Nest removing equipment
By installing cameras and robotic arms in the decanting equipment, real-time monitoring of the decanting process of vials and timely handling of abnormal situations are achieved, solving the problems of vial breakage and tipping, and avoiding environmental pollution and production stoppage.
Patent Information
- Application Number
- CN202423322113.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2034-12-31
AI Technical Summary
Existing pre-filled seal unpacking machines are prone to causing vials to break, tip over, or fall during material handling and transfer, leading to environmental pollution and pharmaceutical production disruptions, requiring human intervention.
The device employs a detachment system comprising a frame, a nest box conveying structure, a transfer platform, a clamping assembly, a material conveying structure, and a robotic arm. It is equipped with a first camera and a second camera for scanning and monitoring, and the robotic arm handles any abnormalities promptly.
By combining camera monitoring with robotic arms, abnormal situations can be handled promptly, avoiding environmental pollution and drug production stoppages caused by human intervention.
Smart Images
Figure CN223847542U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to the field of medicine packaging machinery especially relates to a nest removing equipment. BACKGROUND
[0002] The vial, also known as a soda-lime glass molded injection bottle, is a bottle sealed with a rubber plug and can be used to store medicines. The vial is filled in a nest box, and a nest removing machine is used to separate the nest box from the vial.
[0003] Most of the existing pre-filled nest removing machines use clean six-axis industrial robots to separate the nest box from the vial. However, during the material handling and transfer process, the robot may occasionally break the vial, tip the vial, or drop it onto the platform, which requires human intervention to handle these abnormal situations. This not only causes environmental pollution but also causes the drug production to stop for a long time. SUMMARY
[0004] To address at least some of the problems and deficiencies of the prior art, the utility model embodiment discloses a nest removing equipment.
[0005] Specifically, the utility model embodiment provides a nest removing equipment, which includes a rack, a nest box conveying structure arranged on the rack, the nest box conveying structure being used to convey a to-be-processed nest box along a conveying direction, a transfer platform arranged on the rack, a clamp assembly arranged on the rack, wherein the clamp assembly includes a second camera, the second camera being detachably connected with the robot hand, a material conveying structure arranged on the rack, a robot hand arranged on the rack, the transfer platform, the clamp assembly, the material conveying structure, and the robot hand being located on the same side of the nest box conveying structure, wherein the robot hand is used to transfer the to-be-processed nest box to the transfer platform and transfer to-be-processed material in the to-be-processed nest box to the material conveying structure, and a first camera arranged on the rack and communicatively connected with the robot hand.
[0006] The nest removing equipment provided in the embodiment can scan and monitor abnormal situations occurring during the nest removing process through the first camera and the second camera, and the robot hand can timely handle the abnormal situations, thereby avoiding environmental pollution and drug production stop caused by human intervention.
[0007] In one embodiment of the utility model, the clamp assembly further includes a first clamp detachably connected with the robot hand, and the first clamp is used to grab target abnormal material under the driving of the robot hand.
[0008] In one embodiment of the utility model, the clamp assembly further comprises a second clamp, which is detachably connected with the mechanical arm, and is used to grab the nest box to be processed and the material to be processed in the nest box to be processed under the driving of the mechanical arm.
[0009] In one embodiment of the utility model, the clamp assembly further comprises a fixing seat, which is arranged on the rack, and the second camera, the first clamp and the second clamp are detachably connected with the fixing seat.
[0010] In one embodiment of the utility model, the mechanical arm comprises a working mode, a detection mode and a maintenance mode; when the mechanical arm is in the working mode, the mechanical arm is connected with the second clamp; when the mechanical arm is in the detection mode, the mechanical arm is connected with the second camera; when the mechanical arm is in the maintenance mode, the mechanical arm is connected with the first clamp.
[0011] In one embodiment of the utility model, the mechanical arm comprises a processing unit and a communication unit which are electrically connected with each other, the communication unit is used to be communicatively connected with the first camera, the processing unit is used to receive the abnormal area information sent by the first camera and control the mechanical arm to switch to the detection mode, and the processing unit is further used to receive the abnormal material information sent by the second camera and control the mechanical arm to switch to the maintenance mode.
[0012] In one embodiment of the utility model, the rack comprises a camera fixing frame, the first camera is arranged on the camera fixing frame and located above the transfer platform along a first direction, and the first camera is used to scan the transfer platform and the material conveying structure.
[0013] In one embodiment of the utility model, the second camera is a high-precision camera.
[0014] In one embodiment of the utility model, the nest box conveying structure comprises, in sequence along the conveying direction, a feeding station, a waiting station and a discharging station, the mechanical arm is located between the feeding station and the discharging station, and the gripper end of the mechanical arm is connected to the waiting station.
[0015] In one embodiment of the utility model, further comprising: a waste collecting structure, which is arranged on the rack and close to the transfer platform.
[0016] From the above, the technical features of the utility model have one or more beneficial effects as follows: the nest removing equipment provided by the embodiment can scan and monitor abnormal conditions occurring in the nest removing process through the first camera and the second camera, and then the manipulator can timely process the abnormal conditions, thereby avoiding environmental pollution and drug production stagnation caused by human intervention. BRIEF DESCRIPTION OF DRAWINGS
[0017] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the drawings needed to be used in the embodiment description will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained by those skilled in the art without creative labor on the premise of the drawings.
[0018] Figure 1 The structure schematic view of the nest removing equipment provided by the embodiment of the utility model.
[0019] Figure 2 For Figure 1 The top view of the nest removing equipment.
[0020] Figure 3 For Figure 1 The structure schematic view of the clamp assembly.
[0021] Figure 4 The circuit structure schematic view of the manipulator. DETAILED DESCRIPTION
[0022] In order to make the purpose, technical scheme and advantages of the utility model more clear, the technical scheme of the utility model will be clearly and completely described below by combining the specific embodiments of the utility model and corresponding drawings. Obviously, the described embodiments are only some embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.
[0023] It should be noted that the direction terms mentioned in the embodiments of the utility model, such as "up", "down", "front", "back", "left", "right", "inner", "outer", "side" and the like, are only the direction of the attached drawings. Therefore, the direction terms are used to explain and understand the utility model, not to limit the utility model. In order to understand and facilitate the description, the size and thickness of each component shown in the drawings are arbitrarily shown, but the utility model is not limited to this.
[0024] It is understood that when a component, such as a layer, membrane, region, or substrate, is referred to as "on" another component, the component may be directly on the other component, or there may be intermediate components present. Furthermore, in the specification, unless explicitly stated otherwise, the word "comprising" will be understood to mean including the stated component, but not excluding any other components. Additionally, in the specification, "on" means located above or below the target component, and does not mean necessarily located on top of it based on gravity.
[0025] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.
[0026] like Figure 1-3 As shown, this embodiment of the present invention provides a nest removal device 10. The nest removal device 10 provided in this embodiment of the present invention is used, for example, for removing nests from vials. The nest removal device 10 includes, for example, a frame 100, a nest box conveying structure 200, a transfer platform 300, a clamp assembly 400, a material conveying structure 500, a robotic arm 600, a first camera 700, and a second camera 410. Specifically, the frame 100 is, for example, a component composed of multiple plates that provides support and mounting positions for other components. The nest box conveying structure 200 is, for example, mounted on the frame 10, and is used, for example, to convey nest boxes to be processed along a conveying direction, such as... Figure 2The nest box conveying structure 200 is, for example, a conveying device such as a conveying belt. The transfer platform 300 is, for example, provided on the rack 100, and is, for example, a platform capable of providing transfer for the nest box. The clamp assembly 400 is, for example, provided on the rack 100, and includes a second camera 410, which is detachably connected to the robot arm 600. The material conveying structure 500 is, for example, provided on the rack 10, and is used to convey the to-be-processed material, and is, for example, a conveying device such as a conveying belt, and the to-be-processed material is, for example, a penicillin bottle. The robot arm 600 is provided on the rack 10, and the transfer platform 300, the clamp assembly 400, the material conveying structure 500 and the robot arm 600 are, for example, located on the same side of the nest box conveying structure 200, and the robot arm 600 is used to transfer the to-be-processed nest box to the transfer platform 300 and to transfer the to-be-processed material in the to-be-processed nest box to the material conveying structure 500. For example, the robot arm 600 is, for example, a clean six-axis industrial robot, and can also be, for example, other robots, which are not specifically limited in the present application. The first camera 700 is, for example, provided on the rack 100 and in communication connection with the robot arm 600. For example, the second camera 410 is a high-precision camera. In this way, the first camera 700 is used for preliminary scanning, and then the second camera 410 is used for high-precision scanning positioning, the scanning range is not limited by the size of the scene, and the scanning imaging effect of the light-reflecting object or the semi-transparent object is good.
[0027] For example, in actual use, the to-be-processed material is, for example, placed in the to-be-processed nest box, the to-be-processed nest box is, for example, placed on the nest box conveying structure 200, and the nest box conveying structure 200 conveys the to-be-processed nest box along the transmission direction (Y direction) of the nest box conveying structure 200. Figure 2 The robot arm 600 transfers the to-be-processed nest box to the transfer platform 300, and takes out the to-be-processed material from the to-be-processed nest box and transfers it to the material conveying structure 500. The first camera 700 is, for example, used to scan the transfer platform 300 and the material conveying structure 500 to determine whether there is an abnormal situation, and to preliminarily determine the range of the abnormal situation, and to send the abnormal area information to the robot arm 600. For example, the abnormal situation mentioned here refers to the breaking of the to-be-processed material (i.e., the penicillin bottle). After the robot arm 600 receives the abnormal area information, the robot arm 600 is, for example, connected to the second camera 410, so that the second camera 410 is, for example, driven by the robot arm 600 to specifically scan the to-be-processed material in the abnormal area to determine the position and posture of the target abnormal material. Further, the robot arm 600 accurately grasps and processes the target abnormal material.
[0028] In summary, by setting the first camera and the second camera, the abnormal situation occurring in the denesting process can be scanned and monitored, and then the robot can handle the abnormal situation in time, thereby avoiding environmental pollution and drug production stagnation caused by human intervention.
[0029] Further, referring to Figure 1 and Figure 3 , the clamp assembly 400 further comprises a first clamp 420, which is detachably connected with the robot 600, and the first clamp 420 is used to grab the target abnormal material under the driving of the robot 600. For example, the first clamp 420 is a flexible clamp. By setting the flexible clamp, the target abnormal material can be grabbed, and secondary damage to the broken vial is avoided, so that the fragments are scattered on the denesting equipment 10.
[0030] As described above, referring to Figure 3 , the clamp assembly 400 further comprises a fixed seat 401 and a second clamp 430, the fixed seat 401 is arranged on the rack 10, and the second camera 410, the first clamp 420 and the second clamp 430 are detachably connected with the fixed seat 401. The second clamp 430 is detachably connected with the robot 600, and the second clamp 430 is used to grab the to-be-processed nest box and the to-be-processed material in the to-be-processed nest box under the driving of the robot 600. For example, the second clamp 430 is a robot multipurpose clamp.
[0031] Specifically, the robot 600 comprises a working mode, a detection mode and a maintenance mode. When the robot 600 is in the working mode, the robot 600 is connected with the second clamp 430; when the robot 600 is in the detection mode, the robot 600 is connected with the second camera 410; and when the robot 600 is in the maintenance mode, the robot 600 is connected with the first clamp 420.
[0032] For example, referring to Figure 4The robotic arm 600 includes a processing unit 601 and a communication unit 602 electrically connected to each other. The communication unit 602 is used to communicate with the first camera 700. When the robotic arm 600 is in working mode, it is connected to the second gripper 430 by default. The first camera 700 scans the transfer platform 300 and the material conveying structure 500. When an abnormality occurs in the transfer platform 300 or the material conveying structure 500, the first camera 700 sends abnormal area information to the robotic arm 600. When the processing unit 601 of the robotic arm 600 receives the abnormal area information sent by the first camera 700, the processing unit 601 controls the robotic arm 600 to switch to the detection mode. At this time, the robotic arm 600 is connected to the second camera 420 and controls the second camera 420 to scan the material to be processed in the abnormal area to identify the target abnormal material. The second camera 420 also sends abnormal material information to the processing unit 601. After receiving the abnormal material information sent by the second camera 410, the processing unit 601 controls the robot arm 600 to switch to the maintenance mode. At this time, the robot arm 600 is connected to the first gripper 420, and the first gripper 420 grabs the target abnormal material under the control of the robot arm 600.
[0033] In one specific embodiment, the frame 100 includes a camera mount 110, on which the first camera 700 is mounted and positioned above the transfer platform 300 along a first direction, so that the first camera 700 can scan the transfer platform 300 and the material conveying structure 500.
[0034] In another specific implementation, see Figure 2 The nest box conveying structure 200 is along the conveying direction ( Figure 2 The structure (Y-direction) sequentially includes an incoming material station 210, a waiting station 220, and an outgoing material station 230. A robotic arm 600 is located between the incoming material station 210 and the outgoing material station 230, with its gripper end docking to the waiting station 220. Specifically, the nest boxes to be processed are placed from a host device onto the incoming material station 210 of the nest box conveying structure 200, and then transported by the nest box conveying structure 200 along the conveying direction to the waiting station 220. The gripper end of the robotic arm 600 grasps the nest boxes to be processed on the waiting station 220 and transfers them to the transfer platform 300. After the robotic arm 600 transfers the materials to be processed from the nest boxes on the transfer platform 300 to the material conveying structure 500, it transfers the empty nest boxes on the transfer platform 300 to the outgoing material station 230, so that the nest box conveying structure 200 can transport the empty nest boxes.
[0035] In addition, the de-nesting device 10 further comprises a waste collecting structure 800 arranged on the frame 10 and close to the transfer platform 300, and the waste collecting structure 800 is used for collecting the target abnormal material.
[0036] In summary, the de-nesting device provided by the embodiments of the present application can scan and monitor the abnormal conditions in the de-nesting process through the first camera and the second camera, and then the manipulator can timely process the abnormal conditions, thereby avoiding the environmental pollution and the drug production stagnation caused by human intervention.
[0037] It can be understood that the foregoing various embodiments are only exemplary descriptions of the present application, and under the premise that the technical features do not conflict, the structures are not contradictory, and the invention purpose of the present application is not violated, the technical solutions of each embodiment can be arbitrarily combined and used.
[0038] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A de-nesting apparatus characterized by comprising: The machine frame comprises: a nest box conveying structure arranged on the machine frame, the nest box conveying structure being used for conveying a nest box to be processed along a conveying direction; a transfer platform arranged on the machine frame; a clamp assembly arranged on the machine frame, wherein the clamp assembly comprises a second camera, and the second camera is detachably connected with a mechanical hand; a material conveying structure arranged on the machine frame; the mechanical hand is arranged on the machine frame, and the transfer platform, the clamp assembly, the material conveying structure and the mechanical hand are located on the same side of the nest box conveying structure, wherein the mechanical hand is used for transferring the nest box to be processed to the transfer platform and transferring the material to be processed in the nest box to the material conveying structure; a first camera arranged on the machine frame and in communication connection with the mechanical hand. The clamp assembly further comprises:
2. The denesting apparatus as defined in claim 1, wherein a first clamp detachably connected with the mechanical hand, and the first clamp is used for grabbing target abnormal material under the driving of the mechanical hand. The clamp assembly further comprises:
3. The denesting apparatus as defined in claim 2, wherein a second clamp detachably connected with the mechanical hand, and the second clamp is used for grabbing the nest box to be processed and the material to be processed in the nest box under the driving of the mechanical hand. The clamp assembly further comprises a fixing seat arranged on the machine frame, and the second camera, the first clamp and the second clamp are detachably connected with the fixing seat.
4. The denesting apparatus as defined in claim 3, wherein The mechanical hand comprises a working mode, a detection mode and a maintenance mode; when the mechanical hand is in the working mode, the mechanical hand is connected with the second clamp; when the mechanical hand is in the detection mode, the mechanical hand is connected with the second camera; and when the mechanical hand is in the maintenance mode, the mechanical hand is connected with the first clamp.
5. The denesting apparatus as defined in claim 3, wherein The mechanical hand comprises a processing unit and a communication unit which are electrically connected with each other, the communication unit is used for communication connection with the first camera, the processing unit is used for receiving abnormal area information sent by the first camera and controlling the mechanical hand to switch to the detection mode, and the processing unit is further used for receiving abnormal material information sent by the second camera and controlling the mechanical hand to switch to the maintenance mode.
6. The dehoming device of claim 5, wherein, The machine frame comprises a camera fixing frame, the first camera is arranged on the camera fixing frame and located above the transfer platform along a first direction, and the first camera is used for scanning the transfer platform and the material conveying structure.
7. The denesting apparatus of any one of claims 1-6, wherein, The second camera is a high-precision camera.
8. The denesting apparatus of any one of claims 1-6, wherein, The nest box conveying structure comprises, in sequence along the conveying direction, an incoming station, a waiting station and an outgoing station, the mechanical hand is located between the incoming station and the outgoing station, and a gripper end of the mechanical hand is docked to the waiting station.
9. The denesting apparatus of any of claims 1-6, wherein, Further comprising:
10. The denesting apparatus of any of claims 1-6, wherein, a waste collection structure arranged on the machine frame and close to the transfer platform.