CN110860487B - Automatic charging system - Google Patents
Automatic charging system Download PDFInfo
- Publication number
- CN110860487B CN110860487B CN201911157847.XA CN201911157847A CN110860487B CN 110860487 B CN110860487 B CN 110860487B CN 201911157847 A CN201911157847 A CN 201911157847A CN 110860487 B CN110860487 B CN 110860487B
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- Prior art keywords
- conveying line
- linear
- manipulators
- line
- liquid medicine
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- 239000003814 drug Substances 0.000 claims abstract description 111
- 239000007788 liquid Substances 0.000 claims abstract description 108
- 238000007599 discharging Methods 0.000 claims abstract description 51
- 230000000007 visual effect Effects 0.000 claims abstract description 51
- 210000001503 joint Anatomy 0.000 claims abstract description 27
- 239000013072 incoming material Substances 0.000 claims abstract description 14
- 230000001954 sterilising effect Effects 0.000 claims description 60
- 238000004659 sterilization and disinfection Methods 0.000 claims description 30
- 238000001514 detection method Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 4
- 238000012856 packing Methods 0.000 claims description 4
- 239000012530 fluid Substances 0.000 claims 1
- 238000012546 transfer Methods 0.000 description 27
- 238000000034 method Methods 0.000 description 6
- 238000001802 infusion Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000002950 deficient Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Classifications
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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
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
-
- 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
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
-
- 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
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- 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
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Apparatus For Disinfection Or Sterilisation (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention discloses an automatic charging system, comprising: the device comprises a first linear tracking conveying line, a first rotary conveying line, a second linear tracking conveying line, a second rotary conveying line and a linear discharging conveying line which form an annular conveying line, wherein the first linear tracking conveying line is in butt joint with an incoming material conveying line, the linear discharging conveying line is in butt joint with a collecting box, and the linear discharging conveying line and the first linear tracking conveying line have preset overlapping lengths; a pallet conveyor line; the first visual identification system is used for detecting whether the liquid medicine packages on the first linear tracking conveying line and the linear discharging conveying line are qualified or not; the second visual identification system is used for detecting whether the liquid medicine package product of the second linear tracking conveying line is qualified or not; the first manipulator is used for transferring qualified liquid medicine packages on the first linear tracking conveying line and the linear discharging conveying line; the second manipulator is used for transferring the liquid medicine packages on the second linear tracking conveying line; and a control system. Can avoid the phenomenon of missing grabbing and can directly remove unqualified products.
Description
Technical Field
The invention relates to the technical field of pharmaceutical equipment, in particular to an automatic charging system.
Background
In the technical field of pharmacy, liquid medicine packages such as infusion bags or infusion bottles after filling are required to be palletized, and then each tray filled with the liquid medicine packages is filled into a sterilizing vehicle so as to store or transport the liquid medicine packages.
In the prior art, a manipulator is matched with a linear conveying line to finish the tray loading work of the liquid medicine packages. That is, in the working process, the liquid medicine package moves along with the transmission of the linear conveying line, and when the liquid medicine package is conveyed to the position where the robot is located, the robot acts to grasp the liquid medicine package and transfer the liquid medicine package to the tray. Meanwhile, in the process of conveying the liquid medicine packages, whether the liquid medicine packages are qualified or not is detected through the visual detection system, and when the liquid medicine packages are unqualified, the robot does not grasp the liquid medicine packages, so that the liquid medicine packages continue to flow downwards along with the linear conveying line and finally flow into the collecting box.
However, the phenomenon of missing grabbing can occur in the disc-changing gap or the condition that the incoming materials are tight in the disc-filling mode, the missing grabbing liquid medicine packages finally flow into the collecting box along with the linear conveying line, and the unqualified liquid medicine packages also directly flow into the collecting box, so that the missing grabbing liquid medicine packages and the unqualified liquid medicine packages are mixed in the collecting box, on one hand, manual treatment is needed after production is finished, and on the other hand, the unqualified products and the missing grabbing qualified products are mixed, and the hidden danger of polluting the qualified products exists.
In summary, how to provide an automatic loading system capable of avoiding the missing grabbing phenomenon and directly eliminating the unqualified products is a problem to be solved by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention aims to provide an automatic charging system, which can avoid the missing gripping phenomenon of qualified products, and simultaneously realize the direct rejection of unqualified products, and avoid the mixing of unqualified products and unqualified products which are missing gripping.
In order to achieve the above object, the present invention provides the following technical solutions:
an automatic charging system, comprising:
the annular conveying line comprises a first linear tracking conveying line, a first rotary conveying line, a second linear tracking conveying line, a second rotary conveying line and a linear discharging conveying line, wherein the first rotary conveying line is in butt joint with the first linear tracking conveying line, the second linear tracking conveying line is in butt joint with the first rotary conveying line, the second rotary conveying line is in butt joint with the second linear tracking conveying line, the linear discharging conveying line is in butt joint with the second rotary conveying line, an inlet of the first linear tracking conveying line is used for being in butt joint with an incoming conveying line to receive filled liquid medicine packages, an outlet of the linear discharging conveying line is in butt joint with a collecting box for collecting unqualified products, and the linear discharging conveying line and the first linear tracking conveying line have preset overlapping lengths;
the tray conveying line is used for conveying the sterilizing tray and is arranged above the tray conveying line in a crossing manner;
the first visual identification system is arranged at the inlet of the first linear tracking conveying line and used for detecting whether the liquid medicine packages on the first linear tracking conveying line and the linear discharging conveying line are qualified or not;
the second visual identification system is arranged at the inlet of the second linear tracking conveying line and used for detecting whether the liquid medicine packages entering the second linear tracking conveying line are qualified or not;
at least one first manipulator arranged at the overlapping position of the linear discharging conveying line and the first linear tracking conveying line is used for transferring the qualified liquid medicine packages on the first linear tracking conveying line and the linear discharging conveying line to the sterilizing tray;
at least one second manipulator for transferring the qualified liquid medicine packages on the second linear tracking conveying line to the sterilizing tray;
the control system is connected with the annular conveying line, the first visual recognition system, the second visual recognition system, the tray conveying line, the first manipulator and the second manipulator, and is used for controlling the annular conveying line and the tray conveying line to act in a coordinated manner, and controlling the first manipulator and the second manipulator to act according to detection signals of the first visual recognition system and the second visual recognition system, so that the first manipulator and the second manipulator can be matched to grasp the liquid medicine packages.
Preferably, the first linear tracking conveyor line and the second linear tracking conveyor line are arranged in parallel.
Preferably, the outlet of the linear discharging conveyor line is in butt joint with the inlet of the first linear tracking conveyor line, the first linear tracking conveyor line corresponds to the outlet of the linear discharging conveyor line and is used for being in butt joint with the collecting box, and the first linear tracking conveyor line corresponds to the outlet of the incoming material conveyor line and is in butt joint with the first rotary conveyor line.
Preferably, the working areas of any two of all the first manipulators and all the second manipulators do not coincide.
Preferably, the first manipulators and the second manipulators are staggered along the length direction of the first linear tracking conveying line, and a preset distance is reserved between any two adjacent ones of the first manipulators and the second manipulators, so that working areas between the two adjacent first manipulators, between the two adjacent second manipulators and between the two adjacent first manipulators and the two adjacent second manipulators are prevented from overlapping.
Preferably, the number of the first manipulators is two, the number of the second manipulators is one, and the two first manipulators and the one second manipulator form a delta-shaped distribution.
Preferably, the tray packaging machine further comprises a tray discharging conveying line which is in butt joint with an outlet of the tray conveying line so as to quickly output the sterilizing tray filled with the liquid medicine packages to a loading position.
Preferably, the end of the tray discharging conveyor line is provided with a first robot for transferring the sterilization tray to a sterilization vehicle.
Preferably, a second robot for transferring the empty sterilization tray from the sterilization vehicle to the tray conveyor line is provided at the entrance of the tray conveyor line.
According to the automatic charging system provided by the invention, the annular conveying line is adopted to convey the liquid medicine packages, the first visual recognition system and the second visual recognition system are respectively arranged at the inlet of the first linear tracking conveying line and the inlet of the second linear tracking conveying line to detect whether the liquid medicine packages are qualified or not, the control system is used for correspondingly controlling the actions of the first manipulator and the second manipulator according to the detection signals of the first visual recognition system and the second visual recognition system respectively, so that the first manipulator and the second manipulator are matched to finish the transfer of the qualified liquid medicine packages to the sterilizing tray, and meanwhile, the unqualified liquid medicine packages finally fall into the collecting box through the linear discharging conveying line to realize the direct rejection of the unqualified liquid medicine packages.
Compared with the prior art, the automatic charging system can avoid the phenomenon of missing grabbing of qualified products, and meanwhile, the unqualified products are directly removed, and the unqualified products which are missing grabbing are prevented from being mixed, so that the later material sorting work is omitted, and the hidden danger that the unqualified products pollute other liquid medicine packaging products is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings may be obtained according to the provided drawings without inventive effort for a person skilled in the art.
FIG. 1 is a front view of an automatic charging system according to an embodiment of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a left side view of fig. 1.
Reference numerals in fig. 1 to 3 are as follows:
the automatic feeding and discharging device comprises an annular conveying line 1, a first linear tracking conveying line 11, a first rotary conveying line 12, a second linear tracking conveying line 13, a second rotary conveying line 14, a linear discharging conveying line 15, a tray conveying line 2, a first visual identification system 3, a second visual identification system 4, a first manipulator 5, a second manipulator 6, a tray discharging conveying line 7, an incoming material conveying line 8 and a sterilizing tray 9.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The core of the invention is to provide an automatic charging system, which can avoid the phenomenon of missing the grabbing of qualified products, realize the direct rejection of unqualified products and avoid the mixing of the unqualified products and the unqualified products which are missing the grabbing.
Referring to fig. 1-3, fig. 1 is a front view of an automatic charging system according to an embodiment of the present invention; FIG. 2 is a top view of FIG. 1; fig. 3 is a left side view of fig. 1. The arrow direction in fig. 2 refers to the transport direction of the drug solution package.
The invention provides an automatic charging system which comprises an annular conveying line 1, a tray conveying line 2, a first visual identification system 3, a second visual identification system 4, a first manipulator 5, a second manipulator 6 and a control system.
Specifically, the endless conveyor line 1 includes a first rectilinear tracking conveyor line 11, a first rotary conveyor line 12, a second rectilinear tracking conveyor line 13, a second rotary conveyor line 14, and a rectilinear discharge conveyor line 15. The inlet of the first linear tracking conveyor line 11 is used for being in butt joint with the incoming material conveyor line 8 so as to receive the filled liquid medicine packages conveyed by the incoming material conveyor line 8, and the outlet of the linear discharging conveyor line 15 is used for being in butt joint with a collecting box for collecting unqualified products so that the unqualified products output from the linear discharging conveyor line 15 finally fall into the collecting box. The export of transfer chain 11 is tracked to first straight line, first gyration transfer chain 12, second straight line track transfer chain 13, second gyration transfer chain 14 and the entry of sharp ejection of compact transfer chain 15 end to end in proper order, that is to say, first gyration transfer chain 12 and the export butt joint of transfer chain 11 is tracked to first straight line, second gyration transfer chain 13 and first gyration transfer chain 12 butt joint, second gyration transfer chain 14 and second gyration track transfer chain 13 butt joint, straight line ejection of compact transfer chain 15 and second gyration transfer chain 14 butt joint. In addition, the linear discharging conveyor line 15 and the first linear tracking conveyor line 11 have a predetermined overlapping length.
The tray conveying line 2 is used for conveying sterilizing trays 9, and the annular conveying line 1 spans above the tray conveying line 2 so that the sterilizing trays 9 to be charged can be located in an area surrounded by the annular conveying line 1.
It can be understood that the tray conveying line 2 is a step conveying mechanism, and the step spacing of the tray conveying line 2 can be adjusted according to the placement position of the liquid medicine packages so as to ensure that all stations of the whole sterilizing tray 9 can be filled.
The first visual recognition system 3 is arranged at the inlet of the first linear tracking conveying line 11 and is used for detecting whether the liquid medicine packages on the first linear tracking conveying line 11 and the linear discharging conveying line 15 are qualified or not.
The second visual recognition system 4 is arranged at the inlet of the second linear tracking conveying line 13 and is used for detecting whether the liquid medicine packages entering the second linear tracking conveying line 13 are qualified or not.
The first manipulator 5 corresponds the coincidence department setting of sharp ejection of compact transfer chain 15 and first straight line tracking transfer chain 11 for on transferring the sterilizing tray 9 with qualified liquid medicine packing on first straight line tracking transfer chain 11 and the sharp ejection of compact transfer chain 15.
The fact that the linear discharging conveyor line 15 and the first linear tracking conveyor line 11 have a preset overlapping length is to enable the liquid medicine packages output from the linear discharging conveyor line 15 to pass through the first visual recognition system 3, and to enable the first visual recognition system 3 to detect the liquid medicine packages again so as to finally determine whether the liquid medicine packages are qualified; and enables the qualified liquid medicine packages on the linear discharging conveying line 15 to be grabbed by the first mechanical arm 5.
The second manipulator 6 is preferably arranged in correspondence of the second rectilinear tracking conveyor line 13 for transferring the liquid medicine packages on the second rectilinear tracking conveyor line 13 onto the sterilizing tray 9.
The specific number of the first manipulator 5 and the second manipulator 6 is not limited, and the number of the first manipulator 5 and the second manipulator 6 is at least one.
The control system is respectively connected with the annular conveying line 1, the first visual recognition system 3, the second visual recognition system 4, the tray conveying line 2, the first manipulator 5 and the second manipulator 6, and is used for controlling the annular conveying line 1 and the tray conveying line 2 to act in a coordinated manner and controlling the actions of the first manipulator 5 and the second manipulator 6 according to detection signals of the first visual recognition system 3 and the second visual recognition system 4 so that the first manipulator 5 and the second manipulator 6 cooperate to grasp liquid medicine packages on the annular conveying line 1.
The connection modes of the annular conveying line 1, the first visual recognition system 3, the second visual recognition system 4, the tray conveying line 2, the first manipulator 5 and the second manipulator 6 and the control system are not limited, and the annular conveying line 1, the first visual recognition system 3, the second visual recognition system 4, the tray conveying line 2, the first manipulator 5 and the second manipulator 6 can be connected with the control system through electric connection and/or communication connection.
Further, the control system of the present invention is not particularly limited to the control manner and the specific control program of the annular conveyor line 1, the tray conveyor line 2, the first manipulator 5 and the second manipulator 6, respectively, and those skilled in the art can set the control system according to actual needs with reference to the prior art.
The specific implementation manner of the respective movements of the first linear tracking conveyor line 11, the first rotary conveyor line 12, the second linear tracking conveyor line 13, the second rotary conveyor line 14, the linear discharging conveyor line 15 and the tray conveyor line 2 is the same as the movement implementation manner of the conventional conveyor line in the prior art, and will not be repeated herein.
For the main structures of the first manipulator 5 and the second manipulator 6 and the operation principle thereof, those skilled in the art can refer to the prior art, for example, the first manipulator 5 and the second manipulator 6 may be spider-arm robots in the prior art, and the description thereof is omitted herein.
The specific constitution and operation principle of the first visual recognition system 3 and the second visual recognition system 4 are not limited, as long as the present invention can detect whether or not the liquid medicine package is acceptable.
In addition, the liquid medicine package of the invention mainly refers to a filled infusion bag or infusion bottle and the like.
During operation, the tray conveying line 2 conveys the empty sterilizing tray 9 into the area surrounded by the annular conveying line 1, meanwhile, the incoming material conveying line 8 conveys the liquid medicine packages to the first linear tracking conveying line 11, the first visual recognition system 3 detects whether the liquid medicine packages entering the first linear tracking conveying line 11 are qualified or not and sends detection signals thereof to the control system, and the control system distributes corresponding first manipulators 5 for the qualified liquid medicine packages according to the detection signals of the first visual recognition system 3 and controls actions of the corresponding first manipulators 5, so that the first manipulators 5 transfer the liquid medicine packages to stations of the sterilizing tray 9. For unqualified liquid medicine packages, the control system controls all the first manipulators 5 to be inactive, so that the unqualified liquid medicine packages are conveyed backwards along with the annular conveying line 1.
When all the liquid medicine packages which are not grabbed by the first manipulators 5 (including unqualified products and missed-grabbing liquid medicine packages which are not grabbed when disc changing gaps or incoming materials are tight) reach the second visual recognition system 4 along with the conveying of the annular conveying line 1, the second visual recognition system 4 detects whether the liquid medicine packages which enter the second linear tracking conveying line 13 are qualified or not, and sends detection signals thereof to the control system, and the control system distributes corresponding second manipulators 6 for the qualified liquid medicine packages according to the detection signals of the second visual recognition system 4 and controls the actions of the corresponding second manipulators 6, so that the second manipulators 6 transfer the liquid medicine packages to the stations of the sterilizing discs 9. For unqualified liquid medicine packages, the control system controls all the second manipulators 6 to be not operated, so that the unqualified liquid medicine packages are continuously conveyed backwards along with the annular conveying line 1.
When all the liquid medicine packages which are not grabbed by the second manipulators 6 (including unqualified products and the medicine liquid packages which are not grabbed when the disc changing gap or the incoming materials are tight) are conveyed onto the linear discharging conveying line 15 along with the conveying of the annular conveying line 1, and when the liquid medicine packages reach the first visual recognition system 3 again, the first visual recognition system 3 detects whether the liquid medicine packages on the linear discharging conveying line 15 are qualified or not and sends detection signals thereof to the control system, and the control system distributes corresponding first manipulators 5 for the qualified liquid medicine packages according to the detection signals of the first visual recognition system 3 and controls the actions of the corresponding first manipulators 5, so that the first manipulators 5 preferably transfer the liquid medicine packages on the linear discharging conveying line 15 onto the station of the sterilizing disc 9. For unqualified liquid medicine packages on the linear discharging conveying line 15, the control system controls all the first manipulators 5 to be inactive, so that the unqualified liquid medicine packages are conveyed to the collecting box along with the linear discharging conveying line 15.
That is, when the qualified liquid medicine packages on the linear discharging conveyor line 15 and the qualified liquid medicine packages on the first linear tracking conveyor line 11 correspond to one first manipulator 5 at the same time, the first manipulator 5 is controlled to preferably grasp the qualified liquid medicine packages on the linear discharging conveyor line 15 to ensure that the qualified liquid medicine packages on the linear discharging conveyor line 15 can be transferred to the sterilizing tray 9, and the qualified liquid medicine packages on the first linear tracking conveyor line 11 which are not grasped can be continuously conveyed backwards to be grasped by the second manipulator 6, or finally flows onto the linear discharging conveyor line 15 to be grasped by the first manipulator 5.
In other words, the liquid medicine packages not gripped on the linear discharging conveyor line 15 are all defective products, so as to realize direct rejection of the defective products.
The above process is repeated circularly to finish the transfer of the liquid medicine package to the sterilizing tray 9.
In the above process, preferably, the first visual recognition system 3 and the second visual recognition system 4 may also detect the pose of the liquid medicine package, so that the control system controls the motion of the first manipulator 5 or the second manipulator 6 corresponding to the liquid medicine package according to the pose of the liquid medicine package, so that all the liquid medicine packages are placed on the sterilization tray 9 in the same pose.
Therefore, the automatic charging system provided by the invention adopts the annular conveying line 1 to convey the liquid medicine packages, and detects whether the liquid medicine packages are qualified or not by correspondingly arranging the first visual recognition system 3 and the second visual recognition system 4 at the inlet of the first linear tracking conveying line 11 and the outlet of the first rotary conveying line 12 respectively, and enables the control system to correspondingly control the actions of the first manipulator 5 and the second manipulator 6 according to the detection signals of the first visual recognition system 3 and the second visual recognition system 4 respectively, so that the first manipulator 5 and the second manipulator 6 cooperate to finish the transfer of the qualified liquid medicine packages to the sterilizing tray 9, and meanwhile, the unqualified liquid medicine packages finally fall into the collecting box through the linear discharging conveying line 15, so that the unqualified liquid medicine packages are directly removed.
Compared with the prior art, the automatic charging system can avoid the phenomenon of missing grabbing of qualified products, and meanwhile, the unqualified products are directly removed, and the unqualified products which are missing grabbing are prevented from being mixed, so that the later material sorting work is omitted, and the hidden danger that the unqualified products pollute other liquid medicine packaging products is avoided.
In view of the compactness of the structure of the endless conveyor line 1, the first and second linear tracking conveyor lines 11 and 13 are disposed in parallel on the basis of the above-described embodiment. This makes it possible to make the structure of the endless conveyor line 1 more compact.
It should be noted that, the linear discharging conveyor line 15 and the first linear tracking conveyor line 11 may be offset and overlap, or may have a common overlapping portion therebetween, for example, on the basis of the above embodiment, the outlet of the linear discharging conveyor line 15 is abutted with the inlet of the first linear tracking conveyor line 11, the outlet of the first linear tracking conveyor line 11 corresponding to the linear discharging conveyor line 15 is used for being abutted with the collection box, and the outlet of the first linear tracking conveyor line 11 corresponding to the incoming material conveyor line 8 is abutted with the first rotary conveyor line 12. That is, in the present embodiment, the outlets of the incoming material conveying line 8 and the straight discharge conveying line 15 are both abutted with the inlet of the first straight trace conveying line 11 to simultaneously convey the liquid medicine packages conveyed from the incoming material conveying line 8 and the straight discharge conveying line 15 through the first straight trace conveying line 11, and convey the liquid medicine packages conveyed from the incoming material conveying line 8 that are not gripped by the first robot arm 5 to the first rotary conveying line 12, and at the same time, convey the unqualified liquid medicine packages conveyed from the straight discharge conveying line 15 to the collecting box.
That is, the first linear tracking conveyor line 11 is a two-lane conveyor line, and the rest are single-lane conveyor lines.
On the basis of any one of the above embodiments, the working areas of any two of all the first manipulators 5 and all the second manipulators 6 do not coincide.
It can be appreciated that, since the first manipulator 5 is used for transferring the liquid medicine packages on the first linear tracking conveyor line 11 and the linear discharging conveyor line 15 in the present invention; the second manipulator 6 is used for transferring the liquid medicine packages on the second linear tracking conveying line 13, and due to the existence of the first rotary conveying line 12 and the second rotary conveying line 14, a certain space is reserved between the first linear tracking conveying line 11 or the linear discharging conveying line 15 and the second linear tracking conveying line 13, so that the working areas of any two of all the first manipulators 5 and all the second manipulators 6 are not overlapped through reasonably arranging the whole first manipulators 5 and all the second manipulators 6, and the influence on the working efficiency due to the fact that the working areas between the first manipulators 5 or between the second manipulators 6 or between the first manipulators 5 and the second manipulators 6 are overlapped is avoided.
It should be noted that in the above embodiments, it must be ensured that all the first manipulators 5 and all the second manipulators 6 cooperate to completely cover all the stations on the entire sterilization tray 9.
Considering the specific layout of the first manipulator 5 and the second manipulator 6, on the basis of the above embodiment, the first manipulator 5 and the second manipulator 6 are staggered along the length direction of the first linear tracking conveyor line 11, and any adjacent two of the first manipulator 5 and the second manipulator 6 have a preset distance therebetween, so as to avoid overlapping of the working areas between the adjacent two first manipulators 5, between the adjacent two second manipulators 6, and between the adjacent first manipulator 5 and the adjacent second manipulator 6.
Specifically, a first preset distance is provided between any two adjacent first manipulators 5 along the length direction of the first linear tracking conveyor line 11, so as to avoid overlapping of the working areas of the two adjacent first manipulators 5; a second preset distance is arranged between any two adjacent second manipulators 6 along the length direction of the second linear tracking conveying line 13 so as to avoid overlapping of working areas of the two adjacent second manipulators 6; meanwhile, the second manipulator 6 has a third preset distance along the length direction along the first straight line tracking conveyor line 11 and a fourth preset distance along the length direction perpendicular to the first straight line tracking conveyor line 11 between two first manipulators 5 adjacent to the second manipulator.
The specific values of the first preset distance, the second preset distance, the third preset distance and the fourth preset distance are not limited in this embodiment.
As can be seen from the above embodiments, the first manipulators 5 and the second manipulators 6 are simultaneously present, so that the distance between two adjacent first manipulators 5 and the distance between two adjacent second manipulators 6 can be increased, and the first manipulators 5 and the second manipulators 6 are staggered, so that the second manipulators 6 transfer the liquid medicine packages to the stations between the two adjacent first manipulators 5 corresponding to the sterilizing tray 9; the first mechanical arm 5 is used for transferring the liquid medicine packages to a station between two adjacent second mechanical arms 6 corresponding to the sterilizing tray 9.
That is, the stations on the sterilization tray 9 corresponding to the first robot 5 and the second robot 6 are arranged at intervals.
Moreover, since the sterilization tray 9 is moved between the first linear tracking conveyor line 11 and the second linear tracking conveyor line 13 in a stepping manner under the conveyance of the tray conveyor line 2, it is possible to realize that the first and second manipulators 5 and 6 are respectively placed in the liquid medicine packages from opposite sides of the sterilization tray 9, that is, by making the second manipulator 6 have a fourth preset distance in the longitudinal direction perpendicular to the first linear tracking conveyor line 11 between two first manipulators 5 respectively adjacent thereto, the second manipulator 6 and the first manipulator 5 are prevented from overlapping in the working area in the longitudinal direction perpendicular to the first linear tracking conveyor line 11.
In view of space limitation and the size of the sterilization tray 9, as a preferred embodiment, the number of the first manipulators 5 is two, the number of the second manipulators 6 is one, and the two first manipulators 5 and the one second manipulator 6 form a delta-shaped distribution.
That is, the sterilization tray 9 adapted to this embodiment includes three rows of stations, two first manipulators 5 correspond to two rows of stations on both sides, and one second manipulator 6 corresponds to one row of stations in the middle. Two first manipulators 5 are close to the one end that first straight line was traced and is put into the medicine packing article of transfer chain 11 from sterilizing tray 9, and one second manipulator 6 is close to the one end that second straight line was traced and is put into the medicine packing article of transfer chain 13 from sterilizing tray 9, and first manipulator 5 and second manipulator 6 mutually noninterfere, mutually support and accomplish the material loading of whole tray sterilizing tray 9 all stations.
Considering that the tray conveying line 2 is stepped and has a slow speed in the process of transferring the liquid medicine packages by the first and second manipulators 5 and 6, in order to enable the sterilization tray 9 filled with the liquid medicine packages to be rapidly output, the tray conveying line 7 is abutted with the outlet of the tray conveying line 2 to rapidly output the sterilization tray 9 filled with the liquid medicine packages to the loading position on the basis of any one of the above embodiments.
That is, in this embodiment, the sterilizing tray 9 filled with the liquid medicine packages is rapidly output through the tray discharging conveyor line 7, so that the sterilizing tray 9 filled with the liquid medicine packages reaches the loading position rapidly, the conveying time of the sterilizing tray 9 filled with the liquid medicine packages is reduced, and the sterilizing tray 9 filled with the liquid medicine packages has enough loading time.
It should be noted that the specific implementation manner of the tray discharging conveyor line 7 is the same as that of a conventional conveyor line in the prior art, and will not be described herein.
Considering the specific implementation of loading the sterilization tray 9 filled with the liquid medicine packages into the sterilization cart, the end of the tray delivery line 7 is provided with a first robot for transferring the sterilization tray 9 onto the sterilization cart on the basis of the above-described embodiment.
That is, in this embodiment, the sterilization tray 9 filled with the liquid medicine packages is transferred from the tray delivery line 7 to the sterilization cart by the first robot, and the main structure and the operation of the first robot are the same as those of the conventional tray folding machine in the prior art, and are not described herein.
Considering the feeding problem of empty sterilization trays 9, on the basis of any one of the above embodiments, a second robot for transferring empty sterilization trays 9 from the sterilization cart to the tray conveyor line 2 is provided at the entrance of the tray conveyor line 2.
That is, in this embodiment, the empty sterilization trays 9 are transferred from the sterilization cart to the tray conveying line 2 one by the second robot, and the main structure and the action of the second robot are the same as those of the conventional tray folding machine in the prior art, and are not described herein.
It should also be noted that in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by a difference from other embodiments, and identical and similar parts between the embodiments are referred to each other.
The automatic charging system provided by the invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (6)
1. An automatic charging system, comprising:
the annular conveying line (1), annular conveying line (1) includes first rectilinear tracking conveying line (11), with first gyration conveying line (12) of first rectilinear tracking conveying line (11) butt joint, with second rectilinear tracking conveying line (13) of first gyration conveying line (12) butt joint, with second gyration conveying line (14) of second rectilinear tracking conveying line (13) butt joint and with the sharp ejection of compact conveying line (15) of second gyration conveying line (14) butt joint, the entry of first rectilinear tracking conveying line (11) is used for with coming material conveying line (8) butt joint in order to receive the liquid medicine packing article of filling completion, the export of sharp ejection of compact conveying line (15) is used for with the collection box butt joint of collecting the unqualified products, sharp ejection of compact conveying line (15) with first rectilinear tracking conveying line (11) has the coincidence length of predetermineeing;
a tray conveying line (2) for conveying sterilizing trays (9), wherein the annular conveying line (1) is arranged above the tray conveying line (2) in a crossing manner;
the first visual identification system (3) is arranged at the inlet of the first linear tracking conveying line (11) and is used for detecting whether the liquid medicine packages on the first linear tracking conveying line (11) and the linear discharging conveying line (15) are qualified or not;
the second visual identification system (4) is arranged at the inlet of the second linear tracking conveying line (13) and is used for detecting whether the liquid medicine packages entering the second linear tracking conveying line (13) are qualified or not;
at least one first manipulator (5) arranged at the overlapping position of the linear discharging conveying line (15) and the first linear tracking conveying line (11) is used for transferring the qualified liquid medicine packages on the first linear tracking conveying line (11) and the linear discharging conveying line (15) to the sterilizing tray (9);
at least one second manipulator (6) for transferring the liquid medicine packages qualified on the second linear tracking conveyor line (13) to the sterilization tray (9);
the control system is connected with the annular conveying line (1), the first visual identification system (3), the second visual identification system (4), the tray conveying line (2), the first manipulator (5) and the second manipulator (6) and is used for controlling the annular conveying line (1) and the tray conveying line (2) to act in a coordinated manner and controlling the first manipulator (5) and the second manipulator (6) to act according to detection signals of the first visual identification system (3) and the second visual identification system (4) so as to enable the first manipulator (5) and the second manipulator (6) to grasp the liquid medicine packages in a coordinated manner;
the first linear tracking conveying line (11) and the second linear tracking conveying line (13) are arranged in parallel;
the outlet of the linear discharging conveying line (15) is in butt joint with the inlet of the first linear tracking conveying line (11), the outlet of the first linear tracking conveying line (11) corresponding to the linear discharging conveying line (15) is used for being in butt joint with the collecting box, and the outlet of the first linear tracking conveying line (11) corresponding to the incoming material conveying line (8) is in butt joint with the first rotary conveying line (12);
the working areas of any two of all the first manipulators (5) and all the second manipulators (6) are not overlapped.
2. The automatic charging system according to claim 1, wherein the first manipulators (5) and the second manipulators (6) are staggered along the length direction of the first linear tracking conveyor line (11), and a preset distance is reserved between any two adjacent ones of the first manipulators (5) and the second manipulators (6) so as to avoid overlapping of working areas between the two adjacent first manipulators (5), between the two adjacent second manipulators (6) and between the two adjacent first manipulators (5) and the second manipulators (6).
3. The automatic charging system according to claim 2, wherein the number of the first manipulators (5) is two, the number of the second manipulators (6) is one, and two of the first manipulators (5) and one of the second manipulators (6) form a delta-shaped distribution.
4. The automatic loading system according to claim 1, further comprising a outfeed conveyor line (7) interfacing with the outlet of the pallet conveyor line (2) for rapidly outputting the sterilization tray (9) filled with the medical fluid packages to a loading position.
5. Automatic loading system according to claim 4, characterized in that the end of the outfeed conveyor line (7) is provided with a first robot for transferring the sterilization tray (9) onto a sterilization vehicle.
6. The automatic loading system according to claim 1, characterized in that the inlet of the pallet conveyor line (2) is provided with a second robot for transferring empty sterilization trays (9) from a sterilization vehicle to the pallet conveyor line (2).
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| CN201911157847.XA CN110860487B (en) | 2019-11-22 | 2019-11-22 | Automatic charging system |
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