Medicine packaging box boxing mechanical gripper
The mechanical gripper of the pharmaceutical packaging box with a rectangularly distributed gripping arm plate and claw support mechanism is solved, and the problem of packaging box collapse and slide during the gripping process is ensured, ensuring the stability and integrity of the gripping.
Patent Information
- Application Number
- CN202422274262.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-14
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-14
AI Technical Summary
When grabbing stacking products by existing pharmaceutical packaging boxes, the compact stacking type of the existing pharmaceutical packaging box is prone to collapse and slide during the grabbing and lowering process, affecting the grab stability.
Design a mechanical gripper for packaging medicine packaging, including a rectangularly distributed arm plate and a claw support mechanism. The gripper plate is driven by a cylinder to clamp the packaging box. After the grasping is completed, the claw support mechanism is flipped to the support at the bottom edge of the packaging box to provide additional support to ensure that the packaging box does not slide down.
The stability and integrity of the packaging box during the grab and decentralization process is achieved, avoiding the collapse and slipping of stacked products, and improving the grab efficiency.
Smart Images
Figure CN223133510U_ABST
Abstract
Description
Technical Field
[0001] The utility model belongs to the technical field of pharmaceutical packaging production, and particularly relates to a mechanical gripper for packing medicine boxes into cartons. Background Art
[0002] The production and processing of medicines mainly include the production of bulk drugs. After the production of bulk drugs, specific dosage forms such as pills are obtained through formulation processing. In the filling process of a specific dosage form, the medicament is filled into, for example, medicine bottles, and then the medicine bottles are packaged into paper medicine boxes. The medicine boxes go through blanking and stacking on the production line to form stacked products. Subsequently, a manipulator is used to grab the stacked products and place them into a carton, and then the subsequent packaging is completed to finish a complete processing flow.
[0003] In the process of the manipulator grabbing the stacked medicine bottle packages, the current common method is to use a cylinder in cooperation with a gripper plate to integrally grab the stacked packages and place them into the carton.
[0004] However, it is found in the actual working process that due to the low compactness of the stacked products during blanking and stacking, when the gripper finishes grabbing the materials, during the process of the gripper lifting the grabbed stacked products, due to the insufficient compactness of the stacked medicine box packages, once the gripper clamps onto the stacked products, the stacked products are likely to "collapse" at this time, resulting in a change in the cubic stacked shape, and further causing the gripper to be unable to firmly hold the stacked medicine boxes. During the process of grabbing and placing them into the carton, the stacked products are very likely to slip off the gripper, and further cause the regular stacked medicine box packages to scatter.
[0005] In the actual operation process, since the gripper needs to grab materials frequently, a large number of stacked medicine box packages with insufficient stacking compactness break away from between the grippers during the frequent grabbing process. Summary of the Utility Model
[0006] Based on the above background, the purpose of the utility model is to provide a mechanical gripper for packing medicine boxes into cartons.
[0007] To achieve the above purpose, the utility model adopts the following technical solutions:
[0008] A mechanical gripper for packing medicine boxes into cartons includes a gripper mechanism, and the gripper mechanism includes a number of gripper arm plates arranged in a rectangular distribution;
[0009] The gripper mechanism further includes a number of cylinders corresponding to the gripper arm plates, and the piston rods of the cylinders are installed on the corresponding gripper arm plates;
[0010] A cylinder connecting frame is fixedly connected between the cylinders, and the cylinder connecting frame is fixedly connected with a connecting arm rod installed on the robotic arm;
[0011] The medicine packaging box packing mechanical gripper further includes a number of claw mechanisms respectively hinged at the bottom of the gripper arm plate. After the gripper mechanism grabs the stacked packaging boxes, the claw mechanisms support at the bottom edge position of the stacked packaging boxes.
[0012] Preferably, the gripper mechanism includes four gripper arm plates arranged in a rectangular distribution;
[0013] The gripper arm plates are respectively located at the front, rear, left, and right positions.
[0014] Preferably, the gripper arm plates at the front and rear positions are slidably connected by two long spring rails arranged at intervals left and right;
[0015] The gripper arm plates at the left and right positions are slidably connected by two long spring rails arranged at intervals front and rear.
[0016] Preferably, the long spring rail includes a long slide rail slidably connected between the gripper arm plates. A spring is sleeved on the long slide rail, and both ends of the spring are respectively fixedly connected to the side walls of the gripper arm plates facing each other.
[0017] Preferably, an installation opening is formed at the bottom of the gripper arm plate, and the gripper mechanism is installed in the installation opening.
[0018] Preferably, the gripper mechanism includes support seat plates fixedly connected to both sides of the installation opening, and a claw plate is hinged between the support seat plates;
[0019] The gripper mechanism further includes a motor for driving the claw plate to rotate.
[0020] Preferably, the claw plate includes a tray portion, and ear plate portions are integrally formed on the side walls on both sides of the tray portion. The ear plate portions are respectively hinged to the support seat plates through fixed pin shafts;
[0021] The output shaft of the motor is fixedly connected to one of the ear plate portions.
[0022] Preferably, a push rod is fixedly connected to the inner side wall of the gripper arm plate, and the push rod is fixedly installed on the piston rod of the air cylinder through a connecting flange.
[0023] Preferably, the cylinder connection frame includes a connection frame fixedly connected between the cylinder barrels of the air cylinders. An upper connecting rod is fixedly connected to the top of the connection frame. The upper connecting rod is detachably connected to an installation rod through a connecting flange, and a flange mounting plate is fixedly connected to the top of the installation rod;
[0024] The flange mounting plate is detachably installed on the robotic arm.
[0025] The utility model has the following beneficial effects:
[0026] 1. The claw mechanism is used to ensure that when the gripper arm is grabbing materials, the claw mechanism is in an outward-turned state. When the grabbing is completed, the claw mechanism is turned over to support the bottom edge of the grabbed stacked packaging box. Under the support effect, it is ensured that the stacked packaging boxes will not slide down and scatter.
[0027] 2. In the working process, the grab arm plate falls around the stacked packaging boxes under the action of the robot arm, just like the existing method. At this time, under the action of the cylinder, all the grab arm plates work synchronously and contact and grab the stacked packaging boxes. Then, just like the existing method, the stacked packaging boxes in the clamping state are placed into the carton under the action of the robot arm. The stacked packaging box products are synchronously grabbed by the grab arm of a certain size. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] 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 the structures shown in these drawings without paying creative work.
[0029] Figure 1 It is a schematic diagram of the overall structure in an embodiment of the utility model;
[0030] Figure 2 This is a schematic diagram of the structure of the grab arm plate in the embodiment of the utility model;
[0031] Figure 3 This is a structural schematic diagram of the claw mechanism in the embodiment of the utility model;
[0032] Figure 4 This is a schematic diagram of the structure of the cylinder connecting frame fixedly connected to the cylinder in the embodiment of the utility model;
[0033] Figure 5 For the utility model embodiment Figure 1 Top view of .
[0034] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION
[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only 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.
[0036] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the attached drawings). If this specific posture changes, the directional indications will also change accordingly.
[0037] In addition, in the present utility model, descriptions such as "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.
[0038] Embodiment 1
[0039] As Figures 1-5 shown, a mechanical gripper for packing medicine boxes includes a gripper mechanism, and the gripper mechanism includes a number of gripper arm plates arranged in a rectangular distribution. Specifically, the gripper mechanism includes four gripper arm plates arranged in a rectangular distribution; the gripper arm plates are respectively located in the front, back, left, and right positions. The front and back ones are the first gripper arm plates 1, and the left and right ones are the second gripper arm plates 2.
[0040] The first gripper arm plates 1 and the second gripper arm plates 2 have a height of 45 cm and a width of 30 cm, so as to grasp a certain volume of palletized packaging boxes at one time. During the actual working process, the sizes of the gripper arm plates can be synchronously changed according to the size of the packaging boxes, so as to grasp as many palletized products of packaging boxes as possible while ensuring stable grasping.
[0041] At the same time, the gripper mechanism further includes 4 cylinders 31 corresponding to the first gripper arm plates 1 and the second gripper arm plates 2, and the piston rods of the cylinders 31 are installed on the corresponding gripper arm plates.
[0042] The specific method is: adopting a detachable installation method is convenient for replacing the first gripper arm plates 1 and the second gripper arm plates 2 with different sizes. Specifically, push rods 311 are fixedly connected to the inner side walls of the first gripper arm plates 1 and the second gripper arm plates 2 (the outer ends of the push rods 311 are fixedly connected with mounting seats, and the mounting seats are fastened to the gripper arm plates by bolts). At the same time, the push rods 311 are fixedly installed on the piston rods of the cylinders 31 through connecting flanges. By replacing the push rods 311 with different lengths, the first gripper arm plates 1 and the second gripper arm plates 2 can grasp palletized products of packaging boxes with different volumes.
[0043] A connecting frame for the cylinders 31 is fixedly connected between the aforesaid cylinders 31, and a connecting arm rod mounted on the robotic arm is fixedly connected to the connecting frame for the cylinders 31.
[0044] Specifically, the connecting frame for the cylinders 31 includes a connecting frame 312 fixedly connected between the cylinder barrels of the cylinders 31. An upper connecting rod is fixedly connected to the top of the connecting frame 312. The upper connecting rod is detachably connected to a mounting rod 3 through a connecting flange. A flange mounting plate is fixedly connected to the top of the mounting rod 3; the flange mounting plate is detachably mounted on the robotic arm (specifically, the flange plate on the robotic arm and the flange mounting plate are assembled by being connected by bolts). The robotic arm is a conventional robotic arm for grasping materials disclosed in the prior art.
[0045] During the working process, in the same manner as the prior art, first, under the action of the robotic arm, the first gripper arm plates 1 and the second gripper arm plates 2 fall to the periphery of the stacked packaging boxes. At this time, under the action of the cylinders 31, all the first gripper arm plates 1 and the second gripper arm plates 2 work synchronously and abut against and grasp the stacked packaging boxes. Subsequently, in the same manner as the prior art, the stacked packaging boxes in the clamped state are placed into a carton under the action of the robotic arm.
[0046] Since the outer surface of the packaging box has a plastic sealing film and the packaging box itself has a certain hardness, and the stacked packaging boxes will not deform under the grasping of the gripper arm plates. Even if there is a slight deformation, the shape can be restored.
[0047] Embodiment 2
[0048] As Figures 1-5 shown, on the basis of the structure of Embodiment 1, the aforesaid gripper arm plates at the front and rear positions are slidably connected through two long spring rails arranged at intervals left and right; the gripper arm plates at the left and right positions are slidably connected through two long spring rails arranged at intervals front and rear.
[0049] Specifically, the long spring rail includes a long sliding rail 51 slidably connected between the first gripper arm plates 1 and between the second gripper arm plates 2 (the long sliding rails 51 are arranged staggeredly in height to avoid interference). A spring 5 is sleeved on the long sliding rail 51. Two ends of the spring 5 are respectively fixedly connected to the side walls of the first gripper arm plates 1 and the second gripper arm plates 2 facing each other.
[0050] During the working process, under the action of the cylinders 31, the first gripper arm plates 1 and the second gripper arm plates 2 approach each other. Through the long sliding rail 51 and the spring 5, on the one hand, the sliding stability of the first gripper arm plates 1 and the second gripper arm plates 2 during the material grasping process is improved, and on the other hand, when the cylinders 31 are closed, with the cooperation of the spring 5, the first gripper arm plates 1 and the second gripper arm plates 2 quickly separate from the stacked packaging boxes.
[0051] Embodiment 3
[0052] As Figures 1-5 shown, on the basis of the structure of Embodiment 1, the mechanical gripper for packing the medicine packaging box further includes a plurality of claw mechanisms 4 respectively hinged at the bottom positions of the first gripper arm plate 1 and the second gripper arm plate 2. After the gripper mechanism grabs the stacked packaging boxes, the claw mechanism 4 supports at the bottom edge position of the stacked packaging boxes.
[0053] During the process of the gripper arm plate grabbing materials, at this time, the claw mechanism 4 is in an outward-turning state. And when the grabbing is completed, at this time, the claw mechanism 4 flips to support at the bottom edge part of the grabbed stacked packaging box. Under the supporting effect, it is ensured that the stacked packaging boxes will not slide down and scatter.
[0054] Specifically, when the stacked packaging boxes are not compact enough, under the action of the grabbing force, when the stacked packaging boxes collapse inward, resulting in the inability of the gripper arm plate to grip tightly, the claw mechanism 4 can effectively solve this problem.
[0055] Specifically, installation openings A are formed at the bottoms of the first gripper arm plate 1 and the second gripper arm plate 2, and the gripper mechanism is installed in the installation openings A. The gripper mechanism includes supporting seat plates 411 fixedly connected to both sides of the installation openings A, and a claw plate 41 is hinged between the supporting seat plates 411. The gripper mechanism further includes a motor 42 for driving the claw plate 41 to rotate. In the existing manner, the motor is fixedly installed on the outer side walls of the corresponding first gripper arm plate 1 and the second gripper arm plate 2 through an installation arm.
[0056] The shape of the claw plate 41 is: the claw plate 41 includes a supporting plate part, and ear plate parts B are integrally formed on the side walls on both sides of the supporting plate part. The ear plate parts B are respectively hinged to the supporting seat plates 411 through fixing pins; in the existing manner, the output shaft of the motor 42 is fixedly connected to one of the ear plate parts B.
[0057] During the working process, when the motor 42 drives the claw plate 41 to flip until the flipped claw plate 41 supports at the bottom of the packaging boxes in the stacking part, the stacked packaging box products are supported.
[0058] Certainly, the above description is not a limitation to the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those skilled in the art within the essence scope of the present invention should also belong to the protection scope of the present invention.
Claims
1. A mechanical gripper for packing medicine boxes, characterized in that, It includes a gripper mechanism, and the gripper mechanism includes several gripper arm plates arranged in a rectangular distribution. The gripper mechanism further includes several cylinders corresponding to the gripper arm plates, and the piston rods of the cylinders are installed on the corresponding gripper arm plates. A cylinder connection frame is fixedly connected between the cylinders, and the cylinder connection frame is fixedly connected with a connecting arm rod installed on the robotic arm. The pharmaceutical packaging box packing mechanical gripper further includes several pawl mechanisms respectively hinged at the bottom positions of the gripper arm plates. After the gripper mechanism grabs the palletized packaging boxes, the pawl mechanisms support at the bottom edge positions of the palletized packaging boxes. The gripper mechanism includes support base plates fixedly connected to both sides of the installation opening, and a pawl plate is hinged between the support base plates. The gripper mechanism further includes a motor for driving the pawl plate to rotate.
2. The pharmaceutical packaging box packing mechanical gripper according to claim 1, wherein, The gripper mechanism includes four gripper arm plates arranged in a rectangular distribution. The gripper arm plates are respectively located at the front, rear, left, and right positions.
3. The pharmaceutical packaging box packing mechanical gripper according to claim 1, wherein, The gripper arm plates at the front and rear positions are slidably connected by two long spring rails arranged at intervals left and right. The gripper arm plates at the left and right positions are slidably connected by two long spring rails arranged at intervals front and rear.
4. The pharmaceutical packaging box packing mechanical gripper according to claim 3, wherein, The long spring rail includes a long slide rail slidably connected between the gripper arm plates. A spring is sleeved on the long slide rail, and both ends of the spring are respectively fixedly connected to the side walls of the gripper arm plates facing each other.
5. The pharmaceutical packaging box packing mechanical gripper according to claim 1, characterized in that, An installation opening is formed at the bottom of the gripper arm plate, and the gripper mechanism is installed in the installation opening.
6. The pharmaceutical packaging box packing mechanical gripper according to claim 5, wherein, The pawl plate includes a tray portion, and ear plate portions are integrally formed on the side walls on both sides of the tray portion. The ear plate portions are respectively hinged to the support base plates through fixed pin shafts. The output shaft of the motor is fixedly connected to one of the ear plate portions.
7. The mechanical gripper for packing medicine boxes according to claim 1, characterized in that, A push rod is fixedly connected to the inner side wall of the gripper arm plate, and the push rod is fixedly installed on the piston rod of the cylinder through a connecting flange.
8. The pharmaceutical packaging box packing mechanical gripper according to claim 1, wherein The cylinder connection frame includes a connection frame fixedly connected between the cylinder barrels, and an upper connecting rod is fixedly connected to the top of the connection frame.
9. The mechanical gripper for packing medicine boxes according to claim 8, characterized in that, The upper connecting rod is detachably connected with an installation rod through a connecting flange, and a flange mounting plate is fixedly connected to the top of the installation rod. The flange mounting plate is detachably installed on the robotic arm.