A pharmaceutical de-palletizing robot

Abstract

The utility model discloses a kind of pharmaceutical unstacking and restacking robots, including dog, dog side is equipped with quick-change device, quick-change device includes clamping rod, clamping groove, linkage sleeve, clamping sleeve, clamping ball, linkage groove and rolling groove, clamping groove is opened in clamping rod outside, clamping ball is installed in rolling groove, linkage groove is opened in linkage sleeve in variable-diameter type, rolling groove is opened in the side wall of clamping sleeve, clamping sleeve outside is provided with locking mechanism, locking mechanism includes round hole, reinforcing sleeve, reinforcing frame, round plate, round rod, movable plate, arc slot, reinforcing groove and reinforcing rod, round hole is opened on movable plate, reinforcing frame is installed in linkage sleeve side, two round plates are set on round rod, round rod is connected in linkage sleeve side, arc slot is opened on movable plate, reinforcing groove is opened in clamping sleeve outside, reinforcing rod is installed in reinforcing frame, reinforcing rod one end is inserted into reinforcing groove, the utility model not only realizes the convenient replacement of dog, also guarantees the structural stability after dog installation.

Description

Technical Field

[0001] This utility model relates to the field of pharmaceutical depalletizing and palletizing robots, and more specifically, to a pharmaceutical depalletizing and palletizing robot. Background Technology

[0002] In the automated production lines of modern pharmaceutical industry, depalletizing robots, as key material handling equipment, are responsible for the precise gripping, handling, and stacking of various materials such as drug packaging boxes, raw material bags, and finished product pallets. Their work efficiency and reliability directly affect the production cycle and product quality of pharmaceutical companies. However, the depalletizing robots currently on the market for pharmaceutical use have serious technical defects in the jaw replacement mechanism, which not only affects the efficiency of equipment use but also increases maintenance costs and safety risks.

[0003] The primary problem lies in the overly complex and cumbersome operation of replacing the grippers in existing depalletizing and palletizing robots, which severely impacts the continuity of the production line and maintenance efficiency. In pharmaceutical production, due to the need to handle packaging materials of different specifications, shapes, and weights, depalletizing and palletizing robots must be equipped with various types of specialized grippers. However, the replacement of grippers in existing technologies usually requires the use of multiple auxiliary equipment such as wrenches, screwdrivers, positioning pins, and specialized disassembly and assembly tools. The entire replacement process not only requires technicians to have professional mechanical operation skills but also to strictly follow complex disassembly and assembly procedures. This series of operations usually takes a long time, during which the entire production line must be shut down, seriously affecting the production efficiency and economic benefits of pharmaceutical companies. It not only prolongs the product changeover cycle but may also lead to gripper damage or incorrect installation due to improper operation, further increasing the risk of production interruption and posing a serious challenge to the lean production and cost control of pharmaceutical companies.

[0004] Secondly, to address the aforementioned problem of low chuck replacement efficiency, some equipment manufacturers have introduced quick-change devices, which improve the convenience of chuck replacement to some extent and reduce reliance on specialized tools. However, these quick-change devices often suffer from key defects such as overly simplified design concepts, insufficient structural strength, and imperfect locking mechanisms. Their stability and reliability under high-intensity continuous operation conditions are difficult to guarantee effectively. In the actual working environment of pharmaceutical depalletizing robots, the chucks need to withstand frequent gripping actions and rapid acceleration and deceleration impacts, while also facing the influence of complex environmental factors such as vibrations in the production workshop. Simple quick-change... Under such harsh working conditions, the device is prone to malfunctions such as loose connections, positioning misalignment, or accidental unlocking. This can cause the grippers to detach or shift position during operation, potentially resulting in damage to expensive pharmaceutical packaging and material spillage. It can also lead to serious equipment collisions and personnel safety accidents. More seriously, unstable or malfunctioning grippers can reduce the robot's grasping accuracy, causing problems such as grasping failure, material falling, or misaligned stacking. This directly affects the packaging quality of pharmaceutical products and the efficiency of warehouse management. These quality and safety hazards may pose compliance risks under the strict regulatory environment of the pharmaceutical industry, affecting the company's production license and product certification. Utility Model Content

[0005] (a) Technical problems to be solved

[0006] In view of the problems existing in the prior art, this utility model provides a pharmaceutical depalletizing robot to solve the technical problems mentioned in the background art.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, this utility model provides the following technical solution: a pharmaceutical depalletizing robot, comprising a gripper, a quick-change device installed on one side of the gripper, the quick-change device comprising a clamping rod, a clamping groove, a linkage sleeve, a clamping ball, a linkage groove, and a rolling groove, the clamping rod being fixedly connected to one side of the gripper, the clamping groove being formed on the outside of the clamping rod, the linkage sleeve being rotatably mounted on the outside of the clamping sleeve, the clamping sleeve being detachably fitted on the outside of the clamping rod, the clamping ball being rolled in the rolling groove, the linkage groove being formed in a variable diameter manner in the linkage sleeve, the rolling groove being formed on the side wall of the clamping sleeve, the clamping... A locking mechanism is provided on the outer side of the clamping sleeve. The locking mechanism includes a round hole, a reinforcing sleeve, a reinforcing frame, a round plate, a round rod, a movable plate, an arc-shaped groove, a reinforcing groove, and a reinforcing rod. The round hole is opened on the movable plate. The reinforcing sleeve is slidably sleeved on the outer side of the clamping sleeve. The reinforcing frame is fixedly installed on one side of the linkage sleeve. The two round plates are fixedly installed on the round rod. The round rod is fixedly connected to one side of the linkage sleeve. The movable plate is rotatably installed on the outer side of the clamping sleeve. The arc-shaped groove is opened on the movable plate. The reinforcing groove is opened on the outer side of the clamping sleeve. The reinforcing rod is slidably installed in the reinforcing frame. One end of the reinforcing rod is inserted into the reinforcing groove.

[0009] The present invention is further configured such that a mounting bracket is provided on one side of the claw, a mounting plate is connected to the bottom end of the mounting bracket, a connecting bracket is rotatably provided below the mounting plate, the connecting bracket and the claw are detachably connected, a first cylinder is detachably provided on the mounting plate, a first piston rod is connected to the output end of the first cylinder, a connecting plate is connected to one end of the connecting bracket, and one end of the first cylinder is rotatably connected to the connecting plate. This design provides a stable basic support structure through the fixed connection between the mounting bracket and the mounting plate, the rotational design of the connecting bracket gives the claw multi-angle adjustment capability, and the rotational connection between the first cylinder and the connecting plate realizes precise control of the opening and closing angle of the claw.

[0010] The present invention is further configured such that a base is provided on one side of the mounting frame, and a robotic arm assembly is detachably provided on the base. One end of the robotic arm assembly is detachably connected to the mounting frame. This structural design realizes the modular design of the entire grasping system through the detachable connection between the base and the robotic arm assembly.

[0011] The present invention is further configured such that a second cylinder is detachably provided below the mounting plate, a second piston rod is connected to the output end of the second cylinder, and a push plate is connected to the bottom end of the second piston rod. This configuration forms an auxiliary fixing mechanism for materials through the coordinated work of the second cylinder and the push plate. It can provide additional downward pressure during the gripping process to ensure stable transfer of materials and prevent materials from loosening or falling during handling.

[0012] The present invention is further configured such that a spring is connected to one side of the reinforcing sleeve, the spring is movably sleeved on the outside of the round rod, and the other end of the spring is in contact with the movable plate. This elastic connection structure utilizes the tension of the spring to realize the automatic reset function of the reinforcing sleeve, ensuring that the round rod and the round plate can be reliably relocked after unlocking.

[0013] The present invention is further configured such that a reinforcing plate is connected to one end of the reinforcing rod, a reinforcing spring is connected to one side of the reinforcing plate, the other end of the reinforcing spring is connected to the outer wall of the locking sleeve, and the reinforcing spring is movably sleeved on the outside of the reinforcing rod. The elastic reset mechanism ensures that the reinforcing rod can be automatically inserted back into the reinforcing groove and relocked after unlocking by the restoring force of the reinforcing spring.

[0014] The present invention is further configured such that the end of the reinforcing rod and the edge of the inner wall of the reinforcing groove are both rounded. This rounded corner design significantly reduces the frictional resistance and wear of the reinforcing rod during insertion and extraction from the reinforcing groove, making the locking and unlocking operations smoother and more fluid.

[0015] The present invention is further configured such that the locking groove is an annular structure and the rolling groove is a concave structure. This structure design allows the locking ball to roll smoothly along the concave rolling groove and accurately engage in the annular locking groove, forming an all-round annular locking force. The concave design effectively prevents the locking ball from jumping out during operation.

[0016] (III) Beneficial Effects

[0017] Compared with the prior art, this utility model provides a pharmaceutical depalletizing robot, which has the following beneficial effects:

[0018] 1. This utility model's pharmaceutical depalletizing robot, through the rational configuration of components such as mounting frame, mounting plate, connecting frame, and grippers, forms a highly integrated material handling system capable of adapting to packaging materials of different specifications, shapes, and weights. When the system receives a depalletizing or palletizing task command, the first cylinder on the mounting plate can precisely control the opening and closing angle of the grippers. Through rotational connection with the connecting plate, it drives the connecting frame and grippers to perform rotational movements, adjusting the grippers to the optimal gripping angle. Simultaneously, the robotic arm assembly mounted on the base on one side of the mounting frame provides flexible three-dimensional spatial positioning capabilities, enabling the entire gripping system to accurately move to the target material position. During the gripping process, the second cylinder under the mounting plate drives the push plate to apply appropriate pressure to the material, cooperating with the grippers to form a stable clamping force, ensuring that the material will not shift or fall during the transfer process. This multi-cylinder collaborative control design greatly improves the accuracy and efficiency of depalletizing operations, avoids the risk of damage to pharmaceutical packaging, and provides a reliable material handling solution for the automated production of pharmaceutical companies.

[0019] 2. The quick-change device consists of a clamping rod, clamping groove, linkage sleeve, clamping ball, linkage groove, and rolling groove. It innovatively solves the technical problem of complex and cumbersome jaw replacement in traditional pharmaceutical depalletizing robots. When jaw replacement is required, simply rotate the linkage sleeve and pull or push the clamping sleeve. No tools are needed to facilitate the easy disassembly and assembly of the jaw. This quick-change mechanism based on the principle of spherical rolling not only greatly simplifies the jaw replacement operation, but also allows the entire replacement process to be completed by one operator in a few minutes without any special tools. This significantly reduces production line downtime and improves the production efficiency and equipment utilization rate of pharmaceutical companies.

[0020] 3. The locking mechanism consists of a round hole, a reinforcing sleeve, a reinforcing frame, a round plate, a round rod, a movable plate, an arc-shaped groove, a reinforcing groove, and a reinforcing rod, forming a multi-layered locking and anti-loosening system. This solves the problem of accidental unlocking that may occur in the quick-change device under high-intensity working conditions. The movable plate is rotatably mounted on the outside of the clamping sleeve and has a round hole and an arc-shaped groove on it. Through its cooperation with the round rod and the round plate, it forms the first layer of mechanical locking. The reinforcing sleeve is slidably fitted on the outside of the clamping sleeve and forms an elastic locking mechanism with the movable plate through a spring, ensuring that the round rod and the round plate can reliably limit and support the movable plate. The reinforcing frame is fixedly mounted on one side of the linkage sleeve, and the reinforcing rod is slidably mounted in the reinforcing frame, with one end inserted into the reinforcing groove. Through the reinforcing plate and the reinforcing spring, it forms the second layer of mechanical locking. The end of the reinforcing rod and the... The inner edges of the reinforced groove are all rounded to ensure smooth locking and unlocking. This multi-locking mechanism maintains a stable and reliable locking state during depalletizing operations, even under frequent gripping actions, heavy loads, and rapid acceleration and deceleration impacts. This prevents the claws from loosening, falling off, or shifting position during operation, providing reliable protection for the packaging quality and production safety of pharmaceutical products. At the same time, although the unlocking process is designed with multiple safeguards, it is simple and intuitive to operate. Simply rotate the movable plate and linkage sleeve in a specific sequence to quickly replace the claws. This improves the safety and reliability of the equipment while maintaining the high efficiency and convenience of claw replacement, perfectly balancing the engineering design contradiction between safety and ease of use. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a pharmaceutical depalletizing robot according to the present invention;

[0022] Figure 2 This is a schematic diagram of the dispersed structure of the claw and connecting frame in this utility model;

[0023] Figure 3 This is a schematic diagram of the quick-change device and locking mechanism in this utility model;

[0024] Figure 4This is a cross-sectional structural diagram of the quick-change device and locking mechanism in this utility model;

[0025] Figure 5 This is a cross-sectional view of the quick-change device and locking mechanism in this utility model from a second angle.

[0026] In the diagram: 1. Claw; 2. Clamping rod; 3. Clamping groove; 4. Linkage sleeve; 5. Clamping sleeve; 6. Clamping ball; 7. Linkage groove; 8. Rolling groove; 9. Round hole; 10. Reinforcing sleeve; 11. Reinforcing frame; 12. Round plate; 13. Round rod; 14. Movable plate; 15. Arc groove; 16. Reinforcing groove; 17. Reinforcing rod; 18. Mounting frame; 19. Mounting plate; 20. Connecting frame; 21. First cylinder; 22. First piston rod; 23. Connecting plate; 24. Base; 25. Robotic arm assembly; 26. Second cylinder; 27. Second piston rod; 28. Push plate; 29. ​​Spring; 30. Reinforcing plate; 31. Reinforcing spring. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0028] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0029] In this utility model, unless otherwise stated, the orientations used, such as "up" and "down", usually refer to the direction shown in the accompanying drawings, or to the vertical, perpendicular, or gravitational direction; similarly, for ease of understanding and description, "left" and "right" usually refer to the left and right shown in the accompanying drawings; "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model.

[0030] Please see Figures 1-5A pharmaceutical depalletizing robot includes a gripper 1. A quick-change device is installed on one side of the gripper 1. The quick-change device includes a clamping rod 2, a clamping groove 3, a linkage sleeve 4, a clamping sleeve 5, a clamping ball 6, a linkage groove 7, and a rolling groove 8. The clamping rod 2 is fixedly connected to one side of the gripper 1. The clamping groove 3 is located on the outside of the clamping rod 2. The linkage sleeve 4 is rotatably mounted on the outside of the clamping sleeve 5. The clamping sleeve 5 is detachably fitted onto the outside of the clamping rod 2. The clamping ball 6 is rotatably mounted in the rolling groove 8. The linkage groove 7 is a variable-diameter type located in the linkage sleeve 4. The rolling groove 8 is located on the side wall of the clamping sleeve 5. A locking mechanism is provided on the outside of the clamping sleeve 5. The locking mechanism includes a round hole 9 and a locking mechanism 1. The device includes a fixed sleeve 10, a reinforcing frame 11, a circular plate 12, a circular rod 13, a movable plate 14, an arc-shaped groove 15, a reinforcing groove 16, and a reinforcing rod 17. A circular hole 9 is opened on the movable plate 14. The reinforcing sleeve 10 is slidably sleeved on the outside of the clamping sleeve 5. The reinforcing frame 11 is fixedly installed on one side of the linkage sleeve 4. Two circular plates 12 are fixedly installed on the circular rod 13. The circular rod 13 is fixedly connected to one side of the linkage sleeve 4. The movable plate 14 is rotatably installed on the outside of the clamping sleeve 5. An arc-shaped groove 15 is opened on the movable plate 14. The reinforcing groove 16 is opened on the outside of the clamping sleeve 5. The reinforcing rod 17 is slidably installed in the reinforcing frame 11. One end of the reinforcing rod 17 is inserted into the reinforcing groove 16.

[0031] A mounting bracket 18 is provided on one side of the claw 1. A mounting plate 19 is connected to the bottom of the mounting bracket 18. A connecting bracket 20 is rotatably provided below the mounting plate 19. The connecting bracket 20 and the claw 1 are detachably connected. A first cylinder 21 is detachably provided on the mounting plate 19. A first piston rod 22 is connected to the output end of the first cylinder 21. A connecting plate 23 is connected to one end of the connecting bracket 20. One end of the first cylinder 21 is rotatably connected to the connecting plate 23.

[0032] The mounting bracket 18 has a base 24 on one side, and a robotic arm assembly 25 is detachably mounted on the base 24. One end of the robotic arm assembly 25 is detachably connected to the mounting bracket 18.

[0033] A second cylinder 26 is detachably provided below the mounting plate 19. A second piston rod 27 is connected to the output end of the second cylinder 26, and a push plate 28 is connected to the bottom end of the second piston rod 27.

[0034] In this embodiment, the operation of the pharmaceutical depalletizing robot begins after the system receives a depalletizing or palletizing task instruction. Once the task is initiated, the first cylinder 21 on the mounting plate 19 receives a control signal and drives the first piston rod 22 to extend. Through its rotational connection with the connecting plate 23, the connecting frame 20 and the detachably connected gripper 1 rotate outwards, adjusting the gripper 1 to a suitable gripping angle. Simultaneously, the robotic arm assembly 25 mounted on the base 24 on one side of the mounting frame 18 begins operation, moving the entire gripping mechanism above the target material. The robotic arm assembly 25 then lowers the mounting frame 18 to a predetermined height. Next, the first cylinder 21 is again controlled to drive the first piston rod 22 to retract, precisely controlling the opening and closing angle of the gripper 1, causing the gripper 1 to move inwards, achieving adaptive gripping of materials of different specifications. When it is necessary to push and fix the grasped material or assist in pushing it, the second cylinder 26 under the mounting plate 19 is activated, pushing the second piston rod 27 downward, which in turn drives the push plate 28 to apply downward pressure to the material. This, in conjunction with the gripper 1, achieves stable fixation of the material, ensuring stable material transfer. After the material is grasped, the robotic arm assembly 25 moves the entire mechanism to the target position along a preset trajectory. The first cylinder 21 controls the gripper 1 to release the material, and opens the second cylinder 26, causing the push plate 28 to apply slight pressure to press the material upward, ensuring palletizing accuracy.

[0035] Please see Figures 3-5 As a further implementation of the overall equipment: a spring 29 is connected to one side of the reinforcing sleeve 10, the spring 29 is movably sleeved on the outside of the round rod 13, and the other end of the spring 29 is in contact with the movable plate 14.

[0036] One end of the reinforcing rod 17 is connected to a reinforcing plate 30, and one side of the reinforcing plate 30 is connected to a reinforcing spring 31. The other end of the reinforcing spring 31 is connected to the outer wall of the clamping sleeve 5, and the reinforcing spring 31 is movably sleeved on the outside of the reinforcing rod 17.

[0037] The ends of the reinforcing rod 17 and the edges of the inner wall of the reinforcing groove 16 are both rounded.

[0038] The clamping groove 3 is a ring structure design, and the rolling groove 8 is a concave structure design.

[0039] More specifically, when it is necessary to replace the chuck 1, first rotate the movable plate 14 forward, causing the movable plate 14 to drive the circular hole 9 and the arc groove 15 to rotate forward, so that the circular hole 9 rotates to a position concentric with the circular plate 12. Then push the reinforcing sleeve 10, which will drive the circular rod 13 and the circular plate 12 on one side to gradually slide through the circular hole 9. The reinforcing sleeve 10 will cooperate with the movable plate 14 to compress the spring 29. When the spring 29 is compressed to its limit, the circular plate 12 near the reinforcing sleeve 10 just passes through the circular hole 9 and moves to one side of the movable plate 14. Then rotate the movable plate 14 in the opposite direction, causing the movable plate 14 to drive the circular hole 9 and the arc groove 15 to rotate in the opposite direction, so that the circular rod 13 enters one end of the arc groove 15, and then stop. Rotate the movable plate 14, and then the round rod 13, in conjunction with the round plate 12 near the reinforcing sleeve 10, limits the reinforcing sleeve 10 to one side of the movable plate 14. Then, the inner wall of the reinforcing sleeve 10 no longer limits the outer wall of the reinforcing plate 30. Then, rotate the linkage sleeve 4 in the forward direction. The linkage sleeve 4 will drive the reinforcing rod 17, the reinforcing plate 30, and the reinforcing spring 31 to rotate in the forward direction via the reinforcing frame 11. Then, the inner wall of the reinforcing groove 16 presses against one end of the reinforcing rod 17. Due to the rounded corners at the edge of the inner wall of the reinforcing groove 16 and one end of the reinforcing rod 17, one end of the reinforcing rod 17 will slide out of the reinforcing groove 16, and the other end of the reinforcing rod 17 will be stretched outward via the reinforcing plate 30 and the reinforcing spring 31. At the same time, the linkage sleeve 4 will drive the inner variable-diameter linkage groove 7 to rotate in the forward direction, making... Rotate the wider side of the inner wall of the linkage groove 7 to the position corresponding to the rolling groove 8. Then, pull the clamping sleeve 5 to one side, causing the clamping sleeve 5 to move the rolling groove 8 and the clamping ball 6, etc. Then, the inner wall of the clamping groove 3 squeezes the outer wall of the clamping ball 6, causing the clamping ball 6 to roll outward along the rolling groove 8, so that the clamping ball 6 is no longer engaged with the clamping groove 3, and part of the clamping ball 6 will enter the linkage groove 7. Then, the clamping sleeve 5 can be removed. Then, follow the above steps to remove the other clamping sleeves 5. Then, the pawl 1 can be removed from the connecting frame 20. After the pawl 1 is replaced, reinstall the pawl 1 on the connecting frame 20, and make the clamping rod 2 fixedly connected to the pawl 1 pass through the reserved installation hole of the connecting frame 20. Then, the clamping sleeve 5 is fitted onto the outside of the clamping rod 2 from one side. Then, the linkage sleeve 4 is rotated in the opposite direction. The linkage sleeve 4, through the reinforcing frame 11, drives the reinforcing rod 17, the reinforcing plate 30, and the reinforcing spring 31 to rotate in the opposite direction. Simultaneously, the linkage sleeve 4 drives the inner variable-diameter linkage groove 7 to rotate in the opposite direction. Then, the inner wall of the linkage groove 7 presses against the outer wall of the clamping ball 6, causing the clamping ball 6 to roll inward along the rolling groove 8. The clamping ball 6 gradually rolls out of the linkage groove 7, and a portion of the clamping ball 6 gradually engages in the clamping groove 3. At this point, the reinforcing frame 11 drives the reinforcing rod 17 and other components to rotate to the position corresponding to the original reinforcing groove 16. Then, the reinforcing spring 31 resets and pulls the reinforcing plate 30, causing the reinforcing plate 30 to drive the reinforcing rod 17 to slide inward and reset.Then, one end of the reinforcing rod 17 will be reinserted into the original reinforcing groove 16, and the movable plate 14 will be rotated forward again, causing the circular hole 9 and the arc groove 15 to rotate again. When the circular hole 9 rotates to the position concentric with the circular plate 12, the spring 29 pushes the reinforcing sleeve 10 to slide back to its original position. Then, the reinforcing sleeve 10 will drive the two circular plates 12 to slide back to their original position through the circular rod 13. When the spring 29 is fully reset, the end of the circular rod 13 connected to the circular plate 12 moves back to the original side of the movable plate 14, and then the movable plate 14 is rotated in the opposite direction, causing the arc groove 15 and the circular hole 9 to rotate in the opposite direction. The device is reset to a position not corresponding to the circular rod 13 and the circular plate 12. Then, the circular rod 13, in conjunction with the top circular plate 12, limits and supports the reinforcing sleeve 10 to one side of the movable plate 14, preventing the reinforcing sleeve 10 from sliding easily. The inner wall of the reinforcing sleeve 10 then limits the outer wall of the reinforcing plate 30, preventing the reinforcing plate 30 and the reinforcing rod 17 from moving outwards. Finally, the reinforcing rod 17 and the reinforcing groove 16 cooperate to limit the reinforcing frame 11, preventing the reinforcing frame 11 and the linkage sleeve 4 from rotating. This limits the linkage sleeve 4, preventing accidental unlocking, ensuring the installation stability of the claw 1, and allowing for stable destacking and stacking operations.

[0040] In summary, during the use or operation of the overall equipment: The operation process of the pharmaceutical depalletizing robot begins after the system receives the depalletizing or palletizing task instruction. Once the task is initiated, the first cylinder 21 on the mounting plate 19 receives a control signal and drives the first piston rod 22 to extend. Through its rotational connection with the connecting plate 23, this drives the connecting frame 20 and the detachably connected gripper 1 to rotate outwards, adjusting the gripper 1 to a suitable gripping angle. Simultaneously, the robotic arm assembly 25 mounted on the base 24 on one side of the mounting frame 18 begins operation, moving the entire gripping mechanism above the target material. The robotic arm assembly 25 then lowers the mounting frame 18 to a predetermined height. Next, the first cylinder 21 is again controlled to drive the first piston rod 22 to retract, precisely controlling the opening and closing angle of the gripper 1, causing the gripper 1 to move inwards, achieving adaptive gripping of materials of different specifications. When it is necessary to push and fix the grasped material or assist in pushing it, the second cylinder 26 under the mounting plate 19 is activated, pushing the second piston rod 27 downward, which in turn drives the push plate 28 to apply downward pressure to the material. This, in conjunction with the gripper 1, achieves stable fixation of the material, ensuring stable material transfer. After the material is grasped, the robotic arm assembly 25 moves the entire mechanism to the target position along a preset trajectory. The first cylinder 21 controls the gripper 1 to release the material, and opens the second cylinder 26, causing the push plate 28 to apply slight pressure to press the material upward, ensuring palletizing accuracy.

[0041] When replacing the chuck 1, first rotate the movable plate 14 clockwise. This causes the movable plate 14 to rotate the circular hole 9 and the arc-shaped groove 15 clockwise, until the circular hole 9 is concentric with the circular plate 12. Then, push the reinforcing sleeve 10. The reinforcing sleeve 10 will cause one side of the circular rod 13 and the circular plate 12 to gradually slide through the circular hole 9. The reinforcing sleeve 10 and the movable plate 14 will cooperate to compress the spring 29. When the spring 29 is compressed to its limit, one of the circular plates 12 near the reinforcing sleeve 10 will just pass through the circular hole 9 and move to one side of the movable plate 14. Then, rotate the movable plate 14 counterclockwise, causing the movable plate 14 to rotate the circular hole 9 and the arc-shaped groove 15 counterclockwise, so that the circular rod 13 enters one end of the arc-shaped groove 15. Then, stop rotating. Plate 14, then the round rod 13, in conjunction with a round plate 12 near the reinforcing sleeve 10, limits the reinforcing sleeve 10 to one side of the movable plate 14. Then, the inner wall of the reinforcing sleeve 10 no longer limits the outer wall of the reinforcing plate 30. Then, the linkage sleeve 4 rotates forward. The linkage sleeve 4 will drive the reinforcing rod 17, the reinforcing plate 30, and the reinforcing spring 31 to rotate forward through the reinforcing frame 11. Then, the inner wall of the reinforcing groove 16 presses against one end of the reinforcing rod 17. Due to the rounded corners at the edge of the inner wall of the reinforcing groove 16 and one end of the reinforcing rod 17, one end of the reinforcing rod 17 will slide out of the reinforcing groove 16, and the other end of the reinforcing rod 17 will be stretched outward through the reinforcing plate 30 and the reinforcing spring 31. At the same time, the linkage sleeve 4 will drive the inner variable-diameter linkage groove 7 to rotate forward, so that the linkage... Rotate the wider side of the inner wall of groove 7 to the position corresponding to the rolling groove 8, then pull the clamping sleeve 5 to one side, causing the clamping sleeve 5 to drive the rolling groove 8 and clamping ball 6 to move. Then, the inner wall of the clamping groove 3 squeezes the outer wall of the clamping ball 6, causing the clamping ball 6 to roll outward along the rolling groove 8, so that the clamping ball 6 is no longer engaged with the clamping groove 3, and part of the clamping ball 6 will enter the linkage groove 7. Then the clamping sleeve 5 can be removed. Then, follow the above steps to remove the other clamping sleeves 5. Then the claw 1 can be removed from the connecting frame 20 side. After the claw 1 is replaced, the claw 1 is reinstalled on the connecting frame 20 side, and the clamping rod 2 fixedly connected to the claw 1 side passes through the reserved installation hole of the connecting frame 20. Then, the clamping sleeve 5 is fitted onto the outside of the clamping rod 2 from one side. Then, the linkage sleeve 4 is rotated in the opposite direction. The linkage sleeve 4, through the reinforcing frame 11, drives the reinforcing rod 17, the reinforcing plate 30, and the reinforcing spring 31 to rotate in the opposite direction. Simultaneously, the linkage sleeve 4 drives the inner variable-diameter linkage groove 7 to rotate in the opposite direction. The inner wall of the linkage groove 7 then presses against the outer wall of the clamping ball 6, causing the clamping ball 6 to roll inward along the rolling groove 8. The clamping ball 6 gradually rolls out of the linkage groove 7, and a portion of the clamping ball 6 gradually engages in the clamping groove 3. At this point, the reinforcing frame 11 drives the reinforcing rod 17 and other components to rotate to the position corresponding to the original reinforcing groove 16. Then, the reinforcing spring 31 resets and pulls the reinforcing plate 30, causing the reinforcing plate 30 to drive the reinforcing rod 17 to slide inward and reset.Then, one end of the reinforcing rod 17 will be reinserted into the original reinforcing groove 16, and the movable plate 14 will be rotated forward again, causing the circular hole 9 and the arc groove 15 to rotate again. When the circular hole 9 rotates to the position concentric with the circular plate 12, the spring 29 pushes the reinforcing sleeve 10 to slide back to its original position. Then, the reinforcing sleeve 10 will drive the two circular plates 12 to slide back to their original position through the circular rod 13. When the spring 29 is fully reset, the end of the circular rod 13 connected to the circular plate 12 moves back to the original side of the movable plate 14, and then the movable plate 14 is rotated in the opposite direction, causing the arc groove 15 and the circular hole 9 to rotate in the opposite direction. The device is reset to a position not corresponding to the circular rod 13 and the circular plate 12. Then, the circular rod 13, in conjunction with the top circular plate 12, limits and supports the reinforcing sleeve 10 to one side of the movable plate 14, preventing the reinforcing sleeve 10 from sliding easily. The inner wall of the reinforcing sleeve 10 then limits the outer wall of the reinforcing plate 30, preventing the reinforcing plate 30 and the reinforcing rod 17 from moving outwards. Finally, the reinforcing rod 17 and the reinforcing groove 16 cooperate to limit the reinforcing frame 11, preventing the reinforcing frame 11 and the linkage sleeve 4 from rotating. This limits the linkage sleeve 4, preventing accidental unlocking, ensuring the installation stability of the claw 1, and allowing for stable destacking and stacking operations.

[0042] Of all the solutions mentioned above, those involving the connection between two components can be selected according to the actual situation, such as welding, bolt and nut connection, bolt or screw connection, or other known connection methods, which will not be elaborated here. For all the fixed connections mentioned above, welding is preferred. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this utility model. The scope of this utility model is defined by the appended claims and their equivalents.

Claims

1. A pharmaceutical depalletizing robot, comprising a gripper (1), characterized in that: A quick-change device is installed on one side of the chuck (1). The quick-change device includes a clamping rod (2), a clamping groove (3), a linkage sleeve (4), a clamping sleeve (5), a clamping ball (6), a linkage groove (7), and a rolling groove (8). The clamping groove (3) is opened on the outside of the clamping rod (2). The clamping ball (6) is installed in the rolling groove (8). The linkage groove (7) is opened in the linkage sleeve (4) with a variable diameter. The rolling groove (8) is opened on the side wall of the clamping sleeve (5). A locking mechanism is provided on the outside of the clamping sleeve (5). The locking mechanism includes a round hole (9), a reinforcing sleeve (10), a reinforcing frame (11), a round plate (12), and a round rod (13). 3) Movable plate (14), arc groove (15), reinforcing groove (16) and reinforcing rod (17), round hole (9) is opened on the movable plate (14), reinforcing frame (11) is installed on one side of linkage sleeve (4), two round plates (12) are set on round rod (13), round rod (13) is connected to one side of linkage sleeve (4), movable plate (14) is installed on the outside of clamping sleeve (5), arc groove (15) is opened on the movable plate (14), reinforcing groove (16) is opened on the outside of clamping sleeve (5), reinforcing rod (17) is installed in reinforcing frame (11), and one end of reinforcing rod (17) is inserted into reinforcing groove (16).

2. The pharmaceutical depalletizing robot according to claim 1, characterized in that: The claw (1) is provided with a mounting bracket (18) on one side. The mounting bracket (18) is connected to a mounting plate (19) at its bottom end. A connecting bracket (20) is rotatably provided below the mounting plate (19). The connecting bracket (20) and the claw (1) are detachably connected. A first cylinder (21) is detachably provided on the mounting plate (19). A first piston rod (22) is connected to the output end of the first cylinder (21). A connecting plate (23) is connected to one end of the connecting bracket (20). One end of the first cylinder (21) is rotatably connected to the connecting plate (23).

3. The pharmaceutical depalletizing robot according to claim 2, characterized in that: The mounting bracket (18) has a base (24) on one side, and a robotic arm assembly (25) is detachably mounted on the base (24). One end of the robotic arm assembly (25) is detachably connected to the mounting bracket (18).

4. A pharmaceutical depalletizing robot according to claim 3, characterized in that: A second cylinder (26) is detachably provided below the mounting plate (19). The output end of the second cylinder (26) is connected to a second piston rod (27), and the bottom end of the second piston rod (27) is connected to a push plate (28).

5. A pharmaceutical depalletizing robot according to any one of claims 1-4, characterized in that: A spring (29) is connected to one side of the reinforcing sleeve (10). The spring (29) is movably sleeved on the outside of the round rod (13). The other end of the spring (29) is in contact with the movable plate (14).

6. A pharmaceutical depalletizing robot according to claim 5, characterized in that: One end of the reinforcing rod (17) is connected to a reinforcing plate (30), and one side of the reinforcing plate (30) is connected to a reinforcing spring (31). The other end of the reinforcing spring (31) is connected to the outer wall of the clamping sleeve (5), and the reinforcing spring (31) is movably sleeved on the outside of the reinforcing rod (17).

7. A pharmaceutical depalletizing robot according to claim 6, characterized in that: The ends of the reinforcing rod (17) and the edges of the inner wall of the reinforcing groove (16) are all rounded.

8. A pharmaceutical depalletizing robot according to claim 1, characterized in that: The clamping groove (3) is a ring structure design, and the rolling groove (8) is a concave structure design.

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