A grabbing and turning device for boxed pharmaceuticals

Abstract

The utility model discloses a kind of for box medicine's grabbing and turnover device, it is related to subpackaging equipment technical field.The new device of this utility model, by accurate planning core component layout and structure: servo motor 5 is fixed on mechanism frame body 3 upside, the two synchronous pulleys 8 of transmission mechanism 6 are respectively installed in servo motor 5 output shaft end and mechanism frame body 3 downside, synchronous belt 7 is connected two synchronous pulleys 8 around longitudinally, forms transmission path extending along frame body longitudinally;Linkage mechanism 2 adopts compact coaxial nesting design, gas pipe head 12 upper end is sleeved into gas pipe 10 inside, steering joint 11 is then nested from outside in gas pipe 10 lower end, three coaxial arrangements, and steering joint 11 lower end is combined by screw with suction cup 4, and screw surface is tightly attached to realize sealing.

Description

Technical Field

[0001] This utility model discloses a gripping and flipping device for boxed medicines, which relates to the field of packaging equipment technology. Background Technology

[0002] Grasping mechanisms for planar objects used in industrial robots have been in use for a long time, often employing suction cups for vertical suction. To reverse the gripped object by 90 degrees, an industrial mechanism typically includes a rotating motor or cylinder at the end.

[0003] Most mechanisms on the market use suction cups to pick up materials vertically. The picked-up item is then rotated 90 degrees. In industrial applications, a rotating motor or cylinder is typically added to the end of the mechanism. This method is suitable for industrial production lines where the material being picked up is relatively large and space is ample. However, for smaller materials in limited space, the motor or cylinder becomes too large, making it difficult to pick up small items located in corners of the container. Rotating the picked-up material 90 degrees via the movement of the robotic arm's joints can also achieve this (requiring at least a 6-axis robotic arm), but these actions take too long and require too much space. Utility Model Content

[0004] This utility model addresses the problems of existing technologies by providing a gripping and flipping device for boxed medicines. The technical solution adopted is as follows:

[0005] In the first aspect, this utility model provides a gripping and flipping device for boxed medicines, including: mounting flange 1, mechanism frame 6, servo motor 4, transmission mechanism, linkage mechanism and suction cup 8;

[0006] The upper end of the frame 6 is connected to the mounting flange 1;

[0007] The servo motor 4 is mounted on the upper side of the mechanism frame 6;

[0008] The transmission mechanism includes two synchronous pulleys 2 and a synchronous belt 5. One synchronous pulley 2 is mounted on the output shaft end of the servo motor 4, and the other synchronous pulley 2 is mounted on the lower side of the mechanism frame 6 through a bearing. The two synchronous pulleys 2 are connected by the synchronous belt 5.

[0009] The linkage mechanism includes an air pipe 3, a diverter 7, and an air pipe end cap 11. The diverter 7 is linked to the synchronous wheel 2 located on the lower side of the mechanism frame 6 and can rotate around its own axis with the synchronous wheel 2.

[0010] The suction cup 8 is connected to the lower end of the steering joint 7 and can rotate with the steering joint 7;

[0011] The trachea 3, trachea end cap 11, diverter 7 and suction cup 8 form a negative pressure transmission channel.

[0012] In some implementations, the two synchronous pulleys 2 are spaced apart along the vertical direction of the frame 6, and the grooves of the two synchronous pulleys 2 are aligned. The synchronous belt 5 is wrapped around and fitted into the grooves of the two synchronous pulleys 2 to form a closed transmission structure.

[0013] In some implementations, the air tube 3 is fitted outside the air tube end cap 11, the diverter 7 is fitted outside the air tube 3, the air tube end cap 11 is provided with a central air hole, and the negative pressure is transmitted to the suction cup 8 through the air tube 3, the central air hole of the air tube end cap 11, and the internal channel of the diverter 7.

[0014] In some implementations, the tracheal end cap 11 is a hollow structure, the axial air hole of the tracheal end cap 11 is connected to the internal channel of the tracheal tube 3, and the lower ends of the tracheal end cap 11 and the tracheal tube 3 can simultaneously and tightly engage with the upper end of the diverter joint 7.

[0015] In some implementations, the hole of the directional joint 7 that mates with the air pipe 3 has a tapered structure that is larger at the bottom and smaller at the top; when the suction cup 8 is tightened onto the directional joint 7, the suction cup 8 applies axial pressure to the air pipe end cap 11 and the air pipe 3, so that the air pipe end cap 11, the air pipe 3 and the directional joint 7 form a tight movable fit.

[0016] In some implementations, the steering joint 7 and the suction cup 8 are threadedly connected, the lower end of the steering joint 7 can be in close contact with the threaded surface of the suction cup 8, and the suction cup 8 can rotate synchronously with the steering joint 7.

[0017] In some implementations, the steering joint 7 is connected to the frame 6 via a bearing, enabling the steering joint 7 to rotate relative to the frame 6 about its own axis.

[0018] In some implementations, the servo motor 4 is used to drive the synchronous wheel 2 mounted on its output shaft to rotate, and drives the synchronous wheel 2 located on the lower side of the mechanism frame 6 to rotate via the synchronous belt 5, so that the steering joint 7, the suction cup 8 and the boxed medicines adsorbed by the suction cup 8 are rotated synchronously.

[0019] One or more embodiments of this utility model can bring at least the following beneficial effects:

[0020] This novel device features a compact design for the layout and structure of its core components. The servo motor 4 is fixed to the upper side of the frame 6, and the two synchronous pulleys 2 in the transmission mechanism are respectively installed at the output shaft end of the servo motor 4 and the lower side of the frame 6. The two synchronous pulleys 2 are connected longitudinally by a synchronous belt 5, thereby forming a transmission path extending longitudinally along the frame 6.

[0021] Meanwhile, the linkage mechanism adopts a compact coaxial nesting design. The air tube 3 is fitted outside the air tube end cap 11, and the diverter 7 is fitted outside the air tube 3. The lower end of the diverter 7 is connected to the suction cup 8 by a thread. After the suction cup 8 is tightened, the air tube end cap 11, air tube 3 and diverter 7 can form a tight movable fit, thereby forming a negative pressure transmission channel within a small radial dimension.

[0022] When the servo motor 4 outputs power, it drives the upper synchronous pulley 2 to rotate, which is then transmitted to the lower synchronous pulley 2 via the synchronous belt 5. This, in turn, drives the steering joint 7 and suction cup 8, which are linked to the lower synchronous pulley 2, to rotate synchronously. This ultimately achieves stable negative pressure gripping of boxed medicines in a small space and precise flipping at any angle within 270 degrees. The overall radial dimension of the device can be controlled within the range that does not exceed the diameter of the suction cup 8, and the gripping and flipping process can be completed without relying on the coordinated action of an external multi-axis robotic arm. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of a gripping and flipping device for boxed medicines provided in an embodiment of this utility model.

[0025] Figure 2 This is a partially enlarged view of the transmission structure provided in an embodiment of this utility model;

[0026] Figure 3 This is a schematic diagram of the structure and working posture of the linkage structure provided in this embodiment of the utility model.

[0027] Component number:

[0028] Mounting flange—1, synchronous pulley—2, air pipe—3, servo motor—4, synchronous belt—5, mechanism frame—6, steering joint—7, suction cup—8, medicine box—9, air pipe end cap—11. Detailed Implementation

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] Example 1:

[0031] Figure 1 A schematic diagram of a gripping and flipping device for boxed medicines is shown, such as... Figure 1 As shown, a gripping and flipping device for boxed medicines includes: a mounting flange 1, a frame 6, a servo motor 4, a transmission mechanism, a linkage mechanism, and a suction cup 8.

[0032] The linkage mechanism includes an air pipe 3, a diverter 7, and an air pipe end cap 11. The diverter 7 is linked to a synchronous pulley 2 located on the lower side of the mechanism frame 6 and can rotate around its own axis with the synchronous pulley 2. The diverter 7 is connected to the mechanism frame 6 via a bearing, allowing the diverter 7 to rotate relative to the mechanism frame 6 around its own axis. A suction cup 8 is connected to the lower end of the diverter 7 and can rotate synchronously with the diverter 7.

[0033] The trachea 3, trachea end cap 11, diverter 7, and suction cup 8 form a negative pressure transmission channel. The trachea 3 is fitted onto the outside of the trachea end cap 11, and the diverter 7 is fitted onto the outside of the trachea 3. The trachea end cap 11 is a hollow structure with a central air hole. The central air hole of the trachea end cap 11 is connected to the internal channel of the trachea 3. The negative pressure is transmitted to the suction cup 8 through the trachea 3, the central air hole of the trachea end cap 11, and the internal channel of the diverter 7.

[0034] The hole for the directional joint 7 to mate with the air tube 3 is tapered, wider at the bottom and narrower at the top. The suction cup 8 and the directional joint 7 are connected by threads. When the suction cup 8 is tightened onto the directional joint 7, the suction cup 8 applies axial pressure to the air tube end cap 11 and the air tube 3, causing the air tube end cap 11, the air tube 3, and the directional joint 7 to form a tight movable fit, thereby maintaining the continuity of the negative pressure transmission channel when the directional joint 7 rotates around its own axis.

[0035] To address the problem that traditional tracheal connectors occupy a large space and cannot be adapted to small-space working conditions, this new device adopts a nested sealing structure of "tracheal end cap 11-tracheal 3-turning connector 7" to achieve stable negative pressure transmission within a relatively small radial dimension.

[0036] In terms of structural nesting and fitting, the tracheal end cap 11 is hollow with a central vent hole running through the shaft, serving as the core channel for negative pressure transmission; the tracheal tube 3 is fitted outside the tracheal end cap 11, forming an inner and outer layer fit; the diverter 7 is fitted outside the tracheal tube 3, and the hole for the diverter 7 to fit with the tracheal tube 3 is a tapered structure with a larger bottom and a smaller top. This tapered structure provides pre-tightening space for sealing assembly while avoiding additional radial space occupation.

[0037] For threaded pre-tightening sealing, the suction cup 8 and the diverter 7 are connected by threads. When the suction cup 8 is tightened, the threaded end face of the suction cup 8 presses upward against the lower end face of the air pipe end cap 11, pressing the air pipe end cap 11 and the air pipe 3 together upward into the tapered hole of the diverter 7. Through the axial pressure generated by the threaded tightening, the air pipe end cap 11, the air pipe 3, and the diverter 7 form a tight moving fit; at the same time, the threaded end face of the suction cup 8 avoids the axial air hole of the air pipe end cap 11, keeping the negative pressure transmission channel connected.

[0038] In terms of negative pressure gripping, when an external negative pressure air source is connected to the air pipe 3, the negative pressure airflow enters the axial air hole of the air pipe end cap 11 along the internal channel of the air pipe 3, and then is transmitted to the bottom of the suction cup 8 through the internal channel of the diverter 7. When the suction cup 8 contacts the surface of the medicine box 9, a sealed negative pressure cavity is formed between the suction cup 8 and the medicine box 9. The pressure difference between the inside and outside of the cavity is used to adsorb the medicine box 9 onto the bottom of the suction cup 8, thereby completing the gripping action. Since the air pipe 3, the air pipe end cap 11 and the diverter 7 adopt a coaxial nested structure, the radial dimension of the entire suction structure can be controlled within the range of not exceeding the diameter of the suction cup 8, which is suitable for gripping needs in small spaces.

[0039] The diverter 7 is connected to the frame 6 via a bearing and is linked to the synchronous pulley 2 on the lower side of the frame 6. When the synchronous pulley 2 rotates, the diverter 7 and the suction cup 8 rotate around the axis of the diverter 7. The air tube 3, air tube end cap 11, diverter 7, and suction cup 8 maintain the connection of the negative pressure transmission channel through the aforementioned tight movable cooperation. This novel device uses a servo motor 4 to drive the synchronous belt 5 for transmission. Combined with the flexible rotation characteristics of the bearings, it achieves an angle rotation of up to 270 degrees between the suction cup 8 and the medicine box 9 without increasing the radial dimension.

[0040] In terms of power layout and transmission, the servo motor 4 is installed below the mounting flange 1. This installation position avoids the execution area at the lower end of the new device and does not occupy the space for the medicine box 9 to grasp and flip. A synchronous pulley 2 is fixedly installed at the output shaft end of the servo motor 4, and another synchronous pulley 2 is installed on the lower side of the mechanism frame 6 through a bearing. The two synchronous pulleys 2 are distributed vertically and their grooves are aligned. The synchronous belt 5 is wrapped around and fitted in the grooves of the two synchronous pulleys 2, forming a closed transmission structure. When the servo motor 4 is powered on and rotates, the output shaft drives the upper synchronous pulley 2 to rotate. The upper synchronous pulley 2 drives the synchronous belt 5 to circulate along the groove through the meshing action of the groove, thereby transmitting power to the synchronous pulley 2 on the lower side of the mechanism frame 6.

[0041] In terms of flipping execution and angle control, the steering joint 7 is connected to the mechanism frame 6 via bearings. The steering joint 7 can rotate around its own axis and is linked with the lower synchronous pulley 2. When the synchronous belt 5 drives the lower synchronous pulley 2 to rotate, the steering joint 7 rotates synchronously with the lower synchronous pulley 2. Since the steering joint 7 is fixedly connected to the suction cup 8 by threads, the suction cup 8 and the medicine box 9 it adsorbs also rotate synchronously, thereby achieving angle flipping. The servo motor 4 can adjust the rotation angle through the control system to meet the flipping requirements of any angle within 270 degrees. At the same time, since the transmission structure of the servo motor 4, the synchronous pulley 2, and the synchronous belt 5 is arranged longitudinally along the mechanism frame 6, and the radial dimension does not exceed the diameter of the suction cup 8, this new device can still operate flexibly in small spaces such as deep boxes and corners.

[0042] Example 2:

[0043] When this novel device is in operation, it is connected to an external robotic arm or fixed bracket via mounting flange 1 to ensure overall structural stability. At this time, servo motor 4 is in an enabled standby state, synchronous belt 5 and synchronous pulley 2 remain stationary, and steering joint 7 drives suction cup 8 to a horizontal initial posture; air pipe 3 is not connected to a negative pressure air source, suction cup 8 has no suction force, and it waits for the grasping command from the external control system.

[0044] Positioning and docking: After receiving the command, the external drive device moves the entire device to the storage location of the medicine box 9, such as inside a deep box or in a corner of a shelf, and adjusts the posture of the device so that the bottom adsorption surface of the suction cup 8 is aligned and adhered to the upper surface of the medicine box 9.

[0045] Negative pressure adsorption: An external negative pressure air source is connected to the air pipe 3 through a pipeline. The negative pressure is transmitted to the bottom of the suction cup 8 through the air pipe 3, the axial air hole of the air pipe end cap 11, and the internal channel of the diverter 7. A closed negative pressure cavity is formed between the suction cup 8 and the medicine box 9. Under the action of air pressure difference, the medicine box 9 is adsorbed to the bottom of the suction cup 8, completing the grasping.

[0046] Removing from storage position: The external drive device moves the entire device upward, and the suction cup 8 picks up the medicine box 9 and rises synchronously, so that the medicine box 9 is removed from the storage position, leaving space for the subsequent flipping action.

[0047] Flip command trigger: If it is necessary to adjust the placement angle of the medicine box 9, such as changing from a horizontal posture to a vertical posture, the control system sends a rotation command to the servo motor 4 to specify the flip direction and flip angle.

[0048] Power transmission and rotation execution: After receiving the rotation command, the servo motor 4 rotates, and its output shaft drives the upper synchronous wheel 2 to rotate. The upper synchronous wheel 2 drives the lower synchronous wheel 2 to rotate synchronously through the synchronous belt 5. The lower synchronous wheel 2 drives the steering joint 7 linked with it to rotate around the bearing. The steering joint 7 drives the suction cup 8 and the medicine box 9 adsorbed by the suction cup 8 to rotate together.

[0049] Attitude locking: When the medicine box 9 rotates to the preset angle, the servo motor 4 sends a signal to the control system indicating that it has reached the position. The control system then sends a command to the servo motor 4 to enable position holding. The servo motor 4 stops rotating, the synchronous belt 5 and the synchronous pulley 2 stop transmission, and the steering joint 7, suction cup 8 and medicine box 9 maintain their current attitude, completing the flipping action.

[0050] Positioning: An external drive device moves the novel device and the adsorbed medicine box 9 to the target placement position, such as inside a conveyor line or packaging box, and adjusts the device's posture so that the medicine box 9 is aligned with the placement area.

[0051] Release the medicine box: The external control system cuts off the negative pressure air source of the trachea 3, the negative pressure environment between the suction cup 8 and the medicine box 9 disappears, and the medicine box 9 is placed at the target position under its own gravity.

[0052] Mechanism reset: The external drive device moves the new device upward, causing the suction cup 8 to detach from the medicine box 9; the control system sends a reset command to the servo motor 4 again, driving the servo motor 4 to rotate in the opposite direction, and through the synchronous belt 5, synchronous wheel 2 and steering joint 7, it drives the suction cup 8 to reset to the initial horizontal posture, waiting for the next gripping command, and completing the entire work cycle.

[0053] In the several embodiments provided in this utility model, it should be understood that the disclosed apparatus can also be implemented in other ways. The apparatus embodiments described above are merely illustrative.

[0054] It should be noted that, in this document, the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] Although the embodiments disclosed in this utility model are as described above, the content described is merely for the purpose of facilitating understanding of this utility model and is not intended to limit this utility model. Any person skilled in the art to which this utility model pertains may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in this utility model, but the patent protection scope of this utility model shall still be determined by the scope defined in the appended claims.

Claims

1. A gripping and flipping device for boxed medicines, characterized in that, include: Mounting flange (1), mechanism frame (6), servo motor (4), transmission mechanism, linkage mechanism and suction cup (8); The upper end of the frame (6) is connected to the mounting flange (1). The servo motor (4) is mounted on the upper side of the mechanism frame (6); The transmission mechanism includes two synchronous pulleys (2) and a synchronous belt (5). One synchronous pulley (2) is installed on the output shaft end of the servo motor (4), and the other synchronous pulley (2) is installed on the lower side of the mechanism frame (6) through a bearing. The two synchronous pulleys (2) are connected by a synchronous belt (5). The linkage mechanism includes an air pipe (3), a steering joint (7) and an air pipe end cap (11). The steering joint (7) is linked to the synchronous wheel (2) located on the lower side of the mechanism frame (6) and can rotate around its own axis with the synchronous wheel (2). The suction cup (8) is connected to the lower end of the steering joint (7) and can rotate with the steering joint (7); The trachea (3), trachea end cap (11), diverter (7) and suction cup (8) form a negative pressure transmission channel.

2. The gripping and flipping device for boxed medicines according to claim 1, characterized in that, The two synchronous pulleys (2) are spaced apart along the vertical direction of the frame (6), and the grooves of the two synchronous pulleys (2) are aligned. The synchronous belt (5) is wrapped around and fitted in the grooves of the two synchronous pulleys (2) to form a closed transmission structure.

3. The gripping and flipping device for boxed medicines according to claim 1, characterized in that, The air tube (3) is fitted outside the air tube end cap (11), and the directional joint (7) is fitted outside the air tube (3). The air tube end cap (11) is provided with a central air hole. Negative pressure is transmitted to the suction cup (8) through the air tube (3), the central air hole of the air tube end cap (11), and the internal channel of the directional joint (7).

4. The gripping and flipping device for boxed medicines according to claim 3, characterized in that, The tracheal end cap (11) is a hollow structure. The axial air hole of the tracheal end cap (11) is connected to the internal channel of the tracheal tube (3). The lower ends of the tracheal end cap (11) and the tracheal tube (3) can simultaneously and tightly engage with the upper end of the diverter joint (7).

5. The gripping and flipping device for boxed medicines according to claim 4, characterized in that, The hole of the swivel joint (7) that mates with the air pipe (3) has a tapered structure that is larger at the bottom and smaller at the top. When the suction cup (8) is tightened on the swivel joint (7), the suction cup (8) applies axial pressure to the air pipe end cap (11) and the air pipe (3), so that the air pipe end cap (11), the air pipe (3) and the swivel joint (7) form a tight movable fit.

6. The gripping and flipping device for boxed medicines according to claim 3, characterized in that, The steering joint (7) and the suction cup (8) are threaded together. The lower end of the steering joint (7) can be in close contact with the threaded surface of the suction cup (8). The suction cup (8) can rotate synchronously with the steering joint (7).

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