Full-automatic detection equipment for medical atomizing pump

Abstract

The utility model discloses full-automatic detection equipment for a medical atomizing pump. The full-automatic detection equipment for the medical atomizing pump comprises a base station, a material taking unit, a transfer platform, a first detection module, a second detection module, a conveying line, a third detection module, a fourth detection module, a defective product sorting manipulator, a non-defective product sorting manipulator and a box separation mechanism, the medical spray pumps are placed on the transfer platform through primary carrying, in the secondary carrying process of the material taking unit, the first detection module and the second detection module take pictures, the defective product sorting mechanical arm takes out the defective medical spray pumps placed on the conveying line and places the defective medical spray pumps into the defective product recycling box, and the non-defective product mechanical arm places non-defective medical spray pumps into the box separating mechanism. And the good medical atomizing pump enters the turnover box in the rack through the box separating mechanism. According to the full-automatic detection equipment for the medical atomizing pump, provided by the embodiment of the utility model, the production speed can be increased, and the product quality can be improved.

Description

Technical Field

[0001] The utility model particularly relates to a full-automatic detection device for a medical spray pump, belonging to the technical field of automatic detection equipment. Background Art

[0002] With rising labor costs, more and more pharmaceutical packaging companies are using visual inspection machines to replace some manual tasks, reducing labor costs and increasing profits. As a result, many companies are increasing their investment in visual inspection equipment. However, there is no dedicated visual inspection equipment specifically designed for medical spray pumps on the market. Traditional inspection methods involve manually placing the pumps under fluorescent light and observing for defects. This method is not only inefficient but also poses long-term eye damage and results in poor quality and reliability. Utility Model Content

[0003] The main purpose of the utility model is to provide a fully automatic detection device for a medical spray pump, thereby overcoming the deficiencies in the prior art.

[0004] In order to achieve the above-mentioned purpose of the utility model, the technical solution adopted by the utility model includes:

[0005] The present invention provides a fully automatic detection device for a medical spray pump, comprising:

[0006] A turntable and a transfer platform, wherein the turntable and the transfer platform are used to carry the medical spray pump to be tested;

[0007] A conveying line, used for conveying the medical spray pump to be inspected along a designated trajectory;

[0008] a material taking unit, used for transferring the medical spray pump to be tested from the turntable to the transfer platform, transferring the medical spray pump to be tested from the transfer platform to the conveyor line, and changing the position of the medical spray pump to be tested on the transfer platform;

[0009] a detection unit, configured to capture an image of the medical spray pump;

[0010] A defective product sorting robot and a defective product recovery box, wherein the defective product sorting robot is used to transfer the medical spray pumps that fail the inspection from the conveyor line to the defective product recovery box;

[0011] A qualified product sorting robot and a turnover box, wherein the qualified product sorting robot is used to transfer the medical spray pumps that have passed the inspection from the conveyor line to the turnover box;

[0012] The controller is connected to the detection unit, the defective product sorting robot, and the good product sorting robot, and is used to receive and process the image information collected by the detection unit, and adjust the working state and / or working parameters of the defective product sorting robot and the good product sorting robot according to the processing results.

[0013] In a more specific embodiment, the material picking unit includes a first support frame, a first driving mechanism, a first PPU manipulator, and multiple first grasping mechanisms. The first driving mechanism, the first PPU manipulator, and the multiple first grasping mechanisms are installed on the first support frame. The first driving mechanism is connected to the first PPU manipulator in a transmission connection. The first PPU manipulator is connected to the multiple first grasping mechanisms in a transmission connection. The first grasping mechanism can move on the first support frame under the drive of the first PPU manipulator.

[0014] Furthermore, the first gripping mechanism includes a first cylinder and a first clamping jaw, the first clamping jaw is in transmission cooperation with the first cylinder, and the first clamping jaw can grasp or release the medical spray pump under the drive of the first cylinder. Of course, the first cylinder can also be replaced by other mechanisms with the same function.

[0015] Furthermore, the first clamping jaw and the first cylinder are detachably connected. The specific detachable connection structure can adopt a structure and method known in the art, and no further limitations are given here.

[0016] Furthermore, the first support frame includes a first substrate, a first base, a first guide column, a first locking block, a first fixed plate, and a first crossbeam. The first base is fixedly set on the first substrate, the first guide column is fixedly set on the first base, the first locking block is adjustably set on the first guide column, and the position of the first locking block on the first guide column can be adjusted. The first fixed plate is fixedly matched with the first locking block, the first crossbeam is fixedly connected to the first fixed plate, the first PPU manipulator and the first driving mechanism are fixedly set on the first fixed plate, and multiple first grasping mechanisms are spaced apart on the first crossbeam.

[0017] In a more specific embodiment, the transfer platform includes a second support frame and a plurality of first carriers, wherein the plurality of first carriers are fixedly arranged on the second support frame at intervals, and the first carriers are used to fix the medical spray pump to be tested.

[0018] Furthermore, the first carrier has a negative pressure adsorption mechanism, and the first carrier fixes the medical spray pump to be tested by the negative pressure adsorption method.

[0019] Furthermore, the second support frame includes a second base, a second bracket, and a second beam. The second bracket is fixedly set on the second base, the second beam is fixedly set on the second bracket, the first carrier is fixed on the first adapter plate, and the first adapter plate is fixedly set on the second beam.

[0020] In a more specific embodiment, the detection unit includes a first detection module, a second detection module, a third detection module, and a fourth detection module. The first detection module, the second detection module, the third detection module, and the fourth detection module are respectively used to collect images of different parts of the medical spray pump.

[0021] Furthermore, the first detection module, the second detection module, the third detection module, and the fourth detection module are distributed at intervals on the same circle or sphere.

[0022] Furthermore, the first detection module is used to collect an image of the pump core part of the medical spray pump to be inspected during the process of transferring the medical spray pump from the turntable to the conveying line; the second detection module is used to collect an image of the inner bottom part of the medical spray pump to be inspected during the process of transferring the medical spray pump to be inspected from the turntable to the conveying line; the third detection module is used to collect an image of the outer top part of the medical spray pump to be inspected located on the conveying line; and the fourth detection module is used to collect an image of the outer cover part of the medical spray pump to be inspected located on the conveying line.

[0023] In a more specific embodiment, the first detection module includes a third support frame and a first camera, a first reflector, and a first light source mounted on the third support frame, wherein the first light source is used to image the pump core portion of the medical spray pump to be inspected in the first reflector, and the first camera faces the reflective surface of the first reflector and is used to capture an image of the pump core portion on the reflective surface of the first reflector;

[0024] Furthermore, the third support frame includes a second substrate, a first camera fixing plate, a third bracket, a fourth bracket, and a first support plate; the third bracket is fixedly set on the second substrate, the first camera fixing plate, the fourth bracket, and the first support plate are fixed on the third bracket, the first camera is set on the first camera fixing plate, the first reflector is set on the first support plate, and the first light source is set on the fourth bracket.

[0025] In a more specific embodiment, the second detection module includes a fourth support frame and a second light source and a second camera mounted on the fourth support frame, the second light source is used to illuminate the inner bottom part of the medical spray pump to be inspected, and the second camera is used to capture an image of the inner bottom part of the medical spray pump to be inspected.

[0026] Furthermore, the fourth support frame includes a fifth frame, a lifting frame, an angle adjustment frame, a sixth frame, and a second camera frame. The lifting frame is arranged on the fifth frame, and the lifting frame can perform lifting and lowering movements relative to the fifth frame. The angle adjustment frame is arranged on the lifting frame, and the second light source is arranged on the angle adjustment frame. The angle adjustment frame is movably cooperated with the lifting frame via a rotating shaft, and the angle adjustment frame as a whole can rotate around the rotating shaft. The second camera frame is fixedly arranged on the sixth frame, and the second camera is arranged on the second camera frame.

[0027] In a more specific embodiment, the third detection module includes a fifth support frame and a third light source and a third camera mounted on the fifth support frame, wherein the third light source is used to illuminate the outer top portion of the medical spray pump to be inspected, and the third camera is used to capture an image of the outer top portion of the medical spray pump to be inspected;

[0028] Furthermore, the fifth support frame includes a first pad, a first slide, a first transition plate, a second guide column, a first fixing clamp, a third beam, a second adapter plate, a second pad, a second slide, a second transition plate, a third guide column, a second fixing clamp, a fourth beam, and a third camera bracket.

[0029] The first slide is arranged on the first pad, the first transition plate is arranged on the first slide, the second guide column is fixedly arranged on the first transition plate, the first fixing clip is fixedly arranged on the second guide column, the third beam is fixedly arranged on the first fixing clip, the second adapter plate is fixedly arranged on the lower side of the third beam, and the third light source is mounted on the lower side of the second adapter plate;

[0030] The second slide is set on the second pad, the second transition plate is set on the second slide, the third guide column is fixedly set on the second transition plate, the second fixing clamp is fixedly set on the third guide column, the fourth beam is fixedly set on the second fixing clamp, the third camera bracket is fixedly set on the fourth beam, and the third camera is installed on the third camera bracket.

[0031] In a more specific embodiment, the fourth detection module includes a sixth support frame and a fourth camera, a fifth camera, a fourth light source, a fifth light source, and a second reflector installed on the sixth support frame, the fourth light source is used to illuminate the first area of ​​the outer cover part of the medical spray pump to be inspected, the third camera is used to collect the image of the first area of ​​the outer cover part of the medical spray pump to be inspected, the fifth light source is used to image the second area of ​​the outer cover part of the medical spray pump to be inspected in the second reflector, and the fifth camera faces the reflective mirror surface of the second reflector and is used to collect the image of the second area of ​​the outer cover part in the reflective mirror surface of the second reflector.

[0032] Furthermore, the sixth support frame includes a seventh bracket, a third slide, a fourth slide, a fifth slide, a fifth light source bracket, a fourth camera bracket, a fourth light source bracket, a seventh bracket, an eighth bracket, a fifth camera bracket and a second support plate.

[0033] The third slide, the fourth slide, and the fifth slide are fixed at intervals on the top of the seventh bracket, the fifth light source bracket is arranged on the third slide, the fifth light source is fixed on the fifth light source bracket, the fourth camera bracket is arranged on the fourth slide, the fourth camera is fixed on the fourth camera bracket, the fourth light source bracket is arranged on the fifth slide, the fourth light source is fixed on the fourth light source bracket, the eighth bracket is fixed on the seventh bracket, the fifth camera bracket and the second support plate are fixed on the eighth bracket and arranged back to back, the fifth camera is fixed on the fifth camera bracket, and the second reflector is fixed on the second support plate.

[0034] In a more specific embodiment, the conveying line includes a pad, a conveying mechanism, a second reducer, and a second driving mechanism. The second driving mechanism is connected to the conveying mechanism via the second reducer and drives the conveying mechanism to run in a selected direction. The conveying mechanism is arranged on the pad, and a plurality of support plates are also provided on the conveying mechanism. A second carrier for carrying a medical spray pump is provided on the support plate.

[0035] Furthermore, the top area of ​​the second carrier has a chamfer.

[0036] Furthermore, the conveying mechanism is a ring structure.

[0037] In a more specific embodiment, the defective product sorting robot includes a seventh support frame, a third drive mechanism, a second PPU robot, and at least one second grasping mechanism. The third drive mechanism, the second PPU robot, and the second grasping mechanism are installed on the seventh support frame. The second grasping mechanism can grasp and release the medical spray pump. The third drive mechanism is connected to the second PPU robot, and the second PPU robot is connected to multiple second grasping mechanisms, and drives the second grasping mechanism to move on the seventh support frame to grasp the defective medical spray pump into the defective product recovery box.

[0038] Furthermore, the second gripping mechanism includes a second cylinder and a second clamping jaw, the second cylinder and the second clamping jaw are in transmission cooperation, and the second clamping jaw can grip or release the medical spray pump under the drive of the second cylinder.

[0039] Furthermore, the second cylinder and the second clamping jaw are detachably connected.

[0040] In a more specific embodiment, the good product sorting robot includes an eighth support frame, a fourth drive mechanism, a third PPU robot, and at least one third grasping mechanism. The fourth drive mechanism, the third PPU robot, and the third grasping mechanism are installed on the eighth support frame. The third grasping mechanism can grasp and release the medical spray pump. The fourth drive mechanism is connected to the third PPU robot in a transmission manner. The third PPU robot is connected to multiple third grasping mechanisms in a transmission manner and drives the third grasping mechanism to move on the eighth support frame to grasp the good medical spray pump into the boxing mechanism.

[0041] Furthermore, the third gripping mechanism includes a third cylinder and a third clamping jaw. The third cylinder and the third clamping jaw are in transmission cooperation. The third clamping jaw can grip or release the medical spray pump under the drive of the third cylinder.

[0042] Furthermore, the third cylinder and the third clamping jaw are detachably connected.

[0043] Compared with the existing technology, the advantages of the present invention include: the embodiment of the present invention provides a fully automatic detection equipment for medical spray pumps, which can automatically realize the transportation and structural detection of medical spray pumps, and has the advantages of high product compatibility, convenient model change, stable transportation, low product damage rate, and high detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic diagram of the overall structure of a fully automatic detection device for a medical spray pump provided in a typical embodiment of the present utility model;

[0045] Figure 2 This is a structural diagram of a material taking unit provided in a typical implementation case of the utility model;

[0046] Figure 3 This is a structural diagram of a transfer platform provided in a typical implementation case of the utility model;

[0047] Figure 4 This is a structural diagram of the first detection module provided in a typical implementation case of the present utility model;

[0048] Figure 5 It is a structural diagram of the second detection module provided in a typical implementation case of the utility model;

[0049] Figure 6 This is a structural diagram of a conveyor line provided in a typical implementation case of the utility model;

[0050] Figure 7 This is a schematic structural diagram of the third detection module provided in a typical implementation case of the present utility model;

[0051] Figure 8 This is a structural diagram of the fourth detection module provided in a typical implementation case of the present utility model;

[0052] Figure 9 This is a structural diagram of a defective product sorting robot provided in a typical implementation case of the utility model;

[0053] Figure 10 This is a structural diagram of a good product sorting robot provided in a typical implementation case of the utility model;

[0054] Figure 11 It is a structural diagram of a box dividing mechanism provided in a typical implementation case of the utility model. DETAILED DESCRIPTION

[0055] In view of the deficiencies in the prior art, the inventors of this case have proposed the technical solution of the present utility model after long-term research and extensive practice. The following will further explain the technical solution, its implementation process and principles, etc. in conjunction with the accompanying drawings and specific implementation cases. Unless otherwise specified, the motors, reducers, PPU manipulators, cylinders, grippers, cameras, light sources and other functional components used in the following embodiments can be purchased commercially or obtained by processing methods known in the art. Their specific structures and product models are not limited here. In addition, the "front", "back", "left" and "right" mentioned in this embodiment are all based on the paper direction shown in the accompanying drawings.

[0056] The embodiment of the present utility model provides a fully automatic detection device for medical spray pumps, which can increase production speed and improve product quality.

[0057] The embodiment of the utility model provides a fully automatic detection device for medical spray pumps, which has the advantages of structural detection, high product compatibility, convenient model change, stable delivery, low product damage rate, and high detection efficiency.

[0058] Example

[0059] See also Figure 1 A fully automatic detection equipment for medical spray pumps includes a base 1 and a material picking unit 2 assembled on the base 1, a transfer platform 3, a turntable 16, a first detection module 4, a second detection module 5, a conveyor line 6, a third detection module 7, a fourth detection module 8, a defective product sorting robot 9, a good product sorting robot 13, and a boxing mechanism 15.

[0060] The material picking unit 2 takes the finished medical spray pump from the turntable 16, and places it on the transfer platform 3 after one transport. During the second transport by the material picking unit 2, the first detection module 4 takes photos and pictures. During the third transport by the material picking unit 2, the second detection module 5 takes photos and pictures. After the fourth transport by the material picking unit 2, the finished medical spray pump is placed on the conveyor line 6. The conveyor line 6 conveys the products to the inspection stations where the third inspection module 7 and the fourth inspection module 8 are located respectively. The third inspection module 7 and the fourth inspection module 8 take photos and pictures of the finished medical spray pump, and the image system (part of the controller) gives a judgment result. The defective product sorting robot 9 takes out the defective medical spray pump that has been inspected on the conveyor line 6 and puts it into the defective product recovery box 17. The good product robot 13 puts the good medical spray pump that has been inspected on the conveyor line 6 into the box dividing mechanism 15. The good medical spray pump passes through the box dividing mechanism 15 and enters the turnover box in the frame 18, and the inspection is completed.

[0061] In this embodiment, the first detection module 4, the second detection module 5, the third detection module 7, and the fourth detection module 8 are respectively used to capture images of different parts of the medical spray pump. Specifically, the first detection module 4 is used to capture an image of the pump core portion of the medical spray pump while the medical spray pump to be inspected is being transferred from the turntable 16 to the conveyor line 6; the second detection module 5 is used to capture an image of the inner bottom portion of the medical spray pump while the medical spray pump to be inspected is being transferred from the turntable 16 to the conveyor line 6; the third detection module 7 is used to capture an image of the outer top portion of the medical spray pump to be inspected located on the conveyor line 6; and the fourth detection module 8 is used to capture an image of the outer cover portion of the medical spray pump to be inspected located on the conveyor line 6. As a preferred solution, the first detection module 4, the second detection module 5, the third detection module 7, and the fourth detection module 8 are spaced apart and distributed on the same circumference or sphere, thereby enabling 360° all-round inspection of the medical spray pump.

[0062] In this embodiment, please refer to Figure 2 The material picking unit 2 includes a first substrate 201, a first base 202, a first guide column 204, a first locking block 205, a first fixing plate 206, a first beam 211, a first reducer 208, a first driving mechanism 209, a first PPU manipulator 207, and multiple first grasping mechanisms.

[0063] The first base 202 is fixedly arranged on the upper side of the first substrate 201, the first guide column 204 is vertically fixed on the upper side of the first base 202, the first locking block 205 and the first reinforcing block 203 are arranged on the upper side of the first guide column 204, the first reinforcing block 203 can reduce the vibration of the material taking unit 2 during operation, the first fixed plate 206 is fixedly arranged on the front side of the first locking block 205, the fixed block 210 is fixedly arranged on the lower right side of the first fixed plate 206, the first PPU manipulator 207 is arranged on the front side of the first fixed plate 206, the first reducer 208 is arranged on the rear side of the first PPU manipulator 207, the first drive mechanism 209 is arranged on the upper side of the first reducer 208, and the first drive mechanism 209 is fixed on the first reducer. The machine 208 is connected to the cam of the first PPU manipulator 207 by transmission. A first beam 211 is set on the lower side of the first PPU manipulator 207, and a reinforcing rib 212 is set on the rear side of the first beam 211. Multiple first grasping mechanisms are arranged at intervals on the front side of the first beam 211. In addition, the multiple first grasping mechanisms are also connected to the first PPU manipulator 207 by transmission and can move along the first beam 211 under the drive of the first PPU manipulator 207. Of course, the multiple first grasping mechanisms can also be fixed on the first beam 211. The first PPU manipulator 207 is connected to the first beam 211 by transmission. The multiple first grasping mechanisms and the first beam 211 as a whole can move under the drive of the first PPU manipulator 207.

[0064] In this embodiment, the first gripping mechanism includes a first cylinder 213 and a first clamping jaw 214. The first clamping jaw 214 is in transmission cooperation with the first cylinder 213. The first clamping jaw 214 can perform a mechanical clamping action under the drive of the first cylinder 213, thereby grasping or releasing the medical spray pump. As a preferred embodiment, the first clamping jaw 214 is detachably connected to the first cylinder 213. By replacing the first clamping jaw 214, medical spray pumps of different specifications can be grasped, which has high compatibility and convenient replacement. The specific structure of the first clamping jaw 214 and the first cylinder 213 is not specifically limited here. The first clamping jaw 214 and the first cylinder 213 can be connected using a detachable connection structure / method known in the art, for example, the two can be connected using a mortise and tenon connection or a latch structure.

[0065] In this embodiment, the transfer platform 3 includes a second support frame and a plurality of first carriers 304. The plurality of first carriers 304 are fixedly arranged at intervals on the second support frame. The first carriers 304 are used to carry the medical spray pump to be tested. The first carriers 304 have a negative pressure adsorption mechanism 305. The first carriers 304 fix the medical spray pump to be tested through negative pressure adsorption. The medical spray pump will not jump on the first carrier 304, reducing damage to the medical spray pump when the manipulator 2 grasps the medical spray pump. Exemplarily, the negative pressure adsorption mechanism can be a suction cup, or a structure such as an adsorption hole connected to a vacuum pump.

[0066] In this embodiment, please refer to Figure 3 The second support frame includes a second base 301, a second bracket 302, and a second beam 306. The second bracket 302 is fixedly set on the second base 301, the second beam 306 is fixedly set on the second bracket 302, the first carrier 304 is fixed on the first adapter plate 303, and the first adapter plate 303 is fixedly set on the second beam 306. It should be noted that the second support frame mainly provides support, and the specific structural forms of the second base 301, the second bracket 302, and the second beam 306 are not specifically limited here.

[0067] In this example, see Figure 4The first detection module 4 includes a third support frame and a first camera 404, a first reflector 407 and a first light source 409 installed on the third support frame. The first light source 409 is used to image the pump core part of the medical spray pump to be inspected in the first reflector 407. The first camera 404 faces the reflective surface of the first reflector 407 and is used to collect the image of the pump core part on the reflective surface of the first reflector 407.

[0068] In this embodiment, the third support frame includes a first connecting angle piece 401, a second substrate 402, a first camera fixing plate 403, a third bracket 405, a fourth bracket 408, and a first support plate 406. The third bracket 405 is fixedly arranged on the lower side of the second substrate 402, the first camera fixing plate 403, the fourth bracket 408, and the first support plate 406 are fixed on the third bracket 405, the first camera 404 is arranged on the first camera fixing plate 403, the first reflector 407 is arranged on the first support plate 406, the first light source 409 is arranged on the fourth bracket 408, the first connecting angle piece 401 is fixedly arranged on the upper side of the second substrate 402, and the first connecting angle piece 401 is used to be fixedly connected to the base 1.

[0069] In this example, see Figure 5 The second detection module 5 includes a fourth support frame and a second light source 504 and a second camera 507 installed on the fourth support frame. The second light source 504 is used to illuminate the inner bottom part of the medical spray pump to be inspected, and the second camera 507 is used to capture an image of the inner bottom part of the medical spray pump to be inspected.

[0070] In this embodiment, the fourth support frame includes a fifth support frame 501, a lifting support frame 502, an angle adjustment support frame 503, a sixth support frame 505, and a second camera support frame 506. The lifting support frame 502 is arranged on the fifth support frame 501, and the lifting support frame 502 can perform lifting and lowering movements relative to the fifth support frame 501. The angle adjustment support frame 503 is arranged on the lifting support frame 502. The second light source 504 is arranged on the angle adjustment support frame 503. The angle adjustment support frame 503 is movably matched with the lifting support frame 502 via a rotating shaft, and the angle adjustment support frame 503 as a whole can rotate around the rotating shaft. The second camera support frame 506 is fixedly arranged on the sixth support frame 505, and the second camera 507 is arranged on the second camera support frame 506.

[0071] In this example, see Figure 7The third detection module 7 includes a fifth support frame and a third light source 708 and a third camera 716 installed on the fifth support frame. The third light source 708 is used to illuminate the outer top part of the medical spray pump to be inspected, and the third camera 716 is used to capture an image of the outer top part of the medical spray pump to be inspected.

[0072] In this embodiment, please refer to Figure 7 The fifth support frame includes a first pad 701, a first slide 702, a first transition plate 703, a second guide column 704, a first fixing clamp 705, a third beam 706, a second adapter plate 707, a second pad 709, a second slide 710, a second transition plate 711, a third guide column 712, a second fixing clamp 713, a fourth beam 714, and a third camera bracket 715. The first pad 701 and the second pad 709 can be fixed on the base 1;

[0073] The first slide 702 is disposed on the first pad 701, the first transition plate 703 is disposed on the first slide 702, the second guide column 704 is fixedly disposed on the first transition plate 703, the first fixing clamp 705 is fixedly disposed on the second guide column 704, the third crossbeam 706 is fixedly disposed on the first fixing clamp 705, the second adapter plate 707 is fixedly disposed on the lower side of the third crossbeam 706, and the third light source 708 is mounted on the lower side of the second adapter plate 707;

[0074] The second slide 710 is arranged on the second pad 709, the second transition plate 711 is arranged on the second slide 710, the third guide column 712 is fixedly arranged on the second transition plate 711, the second fixing clamp 713 is fixedly arranged on the third guide column 712, the fourth crossbeam 714 is fixedly arranged on the second fixing clamp 713, the third camera bracket 715 is fixedly arranged on the fourth crossbeam 714, and the third camera 716 is installed on the third camera bracket 715. When the medical spray pump is changed, the third camera 716 and the third light source 708 can be quickly adjusted through the first slide 702 and the second slide 710, which saves debugging time and facilitates changeover.

[0075] It should be noted that a guide rail extending vertically is provided on the first pad 701, and the first slide 702 is movably matched with the guide rail and can move along the guide rail. In addition, a positioning pin is provided on the first slide 702, and the positioning pin is threadedly connected to the first slide 702. By screwing the positioning pin, one end of the positioning pin is abutted against the first pad, thereby locking the position of the first slide 702. Similarly, the cooperation method / structure of the second slide 710 and the second pad 709 can be the same as the cooperation method / structure of the first slide 702 and the first pad 701, which will not be repeated here.

[0076] In this example, see Figure 8 The fourth detection module 8 includes a sixth support frame and a fourth camera 807, a fifth camera 813, a fourth light source 810, a fifth light source 803, and a second reflector 815 installed on the sixth support frame, wherein the fourth light source 810 is used to illuminate the first area of ​​the outer cover part of the medical spray pump to be detected, the fourth camera 807 is used to collect an image of the first area of ​​the outer cover part of the medical spray pump to be detected, the fifth light source 803 is used to image the second area of ​​the outer cover part of the medical spray pump to be detected in the second reflector 815, and the fifth camera 813 faces the reflective mirror surface of the second reflector 815 and is used to collect an image of the second area of ​​the outer cover part in the reflective mirror surface of the second reflector 815.

[0077] In this embodiment, please refer to Figure 8 The sixth support frame includes a seventh bracket 801, a third slide 804, a fourth slide 805, a fifth slide 808, a fifth light source bracket 802, a fourth camera bracket 806, a fourth light source bracket 809, a seventh bracket 801, an eighth bracket 812, a fifth camera bracket 811 and a second support plate 814.

[0078] The third slide 804, the fourth slide 805, and the fifth slide 808 are fixed at intervals on the top of the seventh bracket 801, the fifth light source bracket 802 is arranged on the third slide 804, the fifth light source 803 is fixed on the fifth light source bracket 802, the fourth camera bracket 806 is arranged on the fourth slide 805, the fourth camera 807 is fixed on the fourth camera bracket 806, the fourth light source bracket 809 is arranged on the fifth slide 808, the fourth light source 810 is fixed on the fourth light source bracket 809, the eighth bracket 812 is fixed on the seventh bracket 801, the fifth camera bracket 811 and the second support plate 814 are fixed on the eighth bracket 812 and are arranged back to back, the fifth camera 813 is fixed on the fifth camera bracket 811, and the second reflector 815 is fixed on the second support plate 814. When the medical spray pump is changed, the third slide 804, the fourth slide 805, and the fifth slide 808 can be used to quickly adjust the camera and the light source, saving debugging time and facilitating the change of model.

[0079] It should be noted that the fifth light source bracket 802 can move along the third slide 804, and the fifth light source bracket 802 can be fixed at any position of the third slide 804. The specific movable cooperation and position locking structure can be known in the art. For example, its structure can be the same as the cooperation method / structure of the first slide 702 and the first pad 701. Correspondingly, the cooperation method / structure of the fourth camera bracket 806 and the fourth slide 805, and the cooperation method / structure of the fourth light source bracket 809 and the fifth slide 808 can be the same as the cooperation method / structure of the first slide 702 and the first pad 701.

[0080] In this example, see Figure 6 The conveyor line 6 includes a cushion block 601, a conveying mechanism 602, a second reducer 605, and a second drive mechanism 606. The second drive mechanism 606 is connected to the conveying mechanism 602 via the second reducer 605 and drives the conveying mechanism 602 to move in a selected direction. The conveying mechanism 602 is disposed on the cushion block 601. The conveying mechanism 602 is also provided with a plurality of support plates 603. The support plates 603 are provided with a second carrier 604 for carrying a medical spray pump. Specifically, by replacing the second carrier 604, medical spray pumps of different specifications and sizes can be transported, thereby making the equipment more compatible. In addition, the second carrier 604 is provided with a chamfer to reduce the probability of damage to the medical spray pump during the process of the material receiving unit 2 placing the medical spray pump into the second carrier 604.

[0081] In this example, see Figure 9The defective product sorting robot 9 includes a seventh support frame, a third driving mechanism 910, a second PPU robot 908, and at least one second grasping mechanism. The third driving mechanism 910, the second PPU robot 908, and the second grasping mechanism are installed on the seventh support frame. The second grasping mechanism can grasp and release the medical spray pump. The third driving mechanism 910 is connected to the second PPU robot 908 in a transmission connection. The second PPU robot 908 is connected to multiple second grasping mechanisms in a transmission connection and drives the second grasping mechanism to move on the seventh support frame to grasp the defective medical spray pump into the defective product recovery box 17.

[0082] In this embodiment, the second gripping mechanism includes a second cylinder 912 and a second clamping jaw 911. The second cylinder 912 and the second clamping jaw 911 are in transmission cooperation. The second clamping jaw 911 can grasp or release the medical spray pump under the drive of the second cylinder 912. Specifically, the second cylinder 912 and the second clamping jaw 911 are detachably connected.

[0083] In this embodiment, the seventh support frame includes a third base plate 901, a third base 902 is provided on the upper side of the third base plate 901, a fourth guide column 905 is provided on the upper side of the third base 902, a second locking block 906 and a second reinforcing block 903 are provided on the upper side of the fourth guide column 905, the second reinforcing block 903 can reduce the vibration of the defective product sorting robot 9 during operation, a second fixing plate 907 is provided on the front side of the second locking block 906, a second PPU robot 908 is provided on the front side of the second fixing plate 907, and a third reducer 9 is provided on the rear side of the second PPU robot 908 09. A third driving mechanism 910 is arranged on the upper side of the third reducer 909. The third driving mechanism 910 is connected to the second PPU manipulator 908 through the third reducer 909. A fifth beam 904 is arranged on the lower side of the second PPU manipulator 908. A second cylinder 912 is arranged on the front side of the fifth beam 904. A second clamp 911 is arranged on the lower side of the second cylinder 912. The second cylinder 912 drives the second clamp 911 to grab and release defective medical spray pumps. By replacing the second clamp 911, medical spray pumps of different specifications can be grabbed, which has high compatibility and convenient replacement.

[0084] In this example, see Figure 10The qualified product sorting robot 13 includes a fourth base plate 131, a fourth base 132 is provided on the upper side of the fourth base plate 131, a fifth guide column 134 is provided on the upper side of the fourth base 132, a third locking block 135 and a third reinforcing block 133 are provided on the upper side of the fifth guide column 134, the third reinforcing block 133 can reduce the vibration of the qualified product sorting robot 13 during operation, a third fixing plate 136 is provided in front of the third locking block 135, a third PPU robot 137 is provided in front of the third fixing plate 136, and the third PPU robot 137 is provided behind the third PPU robot 137. A fourth reducer 141 is arranged on the side, and is connected to the fourth driving mechanism 142 through the fourth reducer 141. A sixth beam 138 is arranged on the lower side of the third PPU manipulator 137, and a third cylinder 139 is arranged on the front side of the sixth beam 138. A third clamp 140 is arranged on the lower side of the third cylinder 139. The third cylinder 139 on the good product sorting manipulator 13 drives the third clamp 140 to grab and release the good product medical spray pump. By replacing the third clamp 140, medical spray pumps of different specifications can be grabbed, which has high compatibility and convenient replacement.

[0085] In this example, see Figure 1 and Figure 11 The box-dividing mechanism 15 includes a second connecting angle piece 151 and a third connecting angle piece 152. The second connecting angle piece 151 and the third connecting angle piece 152 are fixedly connected at an angle. The second connecting angle piece 151 is fixedly connected to the base 1. A material-dividing box 155 is provided on the upper side of the connecting angle piece 151. A hinge 160 is provided on the right side of the material-dividing box 155. A cover plate 161 is provided on the right side of the hinge 160. A knob 162 is provided on the right side of the cover plate 161. A transfer switch is provided on the left side of the material-dividing box 155. Plate 157. A fourth cylinder 156 is located to the left of adapter plate 157. A rotating shaft 158 ​​is located to the right of fourth cylinder 156. A baffle 159 is located above rotating shaft 158, allowing baffle 159 to rotate about rotating shaft 158. A support leg 153 is located to the right of third connecting angle piece 152. A ground bracket 154 is located below support leg 153. When the turnover boxes inside rack 18 are empty or full, the box separation mechanism 15 transfers the qualified medical spray pumps to another empty box. This allows for ample time for manual box changes.

[0086] It should be noted that the driving mechanism in this embodiment can be a motor or other functional mechanism that can achieve motion driving, and no specific limitation is made here.

[0087] It should be understood that the above embodiments are merely illustrative of the technical concepts and features of the present invention. Their purpose is to enable those familiar with the art to understand the contents of the present invention and implement them accordingly. They are not intended to limit the scope of protection of the present invention. Any equivalent changes or modifications based on the spirit of the present invention are intended to fall within the scope of protection of the present invention.

Claims

1. A fully automatic detection device for medical spray pumps, characterized in that: include: A turntable (16) and a transfer platform (3), wherein the turntable (16) and the transfer platform (3) are used to carry the medical spray pump to be tested; A conveying line (6) for conveying the medical spray pump to be inspected along a designated trajectory; A material taking unit (2) is used to transfer the medical spray pump to be tested from the turntable (16) to the transfer platform (3), transfer the medical spray pump to be tested from the transfer platform (3) to the conveying line (6), and change the position of the medical spray pump to be tested located on the transfer platform (3); a detection unit, configured to capture an image of the medical spray pump; a defective product sorting robot (9) and a defective product recovery box (17), wherein the defective product sorting robot (9) is used to transfer the medical spray pumps that fail the inspection from the conveying line (6) to the defective product recovery box (17); A good product sorting robot (13) and a turnover box, wherein the good product sorting robot (13) is used to transfer the medical spray pumps that have passed the inspection from the conveying line (6) to the turnover box; The controller is connected to the detection unit, the defective product sorting robot (9), and the good product sorting robot (13), and is used to receive and process the image information collected by the detection unit, and adjust the working state and / or working parameters of the defective product sorting robot (9) and the good product sorting robot (13) according to the processing results.

2. The fully automatic detection equipment for medical spray pumps according to claim 1, characterized in that: The material picking unit (2) includes a first support frame, a first driving mechanism (209), a first PPU manipulator (207), and a plurality of first grasping mechanisms. The first driving mechanism (209), the first PPU manipulator (207), and the plurality of first grasping mechanisms are installed on the first support frame. The first driving mechanism (209) is connected to the first PPU manipulator (207) by transmission. The first PPU manipulator (207) is connected to the plurality of first grasping mechanisms by transmission. The first grasping mechanism can move on the first support frame under the drive of the first PPU manipulator (207). The first grasping mechanism can grasp and release the medical spray pump.

3. The fully automatic detection equipment for medical spray pumps according to claim 2, characterized in that: The first gripping mechanism includes a first cylinder (213) and a first clamping jaw (214), wherein the first clamping jaw (214) is in transmission cooperation with the first cylinder (213), and the first clamping jaw (214) can grip or release the medical spray pump under the drive of the first cylinder (213).

4. The fully automatic detection equipment for medical spray pumps according to claim 3, characterized in that: The first clamping jaw (214) and the first cylinder (213) are detachably connected.

5. The fully automatic detection equipment for medical spray pumps according to claim 1, characterized in that: The transfer platform (3) comprises a second support frame and a plurality of first carriers (304), wherein the plurality of first carriers (304) are fixedly arranged at intervals on the second support frame, and the first carriers (304) are used to carry the medical spray pump to be tested.

6. The fully automatic detection equipment for medical spray pumps according to claim 5, characterized in that: The first carrier (304) has a negative pressure adsorption mechanism, and the first carrier (304) fixes the medical spray pump to be tested by means of the negative pressure adsorption.

7. The fully automatic detection equipment for medical spray pumps according to claim 1, characterized in that: The detection unit comprises a first detection module (4), a second detection module (5), a third detection module (7), and a fourth detection module (8), wherein the first detection module (4), the second detection module (5), the third detection module (7), and the fourth detection module (8) are respectively used to collect images of different parts of the medical spray pump.

8. The fully automatic detection equipment for medical spray pumps according to claim 7, characterized in that: The first detection module (4), the second detection module (5), the third detection module (7), and the fourth detection module (8) are distributed at intervals on the same circumference or spherical surface.

9. The fully automatic detection equipment for medical spray pumps according to claim 7 or 8, characterized in that: The first detection module (4) is used to capture an image of the pump core portion of the medical spray pump to be detected during the process of transferring the medical spray pump to be detected from the turntable (16) to the conveying line (6); the second detection module (5) is used to capture an image of the inner bottom portion of the medical spray pump to be detected during the process of transferring the medical spray pump to be detected from the turntable (16) to the conveying line (6); the third detection module (7) is used to capture an image of the outer top portion of the medical spray pump to be detected located on the conveying line (6); and the fourth detection module (8) is used to capture an image of the outer cover portion of the medical spray pump to be detected located on the conveying line (6).

10. The fully automatic detection equipment for medical spray pumps according to claim 9, characterized in that: The first detection module (4) includes a third support frame and a first camera (404), a first reflector (407) and a first light source (409) mounted on the third support frame, wherein the first light source (409) is used to image the pump core part of the medical spray pump to be detected in the first reflector (407), and the first camera (404) faces the reflective surface of the first reflector (407) and is used to collect the image of the pump core part in the reflective surface of the first reflector (407).

11. The fully automatic detection equipment for medical spray pumps according to claim 9, characterized in that: The second detection module (5) includes a fourth support frame, a second light source (504) and a second camera (507) mounted on the fourth support frame, wherein the second light source (504) is used to illuminate the inner bottom portion of the medical spray pump to be detected, and the second camera (507) is used to capture an image of the inner bottom portion of the medical spray pump to be detected.

12. The fully automatic detection equipment for medical spray pumps according to claim 9, characterized in that: The third detection module (7) includes a fifth support frame and a third light source (708) and a third camera (716) mounted on the fifth support frame. The third light source (708) is used to illuminate the outer top part of the medical spray pump to be inspected, and the third camera (716) is used to capture an image of the outer top part of the medical spray pump to be inspected.

13. The fully automatic detection equipment for medical spray pumps according to claim 12, characterized in that: The fourth detection module (8) includes a sixth support frame and a fourth camera (807), a fifth camera (813), a fourth light source (810), a fifth light source (803), and a second reflector (815) mounted on the sixth support frame, wherein the fourth light source (810) is used to illuminate a first area of ​​the outer cover part of the medical spray pump to be detected, the third camera (716) is used to capture an image of the first area of ​​the outer cover part of the medical spray pump to be detected, the fifth light source (803) is used to image a second area of ​​the outer cover part of the medical spray pump to be detected in the second reflector (815), and the fifth camera (813) faces the reflective mirror surface of the second reflector (815) and is used to capture an image of the second area of ​​the outer cover part in the reflective mirror surface of the second reflector (815).

14. The fully automatic detection equipment for medical spray pumps according to claim 1, characterized in that: The conveying line (6) includes a cushion block (601), a conveying mechanism (602), a second reducer (605), and a second driving mechanism (606). The second driving mechanism (606) is connected to the conveying mechanism (602) via the second reducer (605) and drives the conveying mechanism (602) to run in a selected direction. The conveying mechanism (602) is arranged on the cushion block (601). A plurality of support plates (603) are also arranged on the conveying mechanism (602). A second carrier (604) for carrying a medical spray pump is arranged on the support plate (603).

15. The fully automatic detection equipment for medical spray pumps according to claim 14, characterized in that: The top area of ​​the second carrier (604) has a chamfered corner.

16. The fully automatic detection equipment for medical spray pumps according to claim 14, characterized in that: The conveying mechanism (602) is a ring-shaped structure.

17. The fully automatic detection equipment for medical spray pumps according to claim 1, characterized in that: The defective product sorting robot (9) includes a seventh support frame, a third driving mechanism (910), a second PPU robot (908), and at least one second grasping mechanism. The third driving mechanism (910), the second PPU robot (908), and the second grasping mechanism are installed on the seventh support frame. The second grasping mechanism can grasp and release the medical spray pump. The third driving mechanism (910) is connected to the second PPU robot (908) by transmission. The second PPU robot (908) is connected to multiple second grasping mechanisms by transmission and drives the second grasping mechanism to move on the seventh support frame to grasp the defective medical spray pump and put it into the defective product recovery box (17).

18. The fully automatic detection equipment for medical spray pumps according to claim 17, characterized in that: The second gripping mechanism includes a second cylinder (912) and a second clamp (911), wherein the second cylinder (912) and the second clamp (911) are in transmission cooperation, and the second clamp (911) can grip or release the medical spray pump under the drive of the second cylinder (912).

19. The fully automatic detection equipment for medical spray pumps according to claim 18, characterized in that: The second cylinder (912) and the second clamping jaw (911) are detachably connected.

20. The fully automatic detection equipment for medical spray pumps according to claim 17, characterized in that: The qualified product sorting robot (13) includes an eighth support frame, a fourth driving mechanism (142), a third PPU robot (137), and at least one third grasping mechanism. The fourth driving mechanism (142), the third PPU robot (137), and the third grasping mechanism are installed on the eighth support frame. The third grasping mechanism can grasp and release the medical spray pump. The fourth driving mechanism (142) is connected to the third PPU robot (137) by transmission. The third PPU robot (137) is connected to multiple third grasping mechanisms by transmission and drives the third grasping mechanism to move on the eighth support frame to grasp the qualified medical spray pump into the boxing mechanism (15).

21. The fully automatic detection equipment for medical spray pumps according to claim 20, characterized in that: The third gripping mechanism includes a third cylinder (139) and a third clamp (140), wherein the third cylinder (139) and the third clamp (140) are in transmission cooperation, and the third clamp (140) can grip or release the medical spray pump under the drive of the third cylinder (139).

22. The fully automatic detection equipment for medical spray pumps according to claim 21, characterized in that: The third cylinder (139) and the third clamping jaw (140) are detachably connected.

Images