Composite Packaging Material Transfer Device

Abstract

This application relates to a composite packaging material transfer device, comprising: a mounting base frame that rotates and lifts under the drive of a driving mechanism; a liner paper gripping module mounted on the mounting base frame, which has a first negative pressure suction port for adsorbing liner paper; and a nesting board gripping module mounted on the mounting base frame, which has at least one second negative pressure suction port arranged around the periphery of the liner paper gripping module for adsorbing nesting board. The composite packaging material transfer device designed in this application integrates the liner paper gripping module and the nesting board gripping module on the same mounting base frame, and allows the liner paper gripping module to extend and retract to avoid obstacles. This enables continuous gripping operations of liner paper and nesting board to be completed in a single stroke at a single workstation, without the need for workstation switching or replacement of the end effector, thus simplifying the overall structure of the equipment and reducing equipment costs and floor space.

Description

Technical Field

[0001] This application relates to the field of automated equipment technology, and in particular to a composite packaging material transfer device. Background Technology

[0002] In the highly automated production of biopharmaceuticals, where cleanliness and automation are extremely important, the automated transfer and handling of materials is a key link in ensuring production efficiency and product quality. One common packaging method is to use nested trays or pallets to carry and transport multiple unit products such as vials or pre-filled syringes. In order to maintain the sterility or cleanliness of the products during transportation and storage, these nested trays are usually covered with one or more layers of removable protective paper.

[0003] Before these product-bearing pallets are fed into the next process, such as filling, assembly, or testing, the protective liner must first be removed, and then the entire pallet must be precisely transferred to the designated location. In existing automated packaging production lines, the two continuous actions of removing the liner and pallet are usually accomplished using a workstation separation operation, that is, at least two independent workstations are set up on the production line. The first workstation removes the protective liner from the pallet and places it in the waste area, and the second workstation picks up the pallet and transfers it.

[0004] This requires materials to be transferred between different workstations, increasing logistics time and production cycle time. Utility Model Content

[0005] To address the aforementioned issues, this application provides a compact composite packaging material transfer device that improves automated transfer efficiency.

[0006] To achieve the above objectives, the composite packaging material transfer device designed in this application includes: The mounting base is rotated and lifted under the drive of a drive mechanism; A paper liner gripping module is installed on the mounting base and has a first negative pressure suction port for adsorbing paper liner. A nesting board gripping module is installed on the mounting base, and it is provided with at least one second negative pressure suction port arranged around the periphery of the liner paper gripping module for adsorbing the nesting board; The paper gripping module is configured to extend and retract relative to the mounting base to move from a working position to a clearance position after adsorbing the paper, the clearance position being located between the mounting base and the second negative pressure suction port.

[0007] Preferably, the device further includes a drive assembly mounted on the mounting base for driving the paper gripping module to achieve the telescopic movement.

[0008] Preferably, the drive component is a cylinder.

[0009] Preferably, the paper gripping module includes a base disposed at the output end of the drive component, a plurality of first nozzles forming the first negative pressure suction port are disposed on the base, and a first vacuum line that can be controlled independently is disposed inside the base and communicates with the first nozzles.

[0010] Preferably, the mounting base is a rectangular frame, and at least two second nozzles forming the second negative pressure suction port are provided on each side of the mounting base.

[0011] Preferably, it also includes an independently controllable second vacuum line, which is disposed inside the mounting base and communicates with the second suction nozzle.

[0012] Preferably, the mounting base is further provided with a positioning element corresponding to a predetermined position on the nesting plate, and the positioning element contacts the nesting plate before the second negative pressure suction port.

[0013] Preferably, the drive mechanism is a multi-axis manipulator.

[0014] Preferably, the drive mechanism includes a support and a frame. A rotatable drive shaft is coaxially inserted inside the support. The mounting base is fixedly installed on the top end of the drive shaft. A first servo motor is provided on the support and is drivenly connected to the bottom end of the drive shaft. A second servo motor and a guide rail connected to the support are provided on the frame. The second servo motor is connected to the support through a linear belt drive mechanism to drive the support to move up and down along the guide rail.

[0015] The composite packaging material transfer device designed in this application integrates the liner paper gripping module for adsorbing the liner paper and the nesting board gripping module for adsorbing the nesting board on the same mounting base, and enables the liner paper gripping module to extend and retract to avoid obstacles. This allows for continuous gripping of the liner paper and nesting board in a single stroke at a single workstation, without the need for workstation switching or replacement of the end effector. As a result, the overall structure of the equipment is simplified, the equipment cost and floor space are reduced, the work cycle is shortened, and the material transfer efficiency of the automated production line is improved. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the composite packaging material transfer device provided in the embodiments of this application.

[0017] Figure 2 yes Figure 1 Top view.

[0018] Figure 3 yes Figure 2Sectional view at point AA.

[0019] Figure 4 This is a schematic diagram of the structure of the adsorption nest plate of the composite packaging material transfer device provided in the embodiments of this application.

[0020] Figure 5 This is a schematic diagram of the structure of the composite packaging material transfer device for adsorbing liner paper provided in the embodiments of this application.

[0021] The components include: nesting board 100, liner paper 101, mounting base 10, second suction nozzle 11, positioning component 12, drive mechanism 20, support 21, frame 22, drive shaft 23, first servo motor 24, second servo motor 25, guide rail 26, linear belt drive mechanism 27, liner paper gripping module 30, base 31, first suction nozzle 32, nesting board gripping module 40, and drive assembly 50. Detailed Implementation

[0022] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0023] like Figures 1 to 5 As shown, the composite packaging material transfer device described in this embodiment mainly includes a mounting base 10, a drive mechanism 20, a liner paper gripping module 30, and a nesting board gripping module 40.

[0024] like Figure 1 As shown, the mounting base 10 serves as the load-bearing component of the entire device, and in this embodiment, it is preferably a rectangular frame with a hollow structure. The mounting base 10 is configured to rotate and lift under the drive of a drive mechanism 20, so as to realize the movement, material handling, and material release of the entire device in three-dimensional space.

[0025] like Figure 2 , Figure 3 As shown, the paper gripping module 30 is vertically positioned in the central region of the bottom of the mounting base 10. This module is capable of independent lifting and lowering relative to the mounting base 10. Specifically, the paper gripping module 30 includes a base 31 and first suction nozzles 32. The base 31 is driven by a drive assembly 50, such as the piston rod of a cylinder mounted above the mounting base 10. At least one first suction nozzle 32 is provided on the bottom surface of the base 31, and these first suction nozzles 32 together constitute a first negative pressure suction port for adsorbing the paper gripping module 101. A first vacuum line (not shown) is provided inside the base 31, which communicates with all the first suction nozzles 32 and is connected to an external, independently controllable vacuum source. Thus, by controlling the extension and retraction of the cylinder, the paper gripping module 30 can be driven to reciprocate in the vertical direction.

[0026] The nesting board gripping module 40 is mounted on the mounting base 10 and has at least one second negative pressure suction port arranged around the periphery of the liner gripping module 30 for adsorbing the nesting board 100. Specifically, multiple second suction nozzles 11 are evenly distributed on the bottom surface of the four sides of the mounting base 10, which is a rectangular frame. These second suction nozzles 11 together constitute the second negative pressure suction port for adsorbing the nesting board 100. The frame of the mounting base 10 also has a second vacuum pipeline (not shown in the figure), which is connected to all the second suction nozzles 11 and connected to another independently controllable vacuum source. In this way, by independently controlling the on and off of the first and second vacuum pipelines, the stepwise adsorption of the liner 101 and the nesting board 100 can be achieved.

[0027] The paper gripping module 30 is configured to extend and retract relative to the mounting base 10, moving from a working position to a clearance position after adsorbing the paper 101. The clearance position is located between the mounting base 10 and the second negative pressure suction port. In this embodiment, the drive mechanism 20 can be a multi-axis robotic arm.

[0028] See 1. Figure 4 , Figure 5 As shown, the workflow of this embodiment is as follows: The drive mechanism 20 drives the entire device to move directly above the nesting board 100 to be grasped. Then the drive assembly 50 is activated, that is, the cylinder extends, driving the paper gripping module 30 to descend to the working position, so that its first suction nozzle 32 contacts the paper 101 above the nesting board 100. At this time, the first vacuum line is activated, adsorbing and holding the paper 101.

[0029] After successfully adsorbing the liner paper 101, the cylinder immediately retracts, causing the liner paper gripping module 30, along with the liner paper 101 adsorbed on it, to move vertically upward to a clearance position. Specifically, this clearance position is located below the mounting base 10 and above the plane where the second suction nozzle 11 is located, thus providing sufficient operating space for the subsequent nesting board gripping action.

[0030] After the liner paper gripping module 30 completes its avoidance maneuver, the drive mechanism 20 drives the entire mounting base 10 to descend until the second suction nozzle 11 is tightly fitted against the side of the nesting plate 100. Then, the second vacuum line is activated, adsorbing and gripping the entire nesting plate 100. At this time, the device simultaneously holds the nesting plate 100 and the liner paper 101 suspended above it. The drive mechanism 20 drives the device to lift, lower, and rotate, transferring the material to the target workstation. Upon arrival, the nesting plate 100 and the liner paper 101 can be released by sequentially or simultaneously closing the second and first vacuum lines. Of course, it is understandable that after the liner paper gripping module 30 adsorbs and holds the liner paper 101, the liner paper 101 can be transported to the target workstation first, and then the nesting plate gripping module 40 can be driven to grip the nesting plate 100, depending on the actual process requirements.

[0031] In some embodiments, to improve the alignment accuracy and stability of the device when gripping the nest plate 100, such as Figure 4 , Figure 5 As shown, the mounting base 10 is also provided with positioning members 12 corresponding to predetermined positions on the nesting plate 100. The positioning members 12 contact the nesting plate 100 before the second negative pressure suction port. Specifically, the positioning members 12 can be positioning pins or positioning blocks extending vertically downward from the bottom surface of the mounting base 10. Their number and position are determined according to the structural features of the nesting plate 100, such as preset positioning holes or corners. The lower end face of the positioning member 12 is designed to be slightly lower than the second negative pressure suction port of the nesting plate gripping module 40, i.e., the suction plane of the second suction nozzle 11. Therefore, during the process of the drive mechanism 20 driving the entire device to descend and grip the nesting plate 100, the lower end of the positioning member 12 will contact the nesting plate 100 before the second suction nozzle 11, playing a positioning and guiding role, so as to correct any slight positional deviations that may exist between the device and the nesting plate 100, and improve the success rate of nesting plate gripping.

[0032] In some embodiments, such as Figure 1 , Figure 2 As shown, the drive mechanism 20 mainly includes a fixed frame 22 and a support 21 that can move relative to the frame 22. Specifically, the frame 22 serves as the supporting foundation for the entire drive mechanism, and at least one guide rail 26 is vertically arranged on the frame 22. The support 21 slides with the guide rail 26 through a slider or other means, thereby ensuring that the support 21 can only perform stable linear movement along the path defined by the guide rail 26. To drive this lifting movement, a second servo motor 25 is also installed on the frame 22. The output end of the motor is firmly connected to the support 21 through a linear belt drive mechanism 27. Therefore, by precisely controlling the rotation angle and direction of the second servo motor 25 by a PLC or motion controller, the support 21 can be driven to perform precise and controllable lifting movements along the guide rail 26.

[0033] Meanwhile, to achieve the rotation function, a drive shaft 23 is coaxially and rotatably installed inside the support 21, serving as the mounting base 10 for the end effector body. It is securely mounted on the top of the drive shaft 23 and moves with it. A first servo motor 24 is also mounted on the support 21, which is connected to the bottom of the drive shaft 23 via gears, couplings, or a small belt. By controlling the operation of the first servo motor 24, the drive shaft 23 and the mounting base 10 fixed thereon can be driven to rotate precisely at an angle.

[0034] Using the above structure, through independent and coordinated control of the first servo motor 24 and the second servo motor 25, the drive mechanism 20 of this embodiment can realize the composite motion of the mounting base 10 in the vertical direction of lifting and rotating in the horizontal plane, which fully meets the requirements for precise control of the material picking and placing position and posture in the automated process. It has the advantages of fast response speed, high positioning accuracy and good repeatability.

[0035] The composite packaging material transfer device provided in this application integrates the liner paper gripping module for adsorbing liner paper and the nesting board gripping module for adsorbing nesting board on the same mounting base, and enables the liner paper gripping module to extend and retract to avoid obstacles. This allows for continuous gripping of liner paper and nesting board in a single stroke at a single workstation, without the need for workstation switching or replacement of the end effector. As a result, the overall structure of the equipment is simplified, the equipment cost and floor space are reduced, the work cycle is shortened, and the material transfer efficiency of the automated production line is improved.

[0036] In the description of this application, it should be noted that the terms "vertical", "up", "down", "horizontal", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0037] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0038] Finally, it should be noted that the above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A composite wrapper transfer device, comprising: include: The mounting base is rotated and lifted under the drive of a drive mechanism; A paper liner gripping module is installed on the mounting base and has a first negative pressure suction port for adsorbing paper liner. A nesting board gripping module is installed on the mounting base, and it is provided with at least one second negative pressure suction port arranged around the periphery of the liner paper gripping module for adsorbing the nesting board; The paper gripping module is configured to extend and retract relative to the mounting base to move from a working position to a clearance position after adsorbing the paper, the clearance position being located between the mounting base and the second negative pressure suction port.

2. The composite bag transfer apparatus according to claim 1, wherein The device also includes a drive assembly mounted on the mounting base for driving the paper gripping module to achieve the telescopic movement.

3. The composite bag transfer apparatus according to claim 2, wherein The drive component is a cylinder.

4. The composite wrapper transfer device of claim 2 or 3, wherein, The paper gripping module includes a base disposed at the output end of the drive component, a plurality of first suction nozzles forming the first negative pressure suction port are disposed on the base, and a first vacuum line that can be controlled independently is disposed inside the base and communicates with the first suction nozzles.

5. The composite bag transfer apparatus according to claim 1, wherein The mounting base is a rectangular frame, and at least two second suction nozzles forming the second negative pressure suction port are provided on each side of the mounting base.

6. The composite bag transfer apparatus according to claim 5, wherein It also includes an independently controllable second vacuum line, which is located inside the mounting base and communicates with the second suction nozzle.

7. The composite bag transfer apparatus according to claim 1, wherein The mounting base is also provided with a positioning element corresponding to a predetermined position on the nest plate. The positioning element contacts the nest plate before the second negative pressure suction port.

8. The composite bag transfer apparatus according to claim 1, wherein The drive mechanism is a multi-axis robotic arm.

9. The composite bag transfer apparatus according to claim 1, wherein The drive mechanism includes a support and a frame. A rotatable drive shaft is coaxially inserted inside the support. The mounting base is fixedly installed on the top end of the drive shaft. A first servo motor is provided on the support and is drivenly connected to the bottom end of the drive shaft. A second servo motor and a guide rail connected to the support are provided on the frame. The second servo motor is connected to the support through a linear belt drive mechanism to drive the support to move up and down along the guide rail.

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