CN109332198B - Medicine bottle circulation method and system - Google Patents
Medicine bottle circulation method and system Download PDFInfo
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- CN109332198B CN109332198B CN201811067006.5A CN201811067006A CN109332198B CN 109332198 B CN109332198 B CN 109332198B CN 201811067006 A CN201811067006 A CN 201811067006A CN 109332198 B CN109332198 B CN 109332198B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
- B07C5/122—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware
- B07C5/126—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware by means of photo-electric sensors, e.g. according to colour
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Abstract
The invention discloses a medicine bottle circulation method and system, which comprises the following steps: 1) vertically placing the vial on a second conveyor; 2) the third manipulator grabs the medicine bottles at the downstream of the second conveying device, rotates the medicine bottles and adjusts the space between the medicine bottles, and the third manipulator is moved to move the medicine bottles to the detection line; the invention avoids the process that the medicine bottles which are just fired are directly dropped into the medicine bottle collecting device below from the flask machine, and solves the problem that the middle boron glass bottles are broken; meanwhile, the second robot has the functions of grabbing medicines, rotating the medicine bottles and changing the distances of the medicine bottles, so that the medicine bottles can be vertically and tightly arranged on the second conveying device, the flow rate of the second conveying device is increased, and the flow efficiency of the medicine bottles between the second conveying device and the bottle inspection machine is further improved, so that the production efficiency and the production qualified rate of the medicine bottles are greatly improved.
Description
Technical Field
The invention relates to the field of medicine bottle detection, in particular to a medicine bottle circulation method and system.
Background
In the present bottle-making technique, the medicine bottle is in the production completion back on the flask machine, directly falls into in the medicine bottle collection device of below, though it is very fast to collect medicine bottle speed like this, nevertheless has following drawback: 1. the medium boron glass bottle is easy to damage when falling off, and the damage rate of the medicine bottle is high; 2. the annealing time is not enough, so that the frame is easy to break during framing; 3. when the medicine bottles fall off, the medicine bottles are easy to damage and are placed in disorder, so that the number of the bottled bottles of one collecting device is small, the circulation cost is increased, and the circulation efficiency is reduced; 4. directly need artifical manual one after all glass bottle dress frames to place detection device with the medicine bottle, increaseed the processing cost that detects the medicine bottle, lengthened the time that the medicine bottle transferred to the detection machine from the flask machine, the efficiency of producing of medicine bottle and the qualification rate of producing all lower.
Therefore, those skilled in the art are devoted to research into a device and method capable of improving the detection efficiency of the medicine bottle.
Disclosure of Invention
In view of the above-mentioned defects of the prior art, the present invention provides a method for transferring medicine bottles, which can improve the detection efficiency of medicine bottles.
In order to achieve the aim, the invention provides a medicine bottle circulation method, which comprises the following steps:
1) vertically placing the vial on a second conveyor;
2) the third manipulator snatchs the medicine bottle, rotates the interval between the medicine bottle and the adjustment medicine bottle at second conveyer low reaches, moves the third manipulator and removes the medicine bottle to the detection line on.
Further, a first conveying device (1) is further arranged at the upstream of the second conveying device (4), and the specific steps of vertically placing the medicine bottles on the second conveying device (4) in the step 1) are as follows:
a. taking the medicine bottle from the flask machine and placing the medicine bottle on the first conveying device in an inverted manner;
b. a row of vials is removed from downstream of the first conveyor and placed vertically in a row upstream of the second conveyor.
Preferably, the method also comprises a medicine bottle quality detection step before the step 1), and the method comprises the following specific steps:
a. shooting the medicine bottles fired on the work station of the flask machine one by a camera, and transmitting the shot data to a controller by the camera;
b. the controller identifies the quality and transmits a quality result to the first manipulator;
c. the first mechanical arm carries out screening according to the received quality result, and if the quality is qualified, the first mechanical arm clamps the medicine bottle above the first conveying device and reversely buckles the medicine bottle on the first conveying device; otherwise, the medicine bottle is clamped into the waste bottle frame.
Further, the specific steps of taking the medicine bottles from the first conveying device and placing the medicine bottles in the second conveying device in the step b) are as follows:
a. a second mechanical arm with a plurality of clamping jaws is used for simultaneously grabbing a plurality of adjacent medicine bottles on the first conveying device;
b. rotating a second manipulator to the position above the second conveying device by using the first robot, and rotating the second manipulator to enable the inverted medicine bottle to be upright;
c. the first robot moves the second manipulator to upright the medicine bottles and place the medicine bottles in rows and in order on the second conveying device;
d) the first robot resets the second manipulator and performs a secondary stroke.
Further, step 2) the second robot snatchs the medicine bottle, rotates the medicine bottle and adjusts the specific step of the interval between the medicine bottle as follows:
a) the second robot simultaneously grabs a row of medicine bottles on the second conveying device through a third mechanical arm with multiple clamping jaws;
b) the second robot rotates the third manipulator to horizontally invert the upright medicine bottle;
c) the distance between the clamping jaws on the third manipulator is adjusted to enable the distance between the clamping jaws and the distance between the lugs on which the medicine bottles are placed on the detection line to be adaptive to each other.
A medicine bottle circulation system comprises a first conveying device, a first robot, a second conveying device, a second robot, a detection line and a flask machine; the first conveying device is arranged on one side of the flask making machine and is connected with the first manipulator; a waste bottle frame is arranged between the flask machine and the first conveying device; the downstream of the first conveying device is connected with the upstream of the second conveying device through a first robot; the downstream of the second conveying device is connected with the detection line through a second robot.
Further, the second robot includes a third manipulator; the third manipulator comprises a variable pitch module and a rotating module; the variable pitch module is fixed on the rotating module; the variable pitch module comprises a base, a variable pitch structure, a grabbing structure and a transmission structure; the variable pitch structure is arranged on the base; the grabbing structure is fixedly arranged on the variable-pitch structure; the transmission structure is connected with the variable pitch structure;
furthermore, the variable pitch structure is composed of a plurality of first chuck mounting blocks connected by a plurality of first overhead pieces; the first overhead between the two adjacent first chuck mounting blocks in the middle is fixedly connected to the base through the nut mounting block;
furthermore, a limiting groove is formed in the middle of each first chuck mounting block, a limiting plate is arranged at the end of each limiting groove, and two ends of each first sheet are respectively arranged in the limiting grooves in the middle of the two first chuck mounting blocks; the upper part of the first chuck mounting block is connected to a slide rail of the base in a sliding way through a slide block; the lower part of the first chuck mounting block is fixedly connected with the grabbing structure; the upper parts of the first chuck mounting blocks positioned at the two ends of the variable pitch structure are connected with the screw rod part of the transmission structure through nuts.
Preferably, the first conveying device comprises a first chain and a second chain which are symmetrically arranged, a plurality of bottle holders are connected to corresponding opposite sides of the first chain and the second chain, each bottle holder comprises a cylindrical shell with a top opening and a lower end sealed, and a positioning column is arranged in the middle of each bottle holder.
Preferably, the fired medicine bottles are placed on the working station of the flask machine; the side of flask machine is provided with the camera, and the camera side is equipped with first manipulator.
The invention avoids the process that the medicine bottles which are just fired are directly dropped into the medicine bottle collecting device below from the flask machine, and solves the problem that the middle boron glass bottles are broken; meanwhile, the second robot has the functions of grabbing medicines, rotating the medicine bottles and changing the distances of the medicine bottles, so that the medicine bottles can be vertically and tightly arranged on the second conveying device, the flow rate of the second conveying device is increased, and the flow efficiency of the medicine bottles between the second conveying device and the bottle inspection machine is further improved, so that the production efficiency and the production qualified rate of the medicine bottles are greatly improved.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present invention;
FIG. 2 is a schematic axial view of the structure of FIG. 1;
FIG. 3 is an enlarged schematic view of FIG. 2 at A;
FIG. 4 is a schematic diagram of the rear section of the flow line of the vial of the present invention;
FIG. 5 is a schematic view of the structure of a second robot according to the present invention;
FIG. 6 is a schematic structural view of a triaxial cantilever apparatus of the present invention;
FIG. 7 is a schematic view of the internal structure of FIG. 2;
fig. 8 is a schematic structural view of a third robot arm;
FIG. 9 is a schematic structural diagram of the pitch module of FIG. 8;
FIG. 10 is a schematic top view of the structure of FIG. 9;
FIG. 11 is a schematic view of the first transfer device of the present invention;
fig. 12 is an enlarged schematic view of fig. 11 at B.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples, wherein it is noted that, in the description of the invention, the terms "upper", "lower", "lateral", "longitudinal", "inner", "outer", and the like, refer to orientations and positional relationships illustrated in the drawings, which are used for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular manner, and thus should not be construed as limiting the invention. The terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The invention will be further illustrated with reference to the following figures and examples:
example 1
As shown in fig. 1 to 4, a vial circulation method includes the steps of:
1) shooting the burnt medicine bottles 6 on the work station of the flask machine 9 one by a camera 11, and transmitting the shot data to a controller (not shown);
2) the controller discriminates the quality and transmits the quality result to the first manipulator 8;
3) the first mechanical arm 8 performs screening according to the received quality result, and if the quality is qualified, the first mechanical arm 8 clamps the medicine bottle above the first conveying device 1 and reversely buckles the medicine bottle on the first conveying device 1; otherwise, the medicine bottle is clamped into the waste bottle frame 2;
4) the method comprises the following steps of taking a row of medicine bottles from the downstream of the first conveying device 1 by using the first robot 3, and vertically placing the medicine bottles in the row on the upstream of the second conveying device 4:
a. the first robot 3 comprises a second manipulator 31 with a plurality of clamping jaws, and the second manipulator 31 is used for simultaneously grabbing a plurality of adjacent medicine bottles on the first conveying device 1;
b. rotating the second manipulator 31 to the position above the second conveying device 4 by using the first robot 3, and rotating the second manipulator 31 to enable the inverted medicine bottle to be upright;
c. the first robot 3 moves the second manipulator 31 to place the medicine bottles upright and in a row in the second conveying device 4;
d. the first robot 3 resets the second manipulator 31 and performs the secondary stroke.
5) The third manipulator 51 snatchs the medicine bottle in second conveyer 4 low reaches, rotates the interval between the medicine bottle and the adjustment medicine bottle, moves third manipulator 51 and removes the medicine bottle to detection line 6 on, and the concrete step is as follows:
a. the second robot 5 simultaneously grips a row of medicine bottles on the second conveying device 4 by a third manipulator 51 with multiple clamping jaws;
b. the second robot 5 rotates the third manipulator 51 to horizontally invert the upright medicine bottle;
c. the distance between the jaws of the third manipulator 51 is adjusted to match the distance between the jaws and the ears 61 of the vial placed on the inspection line.
By the method, the flask machine can be connected with the detection machine, so that the process that the medicine bottles which are just fired are directly dropped into the medicine bottle collecting device below the flask machine is avoided, and the problem that the medium boron glass bottles are broken is solved; in addition, the annealing time of the medicine bottle is prolonged by the method, and the risk of breakage of the medicine bottle is further reduced; in addition, the method can integrally arrange the medicine bottles on the second conveying device, so that the circulation efficiency of the medicine bottles is improved, and the second robot of the method has the pitch changing function and the rotating function, so that the medicine bottles can be vertically and tightly arranged on the second conveying device, the circulation amount of the second conveying device is increased, the circulation efficiency of the medicine bottles between the second conveying device and the bottle detecting machine is further improved, and the production efficiency and the production qualification rate of the medicine bottles are greatly improved.
A medicine bottle circulation system comprises a first conveying device 1, a first robot 3, a second conveying device 4, a second robot 5, a detection line 6 and a flask machine 9; the first conveying device 1 is arranged on one side of the flask machine 9 and is connected through the first mechanical arm 8, so that the first mechanical arm 8 can conveniently take the medicine bottle off the flask machine; a waste bottle frame 2 is arranged between the flask machine 9 and the first conveying device 1, so that waste bottles can be conveniently discarded; the downstream of the first conveying device 1 is connected with the upstream of the second conveying device 4 through the first robot 3, so that the medicine bottles on the first conveying device 1 can be conveniently taken down in rows by the first robot and placed on the second conveying device in order and vertically; the downstream of the second conveying device 4 is connected with the detection line 6 through the second robot 5, so that the distance and the direction between the medicine bottles on the second conveying device can be conveniently adjusted by the second robot, and the medicine bottles on the second conveying device can be accurately arranged on the lug of the detection machine.
The second robot 5 includes a third manipulator 51; the third manipulator 51 includes a pitch changing module and a rotating module; the variable pitch module is fixed on the rotating module; the pitch-variable module comprises a base 511, a pitch-variable structure 512, a grabbing structure 513 and a transmission structure 514; the pitch-variable structure 512 is arranged on the pedestal 511; the grabbing structure 513 is fixedly arranged on the variable pitch structure 512; the transmission structure 514 is connected with the pitch changing structure 512;
the pitch-variable structure 512 is composed of a plurality of first chuck mounting blocks 5122 connected with a plurality of first overhead pieces 5121; a first tension member 5121 between two adjacent first chuck mounting blocks 5122 in the middle is fixedly connected to the base 511 through a nut mounting block; the whole variable pitch structure is limited and fixed.
A fixed block 114 is arranged on the base 511, a sliding groove is formed in the fixed block 114, and a sliding block 115 is arranged on the sliding groove; a limiting groove is formed in the middle of each first chuck mounting block 5122, a limiting plate is arranged at the end of each limiting groove, and two ends of each first tension member 5121 are respectively arranged in the limiting grooves in the middle of the two first chuck mounting blocks 5122, so that the first chuck mounting blocks 5122 and the first tension members 5121 are connected to slide relative to the sliding rail of the base 511; the lower part of the first chuck mounting block 5122 is fixedly connected with the grabbing structure 513; the upper parts of the first chuck mounting blocks 5122 at the two ends of the pitch varying structure 512 are connected with the screw rod part 411 of the transmission structure 514 through nuts 412, and the screw rod part of the transmission structure 514 is arranged between the left side plate and the right side plate of the base 511; the motor 515 is arranged on the left or right side plate, the small belt pulley 414 at the output end of the motor drives the large belt pulley 413 outside the screw rod to rotate, and further drives the screw rod part 411 to rotate, the screw rod can generate displacement after rotating the screw rod, and the nut is fixedly connected with the first chuck mounting blocks 5122 at the two ends of the variable-pitch structure 512, so that the nut drives the first chuck mounting blocks at the two ends of the variable-pitch structure 512 to move towards the two sides; thereby realizing the change of the grabbing structure.
The gripping structure 513 comprises a plurality of gripping members; the grabbing piece comprises a connecting part and a sucking and grabbing part; the connecting part is connected with the pitch-variable structure 512; the grabbing end of the sucking and grabbing part is arc-shaped; the middle of the sucking and grabbing part is provided with a mounting hole; a vacuum suction nozzle (not shown) is disposed in the mounting hole, and a suction cup 313 is disposed at the front end of the vacuum suction nozzle for sucking the medicine bottle, which is fixed to the third manipulator 51.
A mounting seat is arranged behind the base of the variable pitch structure 512, the mounting seat is fixed on a rotary screw rod of the rotary module, and the rotary screw rod is driven by a motor to rotate; the rotating module further comprises a manipulator mounting base 71, and the manipulator mounting base 71 is fixedly connected with the three-axis cantilever device on the second robot 5.
The second robot 5 further includes a three-axis cantilever device on which the third manipulator 51 is fixedly disposed, the three-axis cantilever device including an X-axis cantilever 81, a Y-axis cantilever 82, and a Z-axis cantilever 83; the X-axis cantilever 81 is connected with the Y-axis cantilever 82 in a sliding way through a connecting plate 84; the X-axis cantilever 81 is connected with the Z-axis cantilever 83 in a sliding way through a connecting plate 84; wherein the X-axis suspension arm 81 comprises a front cover plate 811, a rear bottom plate 812, a left motor plate 813 and a right side plate 814; slide rails 815 are arranged above and below the rear bottom plate 812; a slide block is arranged on the slide rail 815; a sliding seat 816 is arranged on the sliding block; a fourth screw 817 is arranged between the left motor plate 813 and the right plate 814; the sliding seat 816 comprises a nut connection part which is matched with the fourth lead screw 817; the fourth screw 817 is connected with a motor on the left motor plate 813; the upper and lower sides of the sliding seat 816 are protruded and respectively erected on the upper and lower sides of the rear bottom plate 812; the front cover plate 811 is arranged inside the upper edge and the lower edge of the sliding seat 816; in addition, the structures of the Y-axis suspension arm 82 and the Z-axis suspension arm 83 are the same as those of the X-axis suspension arm 81; the right end of the X-axis suspension arm 81 is connected with a sliding seat 816 on the Y-axis suspension arm 82 through a connecting plate 84; the sliding seat 816 of the Z-axis suspension arm 83 is connected with the sliding seat 816 on the X-axis suspension arm 81 through the connecting plate 84; the third manipulator is convenient to move in the three-dimensional space above the detection line and the second conveying device, so that the medicine with the distance and the direction adjusted by the third manipulator can be accurately placed on the detection line.
First conveyer 1 is including first chain 101 and the second chain 102 that the symmetry set up, it holds in the palm 103 to be connected with a plurality of bottles in the palm to correspond the side on first chain 101 and the second chain 102, bottle holds in the palm 103 and includes open-top lower extreme sealed tube-shape shell 1031, bottle holds in the palm 103 middle part and is provided with reference column 104, be favorable to first manipulator to take off the medicine bottle back-off on the reference column, can prevent that the medicine bottle from dropping from first conveyer, still provide the basis for vertical inseparable medicine bottle of placing on the second conveyer simultaneously. Other devices and structures upstream of the second robot in the present invention are the same as those corresponding to the "one vial transfer system" of the patent application No. 201810346924.5.
A baked medicine bottle 10 is placed on a station of the flask machine 9; the side of flask machine 9 is provided with camera 11, and 11 sides of camera are equipped with first manipulator 8, are favorable to screening the unqualified product of quality, improve the medicine bottle and produce the qualification rate.
The specific using process of the invention comprises the steps of firstly shooting medicine bottles by a camera, screening the quality of the medicine bottles by a controller, then throwing unqualified products into a waste bottle frame by utilizing a first manipulator, reversely buckling qualified products on a positioning column of a first conveying device, conveying the medicine bottles to a first robot by utilizing the first conveying device, grabbing a plurality of medicine bottles from the first conveying device by a first robot at one time through a second manipulator by the first robot, vertically and vertically placing the medicine bottles in a second conveying device by rotating a second manipulator, moving the medicine bottles to a second robot by the second conveying device, grabbing the medicine bottles by the second robot through a third manipulator, rotating the medicine bottles and carrying out variable pitch on the medicine bottles, ensuring that the placing form of the medicine bottles and the space between the medicine bottles are consistent with the space with the ears of the detection machine, and then accurately placing the medicine bottles on the ears of the detection machine, the production efficiency and the production qualification rate of the medicine bottle are improved.
The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.
Claims (9)
1. A medicine bottle flow transferring method is characterized by comprising the following steps:
1) placing the vial (10) vertically on a second conveyor (4);
2) the third mechanical arm (51) grabs the medicine bottles at the downstream of the second conveying device (4), rotates the medicine bottles and adjusts the distance between the medicine bottles, and the third mechanical arm (51) is moved to move the medicine bottles to the detection line (6);
the third manipulator (51) comprises a pitch changing module and a rotating module; the variable pitch module is fixed on the rotating module; the pitch-variable module comprises a base (511), a pitch-variable structure (512), a grabbing structure (513) and a transmission structure (514); the variable pitch structure (512) is arranged on the base (511); the grabbing structure (513) is fixedly arranged on the variable pitch structure (512); the transmission structure (514) is connected with the variable pitch structure (512);
the variable pitch structure (512) is composed of a plurality of first chuck mounting blocks (5122) connected with a plurality of first overhead pieces (5121); the first tension pin (5121) between the middle two adjacent first chuck mounting blocks (5122) is fixedly connected to the base (511) through a nut mounting block; the upper part of the first chuck mounting block (5122) is connected to the slide rail of the base (511) in a sliding manner through a slide block; the lower part of the first chuck mounting block (5122) is fixedly connected with the grabbing structure (513);
the upper parts of the first chuck mounting blocks (5122) positioned at the two ends of the variable pitch structure (512) are connected with the screw rod part of the transmission structure (514) through nuts.
2. The vial transfer method of claim 1, further comprising: a first conveying device (1) is further arranged at the upstream of the second conveying device (4), and the specific steps of vertically placing the medicine bottles on the second conveying device (4) in the step 1) are as follows:
a. taking the medicine bottle from a work station of a flask machine (9) and placing the medicine bottle on the first conveying device (1) in an inverted manner;
b. -removing a row of vials downstream from the first conveyor (1) and placing them vertically in a row upstream from the second conveyor (4).
3. The vial transfer method of claim 2, wherein: the method comprises the following steps of 1) before the step of detecting the quality of the medicine bottle, and comprises the following specific steps:
a. shooting the medicine bottles (10) which are fired on the working station of the flask machine (9) one by a camera (11), and transmitting the shot data to a controller by the camera;
b. the controller discriminates the quality and transmits the quality result to the first manipulator (8);
c. the first mechanical arm (8) is used for screening according to the received quality result, if the quality is qualified, the first mechanical arm (8) clamps the medicine bottle above the first conveying device (1) and reversely buckles the medicine bottle on the first conveying device (1); otherwise, the medicine bottle is clamped into the waste bottle frame (2).
4. The vial transfer method of claim 2, wherein: the specific steps of taking the medicine bottles from the first conveying device (1) and placing the medicine bottles in the second conveying device (4) in the step b) are as follows:
a. simultaneously gripping several adjacent vials on the first conveyor (1) by means of a second robot (31) with a plurality of gripping jaws;
b. rotating a second manipulator (31) to the position above the second conveying device (4) by using the first robot (3), and rotating the second manipulator (31) to enable the inverted medicine bottle to be upright;
c. the first robot (3) moves a second manipulator (31) to upright and arrange the medicine bottles in rows on the second conveying device (4);
d. the first robot (3) resets the second manipulator (31) and performs a secondary stroke.
5. The vial transfer method of any one of claims 1 to 4, wherein: step 2) the second robot snatchs the medicine bottle, rotates the medicine bottle and adjusts the specific step of the interval between the medicine bottle as follows:
a. the second robot (5) simultaneously grabs a row of medicine bottles on the second conveying device (4) through a third mechanical arm (51) with multiple clamping jaws;
b. the second robot (5) rotates the third manipulator (51) to horizontally invert the upright medicine bottle;
c. and adjusting the distance between the clamping jaws on the third manipulator (51) to enable the distance between the clamping jaws and the distance between the lugs (61) of the medicine bottle placed on the detection line to be mutually adaptive.
6. A medicine bottle circulation system is characterized in that: comprises a first conveying device (1), a first robot (3), a second conveying device (4), a second robot (5), a detection line (6) and a flask machine (9); the first conveying device (1) is arranged on one side of the flask machine (9) and is connected through a first mechanical arm (8); a waste bottle frame (2) is arranged between the flask machine (9) and the first conveying device (1); the downstream of the first conveyor (1) is connected with the upstream of the second conveyor (4) through the first robot (3); the downstream of the second conveying device (4) is connected with the detection line (6) through a second robot (5);
the second robot (5) comprises a third manipulator (51); the third manipulator (51) comprises a pitch changing module and a rotating module; the variable pitch module is fixed on the rotating module; the pitch-variable module comprises a base (511), a pitch-variable structure (512), a grabbing structure (513) and a transmission structure (514); the variable pitch structure (512) is arranged on the base (511); the grabbing structure (513) is fixedly arranged on the variable pitch structure (512); the transmission structure (514) is connected with the variable pitch structure (512);
the variable pitch structure (512) is composed of a plurality of first chuck mounting blocks (5122) connected with a plurality of first overhead pieces (5121); the first tension pin (5121) between the middle two adjacent first chuck mounting blocks (5122) is fixedly connected to the base (511) through a nut mounting block; the upper part of the first chuck mounting block (5122) is connected to the slide rail of the base (511) in a sliding manner through a slide block; the lower part of the first chuck mounting block (5122) is fixedly connected with the grabbing structure (513);
the upper parts of the first chuck mounting blocks (5122) positioned at the two ends of the variable pitch structure (512) are connected with the screw rod part of the transmission structure (514) through nuts.
7. The vial transfer system of claim 6, wherein: the middle of the first chuck mounting block (5122) is provided with a limiting groove, the end part of the limiting groove is provided with a limiting plate, and the two ends of the first chuck mounting block (5121) are respectively arranged in the limiting grooves at the middle of the first chuck mounting block (5122).
8. The vial transfer system of any one of claims 6 or 7, wherein: the first conveying device (1) comprises a first chain (101) and a second chain (102) which are symmetrically arranged, a plurality of bottle holders (103) are connected to corresponding sides of the first chain (101) and the second chain (102), the bottle holders (103) comprise cylindrical shells (1031) with top openings and lower ends sealed, and positioning columns (104) are arranged in the middles of the bottle holders (103).
9. The vial transfer system of any one of claims 6 to 7, wherein: a fired medicine bottle (10) is placed on a station (91) of the flask machine (9); the side of flask machine (9) is provided with camera (11), camera (11) side is equipped with first manipulator (8).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067006.5A CN109332198B (en) | 2018-09-13 | 2018-09-13 | Medicine bottle circulation method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067006.5A CN109332198B (en) | 2018-09-13 | 2018-09-13 | Medicine bottle circulation method and system |
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| CN109332198A CN109332198A (en) | 2019-02-15 |
| CN109332198B true CN109332198B (en) | 2021-04-16 |
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| DE102005041120A1 (en) * | 2005-08-30 | 2007-03-01 | Krones Ag | Container e.g. polyethylene terepthalate-bottle, handling device, has container carrier unit, where distance from carrier unit to transportation plane is changed based on size of container by variation of overall height of carrier unit |
| CN206883661U (en) * | 2017-07-03 | 2018-01-16 | 苏州弗迈特精密机械有限公司 | A kind of robot manipulator structure for automobile component gripping |
| CN207059148U (en) * | 2017-07-21 | 2018-03-02 | 昆山艾博机器人股份有限公司 | One kind automation variable pitch device |
| CN107626874A (en) * | 2017-10-31 | 2018-01-26 | 陈建万 | A kind of clamping manipulator mechanism |
| CN108423408B (en) * | 2018-04-18 | 2023-11-10 | 重庆环视高科技有限公司 | Medicine bottle circulation system |
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2018
- 2018-09-13 CN CN201811067006.5A patent/CN109332198B/en active Active
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