grabbing machine for packaging a dropper and a medicine bottle as a whole according to claim 2, characterized in that: The cartoning machine product chain is arranged side by side and in parallel with the robot conveyor belt. The head end of the cartoning machine product chain is connected to a platform bottle unscrambler. The platform bottle unscrambler conveys the medicine bottles to the station of the cartoning machine product chain through a screw. A detection wheel is provided at the head end of the cartoning machine product chain. The detection wheel detects whether there are medicine bottles placed at this station, and the detection wheel sends a detection signal to the cartoning machine.

4. A dropper grabbing machine for packaging a dropper and a medicine bottle as a whole according to claim 2 or 3, characterized in that: The visual inspection device is arranged at the head end of the robot conveyor belt, and the material inspection device is arranged at the tail end of the cartoning machine product chain.

5. A dropper grabbing machine for packaging a dropper and a medicine bottle as claimed in claim 2 or 3, characterized in that: The first dropper conveyor belt is provided with a sheet metal partition, which completes the initial diversion. The linear speed of the manipulator conveyor belt is greater than the linear speed of the second dropper conveyor belt, so that the droppers of the second dropper conveyor belt are pulled apart.

6. A dropper grabbing machine for integrally packaging a dropper and a medicine bottle according to any one of claims 1 to 3, characterized in that: The robot arm is provided with two grasping parts, and the distance between the two grasping parts is consistent with the distance between two adjacent product chain stations of the cartoning machine.

7. A dropper grabbing machine for packaging a dropper and a medicine bottle as claimed in claim 6, characterized in that: The grabbing part is a suction cup, and two suction cups are connected to two ends of the rotating plate through two cylinders respectively. A rotating shaft is arranged at the center of the upper part of the rotating plate, and the rotating shaft drives the rotating plate to rotate.

8. The dropper grabbing machine for packaging the dropper and the medicine bottle as claimed in claim 7, characterized in that: The suction cup is connected to a vacuum generator through a first solenoid valve and an air intake device through a second solenoid valve. Negative pressure is generated by the vacuum generator to suck the dropper, and positive pressure is generated by the air intake device to separate the dropper from the suction cup.

9. A dropper grabbing machine for packaging a dropper and a medicine bottle as a whole according to claim 7 or 8, characterized in that: The cylinder is a downward pressure cylinder.

10. A dropper grabbing machine for integrally packaging a dropper and a medicine bottle according to any one of claims 1 to 3, characterized in that: The manipulators include two groups, and the two groups of manipulators are installed in parallel.

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