A small explosive disassembling and sub-packaging device for a robot end

Abstract

The utility model discloses a small -size medicine unpacking and sub -packaging device of robot end, including the base structure that can be connected with robot end, be equipped with transmission assembly on the base structure, extrusion subassembly is connected with transmission assembly, and the medicine bearing subassembly is equipped under extrusion subassembly, the base structure includes the bearing base, and the drive motor is connected with bearing base, and the bottom plate is connected with drive motor, still be equipped with medicine sub -packaging box on bearing base, transmission assembly includes the slide rail fixed with bottom plate, and the slide rail is inlayed and is equipped with the sliding block, and the rack is connected with sliding block through rack fixing piece, the gear that is engaged with rack, is connected with motor rotor through gear connecting piece, the utility model discloses can realize the unmanned contact of the whole process from the medicine board acquisition under the encapsulation state to medicine sub -packaging, and the greatest degree avoids medicine pollution risk, realizes the disassembly of the medicine of encapsulation too tight, special shape or aluminium foil material over tough plastic package board.

Description

Technical Field

[0001] This utility model belongs to the field of robotics and relates to a small disassembly and repackaging device for a robot end effector. Background Technology

[0002] In modern pharmaceutical packaging, blister packaging has become the mainstream packaging form for solid dosage forms such as tablets and capsules due to its excellent protection, ease of use, and medication safety. This packaging uses a thermoforming process to seal the medicine in a unit made of rigid plastic sheets and aluminum foil, forming a common blister pack.

[0003] In hospitals, central pharmacies, and large chain pharmacies, drug consumption is high and concentrated, and medical staff or pharmacists often face the task of dispensing large quantities and various types of medications. Manually removing medications one by one from blister packs is not only extremely inefficient and prone to causing finger fatigue and even injury, but it also becomes a major bottleneck in the fast and accurate medication dispensing process. Therefore, automated, batch-operated medication stripping machines have emerged and are widely used in these scenarios to improve work efficiency and reduce human error.

[0004] However, the "roller pressing" working principle commonly used in mainstream medicine peeling machines on the market is increasingly showing its technical limitations. This type of equipment relies on one or more pairs of rollers to crush the medicine slab, using mechanical pressure to force the medicine out from the aluminum foil seal. This method is ineffective for medicines that are too tightly sealed, have special shapes, or have overly tough aluminum foil, often resulting in medicine jamming, breakage, or incomplete peeling, requiring manual intervention and reducing overall efficiency. To provide sufficient crushing pressure, these machines are usually robust, bulky, and heavy, making them inconvenient to move and place. Their operation often requires multiple manual feeding, alignment, and collection, making smooth continuous operation impossible. Throughout the peeling process, operators need to frequently place the medicine slab by hand, adjust its position, remove the peeled medicine, and collect any spilled medicine. This unavoidable and repeated direct contact greatly increases the risk of medicine being contaminated by microorganisms, particles, or other contaminants. Summary of the Invention

[0005] To address the shortcomings of the existing technology, this utility model provides a small-scale disassembly and repackaging device for robot end effectors, which can meet the requirements for disassembly and repackaging, while having a simple and compact structure.

[0006] To achieve the above objectives, the technical solution of this utility model is as follows:

[0007] A small dispensing and packaging device for a robot end effector includes a base structure that can be connected to the robot end effector, a transmission component on the base structure, a squeezing component connected to the transmission component, and a drug carrying component below the squeezing component.

[0008] The base structure includes a support base, a drive motor connected to the support base, and a bottom plate connected to the drive motor;

[0009] The transmission assembly includes a slide rail fixed to the base plate, a slider embedded in the slide rail, and a rack connected to the slider via a rack fixing member; a gear meshing with the rack is connected to the rotor of the drive motor via a gear connector.

[0010] The extrusion assembly includes a block mold connected to a slider via a block fixing member and a block fixing seat, and the block mold is provided with a protrusion array;

[0011] The drug carrier assembly includes a drug mold disposed at the bottom of the guide groove, and a drug dispensing box is disposed below the guide groove; the drug mold has a placement cavity corresponding to the array of protrusions, and a blade is embedded in the side of the placement cavity.

[0012] Furthermore, the base plate is vertically oriented; the drive motor drives the gear to rotate, and the gear, through meshing with the rack, drives the slider to move linearly along the slide rail, and the pressure block mold fixed on the slider moves up and down reciprocally with the slider.

[0013] Furthermore, the pressing mold is driven to move up and down reciprocally. The array of protrusions on the pressing mold vertically presses down on the medicine plate placed on the medicine mold. The aluminum foil of the medicine plate comes into contact with the blade and is broken. The pressing mold presses down to squeeze the medicine out of the medicine plate and into the medicine dispensing box.

[0014] Furthermore, the placement cavity is provided with a hole for the blade, and the blade is installed in the hole.

[0015] Furthermore, both the briquetting mold and the pharmaceutical mold are equipped with multiple specifications;

[0016] Among them, the briquetting molds of different specifications are equipped with different bump arrays, and the bump arrays correspond to the packaging positions of different drugs on the blister pack. The corresponding bump arrays correspond one-to-one with the drugs on the blister pack.

[0017] The placement cavity of the pharmaceutical mold corresponds one-to-one with the array of protrusions in the briquetting mold.

[0018] The guide groove is tightly connected to the medicine dispensing box by a snap fastener; the medicine dispensing box is placed on the support base.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] This utility model provides a miniature dispensing and packaging device for robot end-effectors. The device features a compact design, making it more portable and allowing for installation on a robot via a pre-reserved interface. This enables unmanned operation from obtaining the packaged medicine blister pack to dispensing the medicine, minimizing the risk of contamination. It also allows for the dispensing of medicines with tight packaging, unusual shapes, or excessively tough aluminum foil packaging. This provides a solution for future applications and addresses the growing demand for home medication dispensing with robots, avoiding potential contamination and damage caused by manual operation.

[0021] The small disassembly and packaging device for robot end-effectors provided by this utility model can achieve targeted design of compression molds and drug molds for different types of drugs by using additive manufacturing technology, avoiding the drug damage that may be caused by existing roller-type disassembly machines, and overcoming the defects of not being able to handle irregularly shaped drugs or placing drugs on tilted blister packs. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of this utility model;

[0023] Figure 2 This is a schematic diagram of the base structure of this utility model;

[0024] Figure 3 This is a schematic diagram of the transmission structure of this utility model;

[0025] Figure 4 This is a schematic diagram of the drug module of this utility model;

[0026] Among them, 1 is the base plate, 2 is the slide rail, 3 is the pressure block fixing part, 4 is the pressure block fixing seat, 5 is the pressure block mold, 6 is the guide groove, 7 is the medicine dispensing box, 8 is the buckle, 9 is the drive motor, 10 is the rack, 11 is the slider, 12 is the bearing base, 13 is the drive motor, 14 is the gear connector, 15 is the gear, 16 is the rack, and 17 is the medicine mold. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings. These descriptions are intended to explain the present invention and not to limit it.

[0028] See Figures 1-4 A small dispensing and packaging device for a robot end effector includes a base structure that can be connected to the robot end effector, a transmission component on the base structure, a squeezing component connected to the transmission component, and a drug carrying component below the squeezing component.

[0029] The base structure includes a support base 12, a drive motor 13 connected to the support base 12, and a base plate 1 connected to the drive motor 13.

[0030] The transmission assembly includes a slide rail 2 fixed to the base plate 1, a slider 11 embedded in the slide rail 2, a rack 16 connected to the slider through a rack fixing member; and a gear 15 meshing with the rack 16, which is connected to the rotor of the drive motor through a gear connector 14.

[0031] The extrusion assembly includes a block mold 5 connected to the slider 11 via a block fixing member 3 and a block fixing seat 4. The block mold 5 is provided with a protrusion array.

[0032] The drug carrier assembly includes a drug mold 17 disposed at the bottom of the guide groove 6, and a drug dispensing box 7 disposed below the guide groove 6; the drug mold 17 has a placement cavity corresponding to the convex dot array, and a blade is embedded in the side of the placement cavity.

[0033] Specifically, the base plate 1 is vertically arranged; the drive motor 13 drives the gear 15 to rotate, and the gear 15 drives the slider to move linearly along the slide rail through meshing with the rack 16, and the pressure block mold fixed on the slider moves up and down with the slider.

[0034] Furthermore, the pressing mold is driven to move up and down reciprocally. The array of protrusions on the pressing mold vertically presses down on the medicine plate placed on the medicine mold. The aluminum foil of the medicine plate comes into contact with the blade and is broken. The pressing mold presses down to squeeze the medicine out of the medicine plate and into the medicine dispensing box.

[0035] The placement cavity has a hole for fitting the blade, and the blade is installed in the hole.

[0036] The briquetting mold and the pharmaceutical mold are equipped with multiple specifications;

[0037] Among them, the briquetting molds of different specifications are equipped with different bump arrays, and the bump arrays correspond to the packaging positions of different drugs on the blister pack. The corresponding bump arrays correspond one-to-one with the drugs on the blister pack.

[0038] The placement cavity of the pharmaceutical mold corresponds one-to-one with the array of protrusions in the briquetting mold.

[0039] Specific implementation examples are given below.

[0040] A small-scale dispensing and packaging device for a robot end effector includes a base structure connected to an external interface, a transmission assembly composed of gears and racks, a compression assembly, and a drug-carrying assembly; the compression assembly includes a pressing mold and a pressing block fixing seat, and the drug-carrying assembly includes a guide groove, a drug mold, and a drug packaging box.

[0041] The base structure includes a drive motor, a base plate fixed to the drive motor by bolts, and a support base for supporting the drug dispensing box.

[0042] The transmission assembly includes a slide rail directly bolted to the base plate, a slider connected to the slide rail via a sliding pair, a gear fixing component and gear directly connected to the motor rotor, and a rack fixing component and rack fixed to the slider. When the motor moves directly, the gear fixed to the motor rotor rotates synchronously, thereby driving the rack, which meshes with the gear, to complete linear motion along the slide rail direction.

[0043] The drive motor directly drives the gear, which in turn drives the rack to move linearly through meshing with it. The slider fixed on the rack drives the pressing mold to move accordingly, pressing the medicine-bearing component vertically downward to complete the compression of the medicine.

[0044] An embedded blade design was introduced into the pharmaceutical mold, which is achieved by setting a hole for the blade to fit next to the cavity in the pharmaceutical mold.

[0045] Compression molds and pharmaceutical molds are designed specifically for different drugs to ensure that different drugs can be placed onto the drug packaging box in the required posture.

[0046] The pharmaceutical mold, briquetting mold, and guide groove can be customized with additive manufacturing technology to accommodate different sizes and different drug or capsule arrangements (such as irregularly shaped tablets, tilted placement, etc.). This allows the guide groove to accurately guide different drugs, ensuring that different drugs or capsules correspond precisely to the placement cavities on the pharmaceutical mold. As the briquetting mold is pressed down, the encapsulated aluminum foil contacts the embedded blade to achieve a breaking effect. Further pressing down of the briquetting mold squeezes the drug out of the blister pack.

[0047] To address the characteristics of different drugs, additive manufacturing technology is used to design different bump arrays for the briquetting mold. Each bump array is designed according to the different packaging positions of different drugs on the blister pack, and corresponds one-to-one with each drug on the blister pack to achieve the optimal extrusion effect.

[0048] The medicine dispensing box uses a snap-fit ​​mechanism to achieve a tight fit with the guide groove, providing sufficient support for the guide groove to complete the entire process of dispensing and repackaging the medicine.

[0049] The embodiments given above are preferred examples of implementing this utility model, and this utility model is not limited to the above embodiments. Any non-essential additions or substitutions made by those skilled in the art based on the technical features of the technical solution of this utility model shall fall within the protection scope of this utility model.

Claims

1. A small-scale dispensing and packaging device for a robot end effector, comprising a base structure connectable to the robot end effector, characterized in that, The base structure is equipped with a transmission component, the extrusion component is connected to the transmission component, and the drug-carrying component is located below the extrusion component; The base structure includes a support base, a drive motor connected to the support base, and a bottom plate connected to the drive motor; The transmission assembly includes a slide rail fixed to the base plate, a slider embedded in the slide rail, and a rack connected to the slider via a rack fixing member; a gear meshing with the rack is connected to the rotor of the drive motor via a gear connector. The extrusion assembly includes a block mold connected to a slider via a block fixing member and a block fixing seat, and the block mold is provided with a protrusion array; The drug carrier assembly includes a drug mold disposed at the bottom of the guide groove, and a drug dispensing box is disposed below the guide groove; the drug mold has a placement cavity corresponding to the array of protrusions, and a blade is embedded in the side of the placement cavity.

2. The miniature dispensing and packaging device at the end of a robot as described in claim 1, characterized in that, The base plate is vertically arranged; the drive motor drives the gear to rotate, and the gear drives the slider to move linearly along the slide rail through meshing with the rack. The pressure block mold fixed on the slider moves up and down with the slider.

3. The miniature dispensing and packaging device at the end of a robot as described in claim 1 or 2, characterized in that, The pressing mold is driven to move up and down reciprocally. The array of protrusions on the pressing mold presses the medicine plate placed on the medicine mold vertically downward. The aluminum foil of the medicine plate comes into contact with the blade and is broken. The pressing mold presses down to squeeze the medicine out of the medicine plate and into the medicine dispensing box.

4. The miniature dispensing and packaging device at the end of a robot as described in claim 1, characterized in that, The placement cavity has a hole for fitting the blade, and the blade is installed in the hole.

5. The miniature dispensing and packaging device at the end of a robot as described in claim 1, characterized in that, The briquetting mold and the pharmaceutical mold are equipped with multiple specifications; Among them, the briquetting molds of different specifications are equipped with different bump arrays, and the bump arrays correspond to the packaging positions of different drugs on the blister pack. The corresponding bump arrays correspond one-to-one with the drugs on the blister pack. The placement cavity of the pharmaceutical mold corresponds one-to-one with the array of protrusions in the briquetting mold.

6. The miniature dispensing and packaging device at the end of a robot as described in claim 1, characterized in that, The guide groove is tightly connected to the medicine dispensing box by a snap fastener; the medicine dispensing box is placed on the support base.

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