Liquid bag capping device

Abstract

The utility model discloses a kind of liquid bag capping devices, comprising: workbench;Cap conveying unit, be located in workbench, cap conveying unit is used to convey cap;Mechanical arm, be located in workbench, including connecting piece and two cap clamping jaws, two cap clamping jaws are rotatably connected with connecting piece, first clamping space is defined between two cap clamping jaws, first clamping space is used to clamp cap, mechanical arm is used to drive two cap clamping jaws clamp cap, and install cap in the liquid pipe of liquid bag.The utility model can realize that liquid bag capping device automatically adds cap to the liquid pipe of liquid bag, without operator manual operation, avoid the phenomenon that medicinal liquor pollutes and harms personnel health occurs.

Description

Technical Field

[0001] This utility model relates to the field of automatic liquid dispensing equipment technology, and in particular to a liquid bag capping device. Background Technology

[0002] In hospitals, drug preparation involves drawing the liquid (such as sodium chloride solution) from an infusion bag into a syringe, injecting the liquid from the syringe into a vial, and shaking it to ensure that the liquid and powder in the vial are fully mixed. The mixed liquid is then drawn into the infusion bag through the syringe and injected back into the infusion bag. Furthermore, the prepared infusion bag usually needs to be capped during transportation.

[0003] Currently, the transportation of infusion bags in hospitals is mainly done manually by medical staff. Since the demand for intravenous drugs in various departments of the hospital is relatively large, manual operation not only consumes a lot of human and material resources of the hospital, but also increases the risk of harming the health of nursing staff and drug contamination. Utility Model Content

[0004] The purpose of this invention is to solve the problem that the current method of adding caps to infusion bags is manual, which is labor-intensive and resource-intensive, and poses risks to human health and drug contamination. This invention provides a capping device for infusion bags that automatically adds caps to the infusion tubing without manual operation, thus avoiding drug contamination and harm to human health.

[0005] To solve the above-mentioned technical problems, the present invention discloses a liquid bag capping device, comprising: a workbench; a cap conveying unit disposed on the workbench for conveying caps; and a robotic arm disposed on the workbench, comprising a connector and two cap grippers, the two cap grippers being rotatably connected to the connector, a first clamping space defined between the two cap grippers for clamping the caps, and the robotic arm for driving the two cap grippers to clamp the caps and install the caps onto the liquid tube of the liquid bag.

[0006] Using the above technical solution, the liquid bag capping device of this application embodiment can transport the cap through the cap conveying unit, so that the robotic arm drives the two cap grippers to the cap conveyed by the cap conveying unit (for example, the cap groove described later), so that the cap at that location can be accommodated in the first clamping space. After the two cap grippers clamp the cap accommodated in the first clamping space, the robotic arm drives the cap held by the two cap grippers to the liquid bag (for example, the liquid bag that has completed liquid preparation on the mover tooling), and installs the cap on the liquid tube of the liquid bag, thereby realizing the automatic capping of the liquid tube of the liquid bag.

[0007] Therefore, compared with the existing drug dispensing methods where the capping of infusion bags is done manually, the capping device of this application eliminates the need for manual operation, avoiding drug contamination and harm to personnel's health; on the other hand, it also saves labor costs and improves the efficiency of automated operation.

[0008] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein the connecting member includes two bearing seats, and the two cap clamps correspond one-to-one with the two bearing seats; each cap clamp includes a rotating shaft, and the cap clamp and the bearing seat are rotatably connected through the rotating shaft.

[0009] By adopting the above technical solution, the liquid bag capping device of this application embodiment can achieve stable rotation of the cap gripper through the cooperation of the bearing seat and the rotating shaft, ensuring the accuracy and reliability of the clamping action.

[0010] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein each cap clamp further includes a first extension and a first clamping portion. The first extension extends along a first direction, one end of the first extension is rotatably connected to the bearing seat through the rotating shaft, and the other end of the first extension is connected to the first clamping portion. Along the first direction, the projection of each first clamping portion is arc-shaped. Along the second direction, the arc-shaped inner sides of each first clamping portion are arranged opposite to each other to form a circular first clamping space for clamping the cap. The first direction intersects the second direction.

[0011] By adopting the above technical solution, the liquid bag capping device of this application embodiment can form a first clamping space (e.g., a circular first clamping space) that is adapted to the shape of the cap by the arc-shaped inner side of the first extension and the first clamping part, which enhances the clamping fit and prevents the cap from falling off or shifting during operation.

[0012] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein each of the first clamping parts has an arc-shaped protrusion on its arc-shaped inner side, the arc-shaped protrusion having a downwardly inclined surface, the inclined surface being used to guide the cap into the first clamping space.

[0013] By adopting the above technical solution, the embodiments of this application can guide the cap to be quickly positioned during the clamping process through the arc-shaped protrusion and its inclined surface design of the first clamping part, and increase the friction between the clamping surface and the cap, thereby further improving the clamping stability.

[0014] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein each cap clamp further includes an elastic reset member, the elastic reset member is sleeved on the rotating shaft and connected to the first clamping part, so that the cap clamp is elastically rotatably connected to the connecting member, and the elastic reset member is used to apply an elastic force to the first clamping part, so that the arcuate inner sides of the two first clamping parts move towards each other to clamp the cap.

[0015] By adopting the above technical solution, the liquid bag capping device of this application embodiment can achieve automatic reset of the cap claw and continuous clamping force output by elastically cooperating with the first clamping part and the connecting part respectively through the elastic reset member, so that the arc-shaped inner sides of the two first clamping parts can move towards each other to clamp the cap, thereby ensuring the adaptability and consistency of the cap clamping.

[0016] The elastic rotational connection described above in this application embodiment refers to the fact that, on the one hand, the cap clamp is rotatably connected to the connector, and on the other hand, the cap clamp is elastically connected to the connector through an elastic reset member.

[0017] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device. Along the second direction, each of the first clamping portions further includes an outer inclined surface. The outer inclined surface extends along a third direction, which intersects with the first direction and the second direction. The elastic reset member has a first elastic support leg, a second elastic support leg, and an elastic body. The elastic body is connected to the first elastic support leg and the second elastic support leg respectively and is sleeved on the rotating shaft. The first elastic support leg elastically abuts against the connecting member, and the second elastic support leg elastically abuts against the outer inclined surface.

[0018] Using the above technical solution, after the cap enters the first clamping space, the cap clamping claw is squeezed by the cap and rotates outward around the axis of rotation. The elastic reset member (e.g., a torsion spring) is compressed and applies an elastic force to the outer inclined surface of the first clamping part, so that the arc-shaped inner side of the first clamping part abuts against the side wall of the cap, thereby clamping the cap. When the cap leaves the first clamping space, the elastic reset member applies an elastic force to the outer inclined surface of the first clamping part, so that the arc-shaped inner sides of the two first clamping parts move towards each other to reset, realizing the automatic reset of the cap clamping claw and continuous clamping force output, ensuring the adaptability and consistency of cap clamping.

[0019] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein the robotic arm further includes: a gripper driving part connected to the connecting member, the gripper driving part having a sliding part; two grippers, the gripper driving part being respectively drivenly connected to the two grippers, the two grippers being connected to the sliding part in a movable manner along a second direction, the gripper driving part being used to drive the two grippers to move relative to each other along the second direction to clamp the liquid tube of the liquid bag; a fork part connected to the gripper driving part, the fork part extending along a fourth direction, the fork part having a limiting gap, the limiting gap being used to engage the liquid tube, the second direction intersecting the fourth direction.

[0020] Using the above technical solution, the liquid bag capping device of this application embodiment can clamp the liquid tube by the relative movement of two grippers, and achieve precise clamping and holding of the liquid tube of the liquid bag by combining the limiting gap of the fork.

[0021] According to another specific embodiment of the present invention, a liquid bag capping device is disclosed. The sliding part includes two first sliding grooves along a first direction, the two first sliding grooves being spaced apart and parallel to each other, and each first sliding groove extending along a second direction. The gripper driving part includes two sliders, the two sliders corresponding one-to-one with the two first sliding grooves, the sliders being adapted to the first sliding grooves, and the two grippers being correspondingly connected to the two sliders. The gripper driving part is used to drive the two sliders to slide relative to the first sliding grooves along the second direction, thereby driving the two grippers to move relative to each other along the second direction.

[0022] By adopting the above technical solution, the liquid bag capping device of this application embodiment can achieve stable linear movement of the gripper along the second direction through the sliding cooperation between the slider and the first sliding groove, ensuring the uniform distribution of clamping force and the reliability of liquid tube clamping.

[0023] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, each of the grippers includes a second extension and a third extension, the second extension and the third extension are set at an angle, one end of the second extension is connected to one end of the third extension, and the slider is fixed to the second extension.

[0024] By adopting the above technical solution, the liquid bag capping device of this application embodiment can optimize the structural strength and force transmission path of the gripper through the second extension and the third extension that are set at an angle, thereby improving the stability of the clamping action.

[0025] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein along the first direction, the third extensions of the two grippers are both located on the same plane, and the plane is parallel to the horizontal plane.

[0026] By adopting the above technical solution, the liquid bag capping device of this application embodiment can ensure balanced force when clamping the liquid tube by keeping the third extension at the same horizontal plane, and avoid the liquid tube from deforming or falling off due to skewed force.

[0027] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein each of the grippers is provided with a second clamping part, the second clamping part is disposed on the third extension part, the second clamping part extends along a fifth direction and is disposed toward the fork part, the fifth direction intersects with the second direction; along the second direction, the inner surfaces of the clamping parts of the two grippers are disposed opposite to each other and together with the fork part define a second clamping space, the second clamping space being used to clamp the liquid tube of the liquid bag.

[0028] By adopting the above technical solution, the liquid bag capping device of this application embodiment can limit the liquid tube in multiple directions through the coordinated action of the second clamping part and the fork part, forming a stable second clamping space, and further ensuring the accuracy and stability of the liquid tube clamping.

[0029] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein the fork portion includes: a stop block connected to the connector, the stop block and the sliding portion being located on opposite sides of the two grippers along the fourth direction, the bottom of the stop block having a first protrusion along the first direction, and the first protrusion being located between the two grippers along the second direction; a support base connected to the connector, the support base extending along the fourth direction, the first protrusion being located above the support base along the first direction and spaced apart from the support base to form the limiting gap, the end face of the first protrusion being disposed opposite to the inner side of the second clamping portion, and the end face of the first protrusion and the end face of the support base together with the inner side of the second clamping portion defining the second clamping space, and the support base being located between the two grippers along the second direction.

[0030] By adopting the above technical solution, the liquid bag capping device of this application embodiment can form a limiting gap through the cooperation between the first protrusion of the stop block and the support seat, and together with the gripper, form a second clamping space to achieve all-round fixation of the annular flange and side wall of the liquid tube.

[0031] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device. Along the fourth direction, the length of the support base is greater than the length of the first protrusion. The upper surface of the support base is used to abut against the lower surface of the annular flange of the liquid tube. The end face of the first protrusion and the end face of the support base are adapted to the side wall of the liquid tube to abut against the side wall of the liquid tube.

[0032] By adopting the above technical solution, the liquid bag capping device of this application embodiment can ensure effective support of the annular flange of the liquid tube by adapting the length difference and end face shape between the support base and the first protrusion, and avoid displacement of the liquid tube along the first direction when the liquid bag is clamped.

[0033] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, wherein the connecting member further includes: a gripper mounting plate, which is disposed on the upper side of the gripper driving part along a first direction; a fixing seat connected to the gripper mounting plate; a gripper side plate, which is located on opposite sides of the gripper driving part along a second direction and connected to the gripper mounting plate; a cap gripper mounting plate, which is connected to the gripper side plates on both sides of the gripper driving part along the first direction and is located on the lower side of the gripper side plates, wherein the two cap grippers are rotatably connected to the cap gripper mounting plate; the gripper mounting plate, the gripper side plate and the cap gripper mounting plate together form a through hole, one end of the gripper driving part passes through the through hole along a fourth direction, and the one end of the gripper driving part is provided with the sliding part, the two grippers and the fork part.

[0034] By adopting the above technical solution, the liquid bag capping device of this application embodiment can achieve a high-density arrangement of the gripper mounting plate, the fixed seat, the gripper side plate and the cap gripper mounting plate through a multi-level modular layout, and the gripper driving part, the cap gripper, the sliding part, the gripper and the fork part in the first direction (i.e. the height direction), the second direction and the fourth direction (i.e. the horizontal direction), which significantly reduces the space occupied by the overall structure and makes the overall structure of the device more compact.

[0035] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, the liquid bag capping device further includes a turntable disposed on the worktable, the turntable being rotatable relative to the worktable in the circumferential direction, the turntable having a plurality of cap slots, the plurality of cap slots being spaced apart in the circumferential direction, the cap conveying unit being connected to any one of the plurality of cap slots, the cap slot being used to accommodate the cap.

[0036] By adopting the above technical solution, the liquid bag capping device of this application embodiment can use multiple cap slots distributed circumferentially on the turntable so that when the robotic arm drives two cap grippers to pick up the cap in one cap slot, the cap conveying unit can also simultaneously convey caps to the other cap slots, thereby realizing batch buffering and continuous supply of caps, ensuring the smoothness of the capping operation and improving the work efficiency.

[0037] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, the liquid bag capping device further includes a screening device disposed on the workbench, the screening device is connected to the cap conveying unit, and the screening device is used to provide the cap with the opening facing downward along the first direction to the cap conveying unit.

[0038] By adopting the above technical solution, the liquid bag capping device of this application embodiment can pre-process and directionally supply the caps through the screening device, ensuring that the caps conveyed to the cap conveying unit have a uniform posture (for example, keeping the opening of the cap facing downwards), reducing material jamming or positioning errors.

[0039] According to another specific embodiment of the present invention, an embodiment of the present invention discloses a liquid bag capping device, the liquid bag capping device further includes a discharge assembly, the discharge assembly includes: a second chute, one end of the second chute having an inlet, the inlet being disposed on the worktable; a conveying section, one end of the conveying section communicating with the other end of the chute along the extending direction of the conveying section, the conveying section being used to convey the liquid bag; and a discharge port, the other end of the conveying section extending out of the discharge port along the extending direction of the conveying section.

[0040] By adopting the above technical solution, the liquid bag capping device of this application embodiment can realize automatic discharge after the liquid bag is capped through the connection design between the second chute and the conveying part, reduce manual intervention, and improve the overall automation level of liquid bag capping.

[0041] To make the above-mentioned contents of this utility model more obvious and understandable, preferred embodiments are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0042] Figure 1A A perspective view of the liquid bag capping device of this utility model is shown;

[0043] Figure 1B This invention illustrates a three-dimensional view of the liquid bag capping device. Figure 2 The panel and workbench are hidden;

[0044] Figure 2 A perspective view of a portion of the robotic arm according to an embodiment of the present invention is shown.

[0045] Figure 3 A side view of a portion of the robotic arm according to an embodiment of the present invention is shown;

[0046] Figure 4A A perspective view of two cap clamps and part of the connecting parts of an embodiment of the present invention is shown.

[0047] Figure 4B This invention illustrates a three-dimensional view of two cap grippers and part of the connecting parts according to an embodiment of the present invention. Figure 2 ;

[0048] Figure 4C This diagram shows a perspective view of two cap clamps, some connecting parts, and the cap according to an embodiment of the present invention.

[0049] Figure 5 A three-dimensional representation of a portion of the robotic arm according to an embodiment of the present invention is shown. Figure 2 ;

[0050] Figure 6 A three-dimensional representation of a portion of the robotic arm according to an embodiment of the present invention is shown. Figure 3 The obstruction was hidden;

[0051] Figure 7 A three-dimensional representation of a portion of the robotic arm according to an embodiment of the present invention is shown. Figure 3 . Detailed Implementation

[0052] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0053] It should be noted that in this specification, similar reference numerals and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0054] In the description of this embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model 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 the utility model.

[0055] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0056] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set up," "connected," and "linked" 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 embodiment based on the specific circumstances.

[0057] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be described in further detail below with reference to the accompanying drawings.

[0058] Figure 1A A perspective view of a liquid bag capping device is shown according to some embodiments of this application. Figure 1B A three-dimensional liquid bag capping device is shown according to some embodiments of this application. Figure 2 .

[0059] refer to Figure 1A and Figure 1B This application provides a liquid bag capping device 100, comprising: a workbench 110, a cap conveying unit 120, a turntable 130, a robotic arm 140, a screening device 150, and a discharge assembly 160. The inlets 161a (as described below) of the cap conveying unit 120, the turntable 130, the robotic arm 140, the screening device 150, and the discharge assembly 160 are all located on the workbench 110.

[0060] Specifically, such as Figure 1B As shown, the cap conveying unit 120 is connected to the turntable 130. The cap conveying unit 120 is used to convey the cap 200 to the turntable 130. The turntable 130 can move relative to the worktable 110 in the circumferential direction (e.g., ...). Figure 1B Rotate (as shown in the R direction). For example, see... Figure 1BThe turntable 130 is provided with four cap slots 131. The cap conveying unit 120 is a slide rail. The four cap slots 131 are arranged at intervals along the circumferential direction R. The cap conveying unit 120 is connected to one cap slot 131. The cap slot 131 is used to accommodate the cap 200.

[0061] For example, the first direction Z (i.e., the height direction of the gripper drive unit 143) is perpendicular to the second direction X (i.e., the width direction of the gripper drive unit 143), the first direction Z is perpendicular to the fourth direction Y (i.e., the length direction of the gripper drive unit 143), and the fourth direction Y is perpendicular to the second direction X. It should be noted that the mutual perpendicularity in this application is not absolute. Approximate perpendicularity due to processing and assembly errors (e.g., an angle of 89.9° between two structural features) is also within the scope of mutual perpendicularity in this application. The definition of mutual perpendicularity will not be repeated below.

[0062] refer to Figure 2 and combined Figure 1B The robotic arm 140 includes a connector 141 and two cap grippers 142. Along a first direction (e.g., Figure 2 (As shown in the Z direction), two cap grippers 142 are located below the connector 141. The two cap grippers 142 are rotatably connected to the connector 141 so that the two cap grippers 142 can move along the second direction (e.g., as shown in the Z direction). Figure 2 (As shown in the X direction) they rotate relative to each other, and a first clamping space 142a is defined between the two cap grippers 142. For example, as... Figure 2 As shown, a cap 200 is clamped in the first clamping space 142a. The cap 200 is used to install the liquid tube 310 on the liquid bag 300. Each liquid bag 300 includes a liquid tube 310 and a bag body 320. Along the first direction Z, the liquid tube 310 is located on the top of the bag body 320.

[0063] Thus, the liquid bag capping device 100 of this application embodiment transports the cap 200 to a cap groove 131 of the turntable 130 that is connected to the cap conveying unit 120 via the cap conveying unit 120, so that the robotic arm 140 drives two cap grippers 142 to the cap groove 131, so that the cap 200 at that location can be accommodated in the first clamping space 142a. After the two cap grippers 142 clamp the cap 200 accommodated in the first clamping space 142a, the robotic arm 140 drives the cap 200 clamped by the two cap grippers 142 to the liquid bag 300, and installs the cap 200 on the liquid tube 310 of the liquid bag 300, thereby realizing the automatic installation of the cap 200 on the liquid tube 310 of the liquid bag 300.

[0064] Therefore, compared with the existing drug dispensing methods where the capping of the infusion bag is done manually, the infusion bag capping device 100 of this application embodiment does not require manual operation by the operator, thus avoiding drug contamination and harm to personnel health; on the other hand, it also saves labor costs and improves the efficiency of automated operation.

[0065] For example, such as Figure 1B As shown, the screening device 150 is disposed on the workbench 110, and the screening device 150 and the turntable 130 are respectively located at opposite ends of the cap conveying unit 120, that is, along the extending direction of the cap conveying unit 120 (e.g., Figure 1B (As shown in the E direction), one end of the cap conveying unit 120 is connected to the cap groove 131 of the turntable 130, and the other end of the cap conveying unit 120 is connected to the screening device 150, so that the screening device 150 can convey the screened caps 200 through the cap conveying unit 120 to the cap groove 131 of the turntable 130, so that the robotic arm 140 can drive the two cap grippers 142 to pick up the caps 200 in the turntable 130.

[0066] For example, the screening device 150 in this application embodiment is a vibrating screening machine, which sequentially transports the multiple caps 200 that have been screened and are facing downward along the first direction Z to the cap conveying unit 120; however, it is not limited thereto, and the type of screening device 150 in this application embodiment is not limited.

[0067] Furthermore, this application embodiment does not specifically limit the structure of the cap conveying unit 120 and the turntable 130. In the above embodiment, the cap conveying unit 120 is a slide rail, and the turntable 130 is driven by a motor (not shown in the figure) to rotate relative to the worktable 110 in the circumferential direction R, and the turntable 130 is divided into four cap positions in the circumferential direction. Any two of the four cap positions are respectively the cap receiving position 130a and the cap taking position 130b, so that the turntable 130 can rotate in the circumferential direction R, so that any one of the four cap slots 131 can switch between the four cap positions.

[0068] For example, such as Figure 1B As shown, the cap conveying unit 120 is connected to a cap groove 131 at the cap receiving position 130a, so that the cap conveying unit 120 can convey the cap 200 to the cap groove 131 at the cap receiving position 130a. The cap taking position 130b is arranged opposite to the cap receiving position 130a, and the robotic arm 140 can drive two cap grippers 142 to grasp the cap 200 in a cap groove 131 at the cap taking position 130b.

[0069] For example, such as Figure 1B As shown, the turntable 130 in this embodiment of the application also includes six sensors 132, along the radial direction of the turntable 130 (i.e., the conveying direction of the cap conveying unit 120, such as...). Figure 1B (As shown in the E direction), the six sensors 132 are divided into three pairs of sensors 132 arranged at intervals. The first pair of sensors 132 corresponds to the cap slot 131 at the cap receiving position 130a and is used to detect whether the cap 200 is contained in the cap slot 131 at the cap receiving position 130a, so that the cap conveying unit 120 can convey the cap 200 to the cap slot 131 at the cap receiving position 130a. The second pair of sensors 132 corresponds to the cap slot 131 at the cap taking position 130b and is used to detect whether the cap 200 is contained in the cap slot 131 at the cap taking position 130b, so that the robotic arm 140 can drive the two cap grippers 142 to grip the cap 200 in the cap slot 131 at the cap taking position 130b. The third pair of sensors 132 corresponds to the cap slots 131 at the remaining cap positions, so that the turntable 130 can rotate in the circumferential direction R, so that the four cap slots 131 can be switched between the four cap positions, and the cap slot 131 containing the cap 200 can be switched to the cap taking position 130b.

[0070] However, this application embodiment does not limit the number of cap slots 131 of turntable 130, as long as they can be used to accommodate cap 200 and allow two cap grippers 142 to grip cap 200 from cap slots 131. For example, the number of cap slots 131 can also be one, two, three, five, six or more.

[0071] For example, the above-mentioned discharge assembly 160 includes: a second chute 161, a conveying section 162, and a discharge port 163. Specifically, as Figure 1A and Figure 1B As shown, one end of the second chute 161 has an inlet 161a, which is located on the worktable 110 and extends along the extension direction of the conveying section 162 (e.g., Figure 1A and Figure 1B (As shown in the F direction), one end of the conveying section 162 is connected to the other end of the second chute 161, and the other end of the conveying section 162 extends out of the discharge port 163. For example, the conveying section 162 is a conveyor belt, and the discharge port 163 is opened on the panel 102.

[0072] Therefore, in this embodiment of the liquid bag capping device 100, after the cap 200 is installed on the liquid tube 310 of the liquid bag 300 by driving two cap grippers 142 through the robotic arm 140, the robotic arm 140 can also drive two grippers 144 to clamp the liquid tube 310 of the liquid bag 300, so that the capped liquid bag 300 is placed into the second chute 161 from the inlet 161a. This allows the capped liquid bag 300 to slide into the conveying section 162 from the second chute 161 and be conveyed out of the outlet 163 along the extension direction F of the conveying section 162, reducing manual intervention and improving the overall automation level of the liquid bag capping device 100. In other words, the liquid bag capping device 100 in this embodiment of the application can not only hold the cap 200 with two cap grippers 142, but also hold the capped liquid bag 300 with two grippers 144.

[0073] For example, the arrangement of the various components (e.g., cap conveying unit 120, turntable 130, robotic arm 140, screening device 150, and discharge assembly 160) on the workbench 110 of the liquid bag capping device 100 is not limited in this embodiment. In the above embodiment, the inlet 161a of the cap conveying unit 120, turntable 130, robotic arm 140, screening device 150, and discharge assembly 160 are all located on the same workbench 110. However, it is not limited to this. For example, the cap conveying unit 120, turntable 130, and robotic arm 140 can be located on the same workbench 110, while the screening device 150 and discharge assembly 160 can be located on different workbench 110. Alternatively, the turntable 130 can be omitted, that is, the robotic arm 140 can drive the two cap grippers 142 to directly grip the cap 200 from the cap conveying unit 120 without gripping the cap 200 from the turntable 130.

[0074] For example, such as Figure 1A As shown, the frame structure of the liquid bag capping device 100 in this embodiment of the application further includes a base plate 101 and multiple panels 102. The base plate 101 and the panels 102 together define an accommodating space, in which the portions of the turntable 130, robotic arm 140, screening device 150, and discharge assembly 160 located below the workbench 110 are all accommodated. In addition, the base plate 101 is also provided with multiple rollers 103 to facilitate adjustment of the position of the liquid bag capping device 100. However, this embodiment of the application does not limit the frame structure of the liquid bag capping device 100 and can be adjusted according to actual conditions.

[0075] The specific structure of the liquid bag capping device 100 according to the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0076] Continue to refer to Figure 2 and combined Figure 3 and Figure 4AThe connector 141 in this embodiment includes two bearing seats 1411, and two cap claws 142 correspond one-to-one with the two bearing seats 1411.

[0077] Specifically, each cap gripper 142 includes a rotating shaft 1421, and the cap gripper 142 is rotatably connected to the bearing housing 1411 via the rotating shaft 1421. For example, as... Figure 2 and Figure 3 As shown, in this embodiment of the application, the connector 141 is provided with a press-fit limiting post 1412 at its lower end along the first direction Z, as... Figure 4A and Figure 4B As shown, along the second direction X, the two ends of the press-fit limiting post 1412 are respectively provided with the above two bearing seats 1411.

[0078] For example, such as Figure 4A As shown, each cap gripper 142 in this embodiment of the application further includes a first extension 1422 and a first clamping portion 1423. The first extension 1422 extends along a first direction Z and along a fourth direction Y. A rotating shaft 1421 passes through a bearing seat 1411 and one end of the first extension 1422, so that one end of the first extension 1422 is rotatably connected to the bearing seat 1411 of the press-fit limiting post 1412, and the other end of the first extension 1422 is connected to the first clamping portion 1423.

[0079] For example, such as Figure 4A and Figure 4C As shown, along the first direction Z, the projection of each first clamping part 1423 is arc-shaped. Furthermore, along the second direction X, the arc-shaped inner sides 14231 of each first clamping part 1423 are arranged opposite to each other, forming a circular first clamping space 142a.

[0080] Therefore, when the robotic arm 140 drives the two cap grippers 142 to move downward along the first direction Z so that the cap 200 enters the first clamping space 142a from below, the arc-shaped inner sides 14231 of the two first clamping parts 1423 can clamp the cap 200, and the lower surface 1412a of the press-fit limiting post 1412 can abut against the top of the cap 200 to restrict the cap 200 from moving upward along the first direction Z in the first clamping space 142a, ensuring the accurate positioning of the cap 200 in the first clamping space 142a, which facilitates the subsequent installation of the cap 200 onto the liquid tube 310 of the liquid bag 300.

[0081] The embodiments of this application do not specifically limit the projected shape of the first clamping part 1423, as long as it can form a first clamping space 142a that can clamp the cap 200. For example, the projected shape of the first clamping part 1423 can also be an inclined surface that matches the outer surface of the liquid tube 310, or the inner side of the first clamping part 1423 can also be provided with a bead plug or spring structure so that the first clamping part 1423 and the cap 200 can be elastically engaged.

[0082] For example, such as Figure 4A As shown, each of the first clamping parts 1423 has an arc-shaped protrusion 14232 on its arc-shaped inner side 14231, and the arc-shaped protrusion 14232 has a downwardly inclined surface 14232a along the first direction Z. Thus, on the one hand, the embodiment of this application achieves precise clamping of the liquid tube 310 through the arc-shaped protrusion 14232 on the arc-shaped inner side 14231, improving the reliability of clamping; on the other hand, the cap 200 can slide into the first clamping space 142a from below the two cap claws 142 along the inclined surface 14232a, so that the two cap claws 142 of this embodiment of the application can guide the cap 200 during the clamping process, so as to achieve rapid positioning of the cap 200 in the first clamping space 142a.

[0083] However, this application embodiment does not limit the structure of the first clamping part 1423. In other possible embodiments, the arc-shaped inner side 14231 of the first clamping part 1423 may not be provided with the arc-shaped protrusion 14232, but only with an inclined guide surface for guiding the cap 200 to slide into the first clamping space 142a; or, the arc-shaped inner side 14231 of the first clamping part 1423 may not be provided with the arc-shaped protrusion 14232 or the inclined guide surface, as long as the two first clamping parts 1423 can form the first clamping space 142a to clamp the cap 200.

[0084] Exemplarily, each cap gripper 142 in this application embodiment further includes an elastic reset member 1424, and each first clamping portion 1423 further includes an outer inclined surface 14233. Exemplarily, the elastic reset member 1424 is a torsion spring. Specifically, as... Figure 4B As shown, along the second direction X, each first clamping part 1423 is further provided with an outer inclined surface 14233 on the side away from the first clamping space 142a, and the outer inclined surface 14233 is along the third direction (e.g. Figure 4B Extending in the direction H, the third direction H intersects with the second direction X. The elastic reset member 1424 is sleeved on the rotating shaft 1421 and abuts against each of the outer inclined surfaces 14233. That is, the elastic reset member 1424 is located between the lower end of the connector 141 and the outer inclined surface 14233 of the first clamping part 1423, so that the first clamping part 1423 and the connector 141 are elastically and rotatably connected.

[0085] For example, such as Figure 4B and Figure 4C As shown, the elastic reset member 1424 has a first elastic support leg 14241, a second elastic support leg 14242, and an elastic body 14243. The elastic body 14243 is sleeved on the rotating shaft 1421 and connected to the first elastic support leg 14241 and the second elastic support leg 14242 respectively. The first elastic support leg 14241 elastically abuts against the lower end of the connector 141, and the second elastic support leg 14242 elastically abuts against the outer inclined surface 14233, so that the first clamping part 1423 and the connector 141 are elastically and rotatably connected.

[0086] Therefore, after the cap 200 enters the first clamping space 142a, the cap gripper 142 is compressed by the cap 200 around the axial direction of the rotating shaft 1421 (i.e., the fourth direction, such as...). Figure 4B As shown in the Y direction, the elastic reset member 1424 (e.g., a torsion spring) is compressed and applied to the outer inclined surface 14233 of the first clamping part 1423, so that the arc-shaped inner side 14231 of the first clamping part 1423 abuts against the side wall of the cap 200, thereby clamping the cap 200; and when the cap 200 leaves the first clamping space 142a, the elastic reset member 1424 applies an elastic force to the outer inclined surface 14233 of the first clamping part 1423, so that the arc-shaped inner sides 14231 of the two first clamping parts 1423 move and reset relative to each other, thereby realizing the automatic reset of the cap clamping claw 142 and the continuous clamping force output, ensuring the adaptability and consistency of the cap 200 clamping.

[0087] The connection relationship between the elastic reset member 1424 and the first clamping part 1423 is not limited in this embodiment of the application, as long as the first clamping part 1423 can be elastically connected to the connector 141. For example, the second elastic support leg 14242 of the elastic reset member 1424 can also be engaged with the first clamping part 1423.

[0088] Furthermore, this application embodiment does not limit the connection method between the cap claw 142 and the connector 141. In other possible implementations, for example, the cap claw 142 and the connector 141 can be connected in a slidable manner along the second direction X, and the elastic reset member 1424 is a spring connected between the two cap claws 142, etc.

[0089] refer to Figure 5The robotic arm 140 of this embodiment further includes a gripper drive unit 143, two grippers 144, and a fork 145. The gripper drive unit 143 is connected to the connector 141 and has a sliding portion 1431. The gripper drive unit 143, the two grippers 144, and the fork 145 together form a robotic hand of the robotic arm 140 of this embodiment, and the robotic hand also includes the aforementioned connector 141 and two cap-shaped grippers 142.

[0090] Specifically, refer to Figures 5 to 7 and combined Figure 3 As shown, the sliding part 1431 is provided on the side of the gripper drive part 143 along the fourth direction Y near the cap gripper 142. The two grippers 144 are connected to the sliding part 1431 in a movable manner along the second direction X. The gripper drive part 143 can drive the two grippers 144 to move towards each other relative to the sliding part 1431 along the second direction X, so that the above-mentioned manipulator is in a clamped state; or, the gripper drive part 143 can drive the two grippers 144 to move away from each other relative to the sliding part 1431 along the second direction X, so that the above-mentioned manipulator is in an open state.

[0091] The fork 145 extends along the fourth direction Y and has a limiting gap 1451 (as described below). The limiting gap 1451 can engage with the liquid tube 310 of the liquid bag 300, so that when the robot arm of this embodiment grips the liquid tube 310 of the liquid bag 300 after liquid preparation, it can engage with the liquid tube 310 through the limiting gap 1451 of the fork 145 and drive the two grippers 144 to move towards each other through the gripper drive part 143, so that the robot arm is in a clamping state, that is, the two grippers 144 and the fork 145 jointly grip the liquid tube 310 of the liquid bag 300, realizing the cooperative cooperation between the fork 145 and the two grippers 144, making the robot arm grip the liquid bag 300 more stably.

[0092] Exemplarily, the sliding part 1431 of this application embodiment includes two first sliding grooves 1431a. Along the first direction Z, the two first sliding grooves 1431a are spaced apart and parallel to each other. The gripper driving part 143 further includes two sliders 1432, each corresponding to one of the two first sliding grooves 1431a, and two grippers 144 connected to each of the two sliders 1432. Exemplarily, the structures of the two first sliding grooves 1431a and the two sliders 1432 in this application embodiment are identical. For ease of understanding, the following detailed description uses one first sliding groove 1431a, its corresponding slider 1432, and its corresponding gripper 144 as an example.

[0093] Specifically, such as Figure 6 and Figure 3As shown, the first groove 1431a extends along the second direction X and is concave along the fourth direction Y. The slider 1432 is adapted to the first groove 1431a, and the gripper 144 is fixed to another part of the slider 1432. That is, a part of the slider 1432 is accommodated in the first groove 1431a and can slide in the first groove 1431a along the extending direction of the first groove 1431a (i.e., the second direction X). The gripper 144 is fixed to another part of the slider 1432 and can follow the slider 1432 relative to the first groove 1431a along the second direction X.

[0094] For example, in this embodiment of the application, the gripper drive unit 143 is a drive motor, and the gripper drive unit 143 is connected to the slider 1432 in a transmission connection. Thus, the gripper drive unit 143 can drive the slider 1432 to slide in the first slide groove 1431a along the second direction X, and drive the gripper 144 to move relative to the first slide groove 1431a along the second direction X. Through the cooperation between the slider 1432 and the first slide groove 1431a, the gripper drive unit 143 can achieve precise sliding control, thereby improving the stability and repeatability of the gripper 144's movement.

[0095] This application embodiment does not limit the type of the gripper drive unit 143. For example, in other possible embodiments, the gripper drive unit 143 may also be a cylinder, etc. Furthermore, this application embodiment does not specifically limit the structure of the first slide groove 1431a and the slider 1432. In the above embodiments, such as... Figure 3 As shown, the cross-section of the first groove 1431a along the first direction Z is a T-shaped groove, and the cross-section of the slider 1432 along the first direction Z is correspondingly T-shaped, but not limited to this. For example, in other possible embodiments, the cross-sectional shapes of the first groove 1431a and the slider 1432 can also be mutually compatible square, circular or other shapes.

[0096] The present application does not limit the connection method of the gripper 144 and the slider 1432. In the above embodiment, the gripper 144 and the slider 1432 are connected by a thread through the fixing hole 1432a, but it is not limited to this. As long as the gripper 144 and the slider 1432 can be fixedly connected, for example, the gripper 144 and the slider 1432 can also be connected by welding.

[0097] Furthermore, this application does not limit the transmission connection method between the gripper 144 and the gripper drive unit 143 via the sliding part 1431. In the above embodiment, the gripper 144 and the gripper drive unit 143 are slidably connected via the slider 1432 and the first sliding groove 1431a, but it is not limited to this, as long as the gripper drive unit 143 can drive the two grippers 144 to move relative to each other. For example, in other possible embodiments, the gripper 144 and the gripper drive unit 143 can also be transmitted through a lead screw or the like.

[0098] For example, such as Figure 6 As shown, each gripper 144 in this embodiment includes a second extension 1441 and a third extension 1442. The second extension 1441 extends along a second direction X, and the third extension 1442 extends along a fourth direction Y. That is, the third extension 1442 is perpendicular to the second extension 1441. Furthermore, one end of the second extension 1441 is connected to one end of the third extension 1442, the slider 1432 is fixed to the second extension 1441, and the connection between the second extension 1441 and the third extension 1442 is rounded.

[0099] In other words, the included angle between the second extension 1441 and the third extension 1442 of the gripper 144 is 90°, but it is not limited to this. In this embodiment of the application, the included angle between the second extension 1441 and the third extension 1442 is not limited, and can be any angle from 0° to 180°, such as 0°, 30°, 45°, 60°, 120°, 180°, etc.

[0100] Therefore, by setting the second extension 1441 and the third extension 1442 at an angle, the clamping stability and adaptability of the gripper 144 in this embodiment of the application are enhanced, which can adapt to the clamping requirements of liquid tubes 310 of different sizes and improve the clamping effect of the gripper 144 on the liquid tube 310.

[0101] For example, since the two first grooves 1431a are at different heights along the first direction Z, and the third extensions 1442 of the two grippers 144 in this embodiment are both on the same plane (e.g. Figure 6 As shown in plane M), plane M and the horizontal plane (as shown in plane M). Figure 6 Parallel to the plane O in the middle, the side of the second extension 1441 of the gripper 144 in this embodiment of the application is L-shaped.

[0102] For example, such as Figure 6 As shown, the gripper 144 of this embodiment is provided with a second gripping portion 1443, which is disposed on the third extension portion 1442. The second gripping portion 1443 is located along the fifth direction (e.g., Figure 6The fifth direction (as shown in the middle I direction) extends towards the fork 145. For example, the fifth direction I intersects the second direction X.

[0103] Specifically, along the second direction X, the inner surfaces 1443a of the second clamping portions 1443 of the two grippers 144 are arranged opposite to each other, and a second clamping space 144a is defined between the inner surfaces 1443a of the two second clamping portions 1443 and the fork portion 145 (see...). Figure 5 and Figure 7 In this embodiment of the application, when the liquid bag 300 is gripped, the liquid tube 310 of the liquid bag 300 is accommodated in the second gripping space 144a, so that the second gripping part 1443 and the fork part 145 of the two grippers 144 can jointly grip the liquid tube 310 of the liquid bag 300 and the liquid tube 310 on which the cap 200 is installed.

[0104] For example, such as Figure 5 As shown, the inner surface 1443a of the second clamping part 1443 and the side wall 311 of the liquid tube 310 of the liquid bag 300 are provided with an annular flange 312. When the second clamping part 1443 and the fork part 145 jointly clamp the liquid tube 310, the inner surface 1443a of the second clamping part 1443 abuts against the side wall 311 of the liquid tube 310.

[0105] However, this application does not limit the specific structure of the gripper 144 and the second clamping part 1443. For example, in other possible embodiments, the gripper 144 may also be C or L-shaped, and the inner side of the second clamping part 1443 may be an arc surface adapted to the outer surface of the liquid tube 310 of the liquid bag 300. Alternatively, the inner side of the second clamping part 1443 may be provided with a bead plug or spring structure so that the second clamping part 1443 is elastically engaged with the liquid tube 310 of the liquid bag 300.

[0106] For example, refer to Figure 7 and combined Figure 3 In this embodiment, the fork portion 145 includes a stop block 1452 and a support base 1453. Along the fourth direction Y, the stop block 1452 is connected to the connector 141, and the stop block 1452 and the sliding portion 1431 are located on opposite sides of the two grippers 144, so that the stop block 1452 is positioned between the sliding portion 1431 and the liquid bag 300, preventing the liquid tube 310 from affecting the sliding of the two grippers 144 relative to the sliding portion 1431 when the two grippers 144 are holding the liquid bag 300. Along the first direction Z, the bottom of the stop block 1452 is provided with a first protrusion 1452a.

[0107] For example, the present application embodiment does not specifically limit the structure of the stop 1452, as long as it can be connected to the connector 141 and has a first protrusion 1452a. Furthermore, the present application embodiment does not limit the structure of the fork 145. For example, in other possible embodiments, the support base 1453 may also protrude from the stop 1452.

[0108] Along the first direction Z, first protrusions 1452a are spaced apart above the support base 1453, forming a limiting gap 1451 between the first protrusions 1452a and the support base 1453. The limiting gap 1451 extends through the fork portion 145 along the second direction X, and the end face 1452b of the first protrusion 1452a is opposite to the inner surface 1443a of the corresponding second clamping portion 1443. The end face 1452b of the first protrusion 1452a, the end face 1453a of the support base 1453, and the inner surface 1443a of the corresponding second clamping portion 1443 together define the second clamping space 144a.

[0109] For example, continue to refer to Figure 3 and Figure 7 Along the second direction X, the support base 1453 and the first protrusion 1452a are both located between the two grippers 144. The length of the support base 1453 is greater than the length of the first protrusion 1452a. Therefore, when the liquid tube 310 is engaged with the limiting gap 1451 between the first protrusion 1452a and the support base 1453, the upper surface of the support base 1453 abuts against the lower surface of the annular flange 312 of the liquid tube 310, so that the fork 145 can support the liquid tube 310 of the liquid bag 300, making the robotic arm of this embodiment of the application hold the liquid bag 300 more stably.

[0110] For example, such as Figure 7 As shown, the end face 1452b of the first protrusion 1452a and the end face 1453a of the support 1453 are both arc-shaped surfaces. Along the second direction X, both the end face 1452b of the first protrusion 1452a and the end face 1453a of the support 1453 have two spaced arc-shaped surfaces. These arc-shaped surfaces are adapted to the shape of the liquid tube 310 of the liquid bag 300, so that when the liquid tube 310 is engaged in the limiting gap 1451, the end face 1452b of the first protrusion 1452a and the end face 1453a of the support 1453 abut against the side wall 311 of the liquid tube 310. However, the specific structure of the fork 145 is not limited in this embodiment, as long as it can engage the liquid tube 310 of the liquid bag 300 and support the liquid tube 310.

[0111] For example, refer to Figure 7 and combined Figure 1A and Figure 1BThe connector 141 in this embodiment of the application also includes a fixing seat 1413. Along the first direction Z, the fixing seat 1413 and the two cap claws 142 are located on opposite sides of the claw drive part 143. Specifically, the fixed base 1413 extends along the first direction Z, and the robotic arm 140 is connected to the connector 141 through the fixed base 1413, so that the robotic arm 140 can drive the two cap grippers 142 of this application embodiment to move between the turntable 130 and the moving tool (not shown in the figure), and use the two cap grippers 142 to grip the cap 200 on the turntable 130 and install the cap 200 onto the liquid tube 310 of the liquid bag 300 that has been filled with liquid and is engaged on the moving tool; then, the robotic arm 140 drives the robotic hand of this application embodiment (for example, including a gripper drive part 143, two grippers 144 and a fork part 145) to grip the capped liquid bag 300, so as to put the liquid bag 300 into the second chute 161 of the discharge assembly 160, and transfer it to the discharge port 163 through the conveying part 162.

[0112] For example, such as Figure 7 As shown, the connector 141 in this embodiment further includes a gripper mounting plate 1414, a gripper side plate 1415, and a cap gripper mounting plate 1416. Specifically, along the first direction Z, the gripper mounting plate 1414 is disposed on the upper side of the gripper driving part 143, the fixing seat 1413 is connected to the gripper mounting plate 1414, and the stop block 1452 is connected to the gripper mounting plate 1414. Along the second direction X, the gripper side plate 1415 is located on the left and right sides of the gripper driving part 143, and along the first direction Z, the cap gripper mounting plate 1416 is fixedly connected to the gripper mounting plate 1414 via the gripper side plate 1415 to the lower side of the gripper driving part 143. Two cap grippers 142 are connected to the cap gripper mounting plate 1416 via press-fit limiting posts 1412, and the support base 1453 is connected to the cap gripper mounting plate 1416 via two connecting shafts 1416a. That is, one end of the connecting shaft 1416a is connected to the support base 1453, and the other end passes through the cap gripper mounting plate 1416. A limiting piece (not shown in the figure) is connected to the other end of the two connecting shafts 1416a respectively, so that the support base 1453 is fixedly connected to the cap gripper mounting plate 1416.

[0113] For example, such as Figure 6 As shown, the gripper mounting plate 1414, the gripper side plate 1415, and the cap gripper mounting plate 1416 together form a through hole 141a. Along the fourth direction Y, one end 14301 of the gripper driving part 143 passes through the through hole 141a, and the aforementioned sliding part 1431, the two grippers 144, and the fork part 145 are all connected to one end 14301 of the gripper driving part 143.

[0114] Thus, the liquid bag capping device 100 of this application, on the one hand, optimizes the modularity and integration of the robotic arm 140 through the multi-level modular layout of the fixing seat 1413 of the connector 141, the gripper mounting plate 1414, the gripper side plate 1415 and the cap gripper mounting plate 1416, which facilitates disassembly and assembly and improves the stability and maintainability of the overall structure; on the other hand, by achieving a high-density arrangement of the gripper drive part 143, the cap gripper 142, the sliding part 1431, the gripper 144 and the fork part 145 in the first direction Z (i.e., the height direction), the second direction X and the fourth direction Y (i.e., the horizontal direction), the space occupied by the overall structure is significantly reduced, making the overall structure of the liquid bag capping device 100 more compact.

[0115] The structure of the connector 141 is not limited in this application embodiment and can be adjusted according to the actual situation. For example, in other possible embodiments, the fixing seat 1413 can also be fixedly connected to the gripper drive part 143, or the two cap grippers 142 can be rotatably connected to the housing of the gripper drive part 143, etc.

[0116] Although the present invention has been illustrated and described with reference to certain preferred embodiments, those skilled in the art should understand that the above description is a further detailed explanation of the present invention in conjunction with specific embodiments, and should not be construed as limiting the specific implementation of the present invention to these descriptions. Those skilled in the art can make various changes in form and detail, including some simple deductions or substitutions, without departing from the spirit and scope of the present invention.

Claims

1. A liquid bag capping device, characterized in that, include: Workbench; A cap conveying unit is provided on the workbench, and the cap conveying unit is used to convey caps; A robotic arm, mounted on the worktable, includes a connector and two cap grippers. The two cap grippers are rotatably connected to the connector, and a first clamping space is defined between the two cap grippers. The first clamping space is used to clamp the cap. The robotic arm is used to drive the two cap grippers to clamp the cap and install the cap onto the liquid tube of the liquid bag.

2. The liquid bag capping device according to claim 1, characterized in that, The connector includes two bearing seats, and the two cap claws correspond one-to-one with the two bearing seats; Each of the cap grippers includes a pivot, and the cap gripper is rotatably connected to the bearing housing via the pivot.

3. The liquid bag capping device according to claim 2, characterized in that, Each of the cap grippers further includes a first extension and a first clamping portion. The first extension extends along a first direction, one end of the first extension is rotatably connected to the bearing seat via the rotating shaft, and the other end of the first extension is connected to the first clamping portion. Along the first direction, the projection of each of the first clamping portions is arc-shaped; Along the second direction, the arcuate inner sides of each of the first clamping portions are arranged opposite each other to form a circular first clamping space for clamping the cap, and the first direction intersects the second direction.

4. The liquid bag capping device according to claim 3, characterized in that, Each of the first clamping parts has an arc-shaped protrusion on its inner arc side. The arc-shaped protrusion has a downwardly inclined surface, which is used to guide the cap into the first clamping space.

5. The liquid bag capping device according to claim 3, characterized in that, Each of the cap grippers also includes an elastic reset member, which is sleeved on the pivot and connected to the first clamping part, so that the cap gripper is elastically rotatably connected to the connector. The elastic reset member is used to apply an elastic force to the first clamping part, so that the arcuate inner sides of the two first clamping parts move towards each other to clamp the cap.

6. The liquid bag capping device according to claim 5, characterized in that, Along the second direction, each of the first clamping portions further includes an outer inclined surface, the outer inclined surface extending along a third direction, the third direction intersecting the first direction and the third direction intersecting the second direction; The elastic reset member has a first elastic support leg, a second elastic support leg, and an elastic body. The elastic body is connected to the first elastic support leg and the second elastic support leg respectively, and is sleeved on the rotating shaft. The first elastic support leg elastically abuts against the connecting member, and the second elastic support leg elastically abuts against the outer inclined surface.

7. The liquid bag capping device according to claim 1, characterized in that, The robotic arm also includes: A gripper drive unit is connected to the connector, and the gripper drive unit has a sliding portion; Two grippers, the gripper drive unit is respectively connected to the two grippers in a driving connection, the two grippers are connected to the sliding part in a movable manner along the second direction, and the gripper drive unit is used to drive the two grippers to move relative to each other along the second direction to grip the liquid tube of the liquid bag; The fork is connected to the gripper drive unit, the fork extends along the fourth direction, the fork has a limiting gap, the limiting gap is used to engage the liquid tube, and the second direction intersects the fourth direction.

8. The liquid bag capping device according to claim 7, characterized in that, The sliding part includes two first sliding grooves along a first direction. The two first sliding grooves are spaced apart and parallel to each other. Each first sliding groove extends along a second direction. The gripper drive unit includes two sliders, which correspond one-to-one with the two first slide grooves. The sliders are adapted to the first slide grooves, and the two grippers are connected to the two sliders. The gripper drive unit is used to drive the two sliders to slide relative to the first slide grooves along the second direction, so as to drive the two grippers to move relative to each other along the second direction.

9. The liquid bag capping device according to claim 8, characterized in that, Each of the grippers includes a second extension and a third extension, the second extension and the third extension being angled together, one end of the second extension being connected to one end of the third extension, and the slider being fixed to the second extension.

10. The liquid bag capping device according to claim 9, characterized in that, Along the first direction, the third extensions of the two grippers are both in the same plane, which is parallel to the horizontal plane.

11. The liquid bag capping device according to claim 9, characterized in that, Each of the grippers is provided with a second gripping portion, which is located on the third extension portion. The second gripping portion extends along a fifth direction and is disposed toward the fork portion. The fifth direction intersects with the second direction. Along the second direction, the inner surfaces of the clamping portions of the two grippers are arranged opposite to each other and together with the fork portion define a second clamping space, which is used to clamp the liquid tube of the liquid bag.

12. The liquid bag capping device according to claim 11, characterized in that, The fork portion includes: A stop block is connected to the connector. Along the fourth direction, the stop block and the gripper drive part are located on opposite sides of the sliding part. Along the first direction, the bottom of the stop block is provided with a first protrusion. Along the second direction, the first protrusion is located between the two grippers. A support base is connected to the connector. The support base extends along the fourth direction. Along the first direction, the first protrusion is located above the support base and spaced apart from the support base to form the limiting gap. The end face of the first protrusion is disposed opposite to the inner side of the second clamping part, and the end face of the first protrusion and the end face of the support base together with the inner side of the second clamping part define the second clamping space. Along the second direction, the support base is located between the two jaws.

13. The liquid bag capping device according to claim 12, characterized in that, Along the fourth direction, the length of the support is greater than the length of the first protrusion, the upper surface of the support is used to abut against the lower surface of the annular flange of the liquid tube, and the shapes of the end face of the first protrusion and the end face of the support are adapted to the side wall of the liquid tube to abut against the side wall of the liquid tube.

14. The liquid bag capping device according to claim 7, characterized in that, The connector also includes: A gripper mounting plate is disposed on the upper side of the gripper driving part along a first direction; A fixed base is connected to the gripper mounting plate; The gripper side plate, along the second direction, is located on opposite sides of the gripper drive unit and is connected to the gripper mounting plate; The cap claw mounting plate is connected to the claw side plates on both sides of the claw drive unit along the first direction and is located on the lower side of the claw side plates. The two cap claws are rotatably connected to the cap claw mounting plate. The gripper mounting plate, the gripper side plate, and the cap gripper mounting plate together form a through hole. Along the fourth direction, one end of the gripper driving part passes through the through hole, and the one end of the gripper driving part is provided with the sliding part, the two grippers, and the fork part.

15. The liquid bag capping device according to claim 1, characterized in that, The liquid bag capping device also includes a turntable disposed on the worktable. The turntable is rotatable relative to the worktable in the circumferential direction. The turntable is provided with a plurality of cap slots, which are spaced apart in the circumferential direction. The cap conveying unit is connected to any one of the plurality of cap slots, and the cap slot is used to accommodate the cap.

16. The liquid bag capping device according to claim 1, characterized in that, The liquid bag capping device also includes a screening device located on the workbench. The screening device is connected to the cap conveying unit and is used to provide the caps with their openings facing downwards in a first direction to the cap conveying unit.

17. The liquid bag capping device according to claim 1, characterized in that, The liquid bag capping device further includes a discharge assembly, which includes: A second slide, one end of which has an inlet, the inlet being located on the worktable; The conveying section, along its extending direction, has one end connected to the other end of the chute, and is used to convey the liquid bag; The discharge port extends from the other end of the conveying section along its extension direction.

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