CN114994786A

CN114994786A - Medicine packaging and detecting robot for pharmaceutical industry

Info

Publication number: CN114994786A
Application number: CN202210030610.0A
Authority: CN
Inventors: 陶肖
Original assignee: Hunan Vocational Institute of Technology
Current assignee: Hunan Vocational Institute of Technology
Priority date: 2022-01-12
Filing date: 2022-01-12
Publication date: 2022-09-02

Abstract

The invention relates to the technical field of packaging detection, and discloses a medicine packaging detection robot in the pharmaceutical industry, which is matched with a matching rod through a vibration groove and comprises a storage bin, wherein a partition plate is fixedly arranged at a position close to the middle inside the storage bin, and material conveyors are movably arranged at positions close to two ends of the bottom of an inner cavity of the storage bin, so that a twisting machine can drive the matching rod to slide inside the vibration groove in the rotating process, the vibration groove is obliquely arranged, the matching rod can fluctuate up and down in the sliding process inside the vibration groove, the fluctuation effect can be transmitted to a sucker device through a telescopic rod and acts on a medicine plate, when the medicine plate is not tightly sealed, the medicine plate inside the medicine plate can be thrown out under the fluctuation effect, and the problem that centrifugal force cannot be counteracted under the rotating effect is caused, so that the medicine plate can be transported to the inside the storage bin by a stroke plate, the problem that a medicine plate with untight seal enters the market is avoided, and the reliability of the device is improved.

Description

Medicine packaging and detecting robot for pharmaceutical industry

Technical Field

The invention relates to the technical field of packaging detection, in particular to a medicine packaging detection robot in the pharmaceutical industry.

Background

The medicine is indispensable in daily life, for example, anti-inflammatory drugs, heat-clearing and detoxifying capsules, radix isatidis and cold granules are indispensable medicines in families, in the manufacturing and production process of the medicine, the medicine needs to be packaged, especially, some capsules or tablets of the medicine need to be packaged in a medicine plate by using tinfoil, and even some photophobic medicines need to be shielded, so that workers cannot distinguish whether the medicine is filled in each groove on the medicine plate by naked eyes, auxiliary measurement needs to be carried out by using other equipment, a common measurement mode is load bearing measurement, the medicine plate can bear the weight to detect the medicine in the process of moving on a production line, and the detection mode is the most wide one in application range at present and has the advantages of high speed, convenience in installation, simple structure and the like.

Although the existing bearing type detection equipment has many advantages, certain limitations still exist in the actual use process, for example, the measurement precision is small, and products with unstable drug effects enter the market to hurt users due to the fact that some drugs are missing, or the drugs are insufficient in quality or overlarge in quality, so that the application file provides a drug packaging detection robot in the drug industry, and aims to solve the problems.

Disclosure of Invention

Aiming at the defects of the existing medicine packaging detection robot in the medicine industry in the background technology in the using process, the invention provides the medicine packaging detection robot in the medicine industry, which has the advantages of distinguishing whether a part of medicine is missing or the medicine is overlarge in quality, and solves the problem of low precision of the traditional bearing type detection equipment.

The invention provides the following technical scheme: a medicine packaging and detecting robot in the pharmaceutical industry comprises a storage bin, wherein a partition plate is fixedly mounted in the storage bin and close to the middle of the storage bin, rectangular through holes are formed in positions, close to two ends, of the bottom of an inner cavity of the storage bin, a material conveyor is movably mounted at the top of each rectangular through hole, a telescopic machine is fixedly sleeved at the bottom of the storage bin and between the partition plates, a stroke sleeve is fixedly mounted at the bottom of the storage bin and outside the telescopic machine, sliding grooves are formed in two sides of the stroke sleeve, an air guide device is movably mounted in the stroke sleeve through the sliding grooves, the top of the air guide device is fixedly connected with one end of an output shaft of the telescopic machine, a connecting plate is fixedly mounted at the bottom of the stroke sleeve, a torsion machine is fixedly sleeved on the outer surface of the output shaft of the connecting plate, and a power bin is fixedly mounted at the bottom of the torsion machine, the power machine is fixedly sleeved in the power bin, one end of an output shaft of the power machine is fixedly provided with a telescopic bin, contact rods are fixedly arranged on the outer surface of the telescopic bin and the position close to the top of the telescopic bin, the contact rods are distributed in an annular array mode, a stroke plate is movably sleeved in the telescopic bin, a telescopic rod is fixedly arranged on the position, located at the center, of the bottom of the stroke plate, a spring is fixedly arranged on the position, located at the outer side of the telescopic rod, of the bottom of the stroke plate, the spring is in a compressed state under an initial condition, one end of the spring is fixedly connected with the telescopic bin, a sucker device is fixedly arranged at the bottom of the telescopic rod, a vibration device is fixedly arranged at the position, located at the outer side of the power machine, of the bottom of the outer surface of the telescopic rod, a matching rod is fixedly arranged at the bottom of the outer surface of the telescopic rod, and the contact rods are in contact with the vibration device, the matching rod is in contact with the oscillating device.

Preferably, the air guide device includes fixed sleeve, fixed sleeve's bottom fixed mounting has the air duct, the bottom of air duct has been seted up air guide hole and has run through the air duct and extend to the surface of taper joint pipe, the air duct is corresponding with the sucking disc device.

Preferably, the sucking disc device includes the fixed disk, the bottom fixed connection of fixed disk and telescopic link, the inside activity that has seted up circular through-hole and this circular through-hole at the fixed disk top and be located the outside has cup jointed sealed piece, the fixed cup joint in inside of fixed disk has the sucking disc, the inlet port has been seted up at the top of sucking disc and on being located the position in the outside.

Preferably, the axes of the air inlet hole, the sucking disc and the air guide tube are all located on the same central line.

Preferably, the oscillation device includes the shell, the opening diameter in conical connection pipe bottom equals with the shell external diameter, the both sides fixed mounting of shell inner wall has the stroke guide rail, there is the oscillation sleeve inside the shell through stroke guide rail movable mounting, it has vibrations groove and vibrations groove to arrange with the mode of slope to vibrate telescopic inside to set up, vibrations groove cooperatees with the cooperation pole, fixed mounting has the effort inductor on the shell inner wall and the position that is located stroke guide rail both sides, the effort inductor contacts with the contact arm.

Preferably, the output end of the acting force sensor is connected with the input end of the torsion machine in a signal connection mode.

The invention has the following beneficial effects:

1. the invention can drive the air guide device to move along the vertical downward direction through the fixed connection of the top of the air guide device and one end of the output shaft of the expansion machine, because the diameter of the opening at the bottom of the conical connecting pipe is equal to the outer diameter of the shell, the bottom of the air guide device can contact with the top of the sucker device in the downward moving process, so that the sucker device can contact with the medicine plate and suck the medicine plate through the sucker, at the moment, the power machine drives the contact rod and the expansion rod to rotate, thereby driving the sucker device and the medicine plate sucked by the sucker to synchronously rotate, when the medicine plate is internally provided with the tablets and the quality of the tablets is qualified, the centrifugal force generated by the integral rotation of the medicine plate is zero, the acting force between the contact rod and the acting force sensor is equal, when the empty groove on the medicine plate is provided with no tablets or the tablets have uneven quality, the medicine board rotates the centrifugal force that the in-process can produce unable offset this moment, this centrifugal force can act on the telescopic link and transmits for flexible storehouse, the effort that contact lever and effort inductor surface can change this moment, the contact lever that leads to a department or the effort on adjacent contact lever and effort inductor surface improves, the output that passes through the effort inductor this moment is connected with the input of twister through signal connection's mode, make the twister drive power storehouse and oscillating device use the axis of twister to rotate as the center of rotation, make medicine board that the sucking disc device absorbs contact with the conveying ware and transported the inside and then the discharge production line of storage silo by the conveying ware, thereby accomplish the detection to medicine encapsulation, this kind of detection mode can not distinguish the medicine board that appears the dead slot, still can distinguish medicine board uneven medicine quality, the equipment of having avoided traditional bearing detection mode can's even detection and lead the tablet mass distribution and lead Unqualified products flow to the market, and the detection precision of the device is improved.

2. According to the invention, the vibration groove is matched with the matching rod, so that the matching rod can be driven to slide in the vibration groove by the twisting machine in the rotating process, the vibration groove is arranged in an inclined manner, the matching rod can fluctuate up and down in the sliding process in the vibration groove, the fluctuation effect can be transmitted to the sucker device through the telescopic rod and acts on the medicine plate, when the medicine plate is not tightly sealed, the tablets in the medicine plate can be thrown out under the fluctuation effect, and the problem that the centrifugal force cannot be offset occurs under the rotating effect, so that the medicine plate is transported to the interior of the storage bin by the stroke plate, the problem that the medicine plate which is not tightly sealed enters the market is avoided, and the reliability of the device is improved.

3. The invention makes the air guide tube contact with the sealing block firstly in the process of moving the air guide device under the action of the telescopic machine through the axes of the air inlet hole, the sucking disc and the air guide tube being positioned on the same central line, so that the sealing block is in an open state, and then the outside air can enter the inside of the sucking disc through the air guide hole, the sealing block and the air inlet hole, thereby the attraction of the sucking disc to the medicine plate disappears and the medicine plate is separated, the sucking disc is ensured to release the medicine plate sucked before moving, the problem that the function of the device is abnormal because the sucking disc can not suck and detect the subsequent medicine plate is avoided, the operation stability of the device is improved, in addition, because the diameter of the bottom opening of the conical connecting tube is equal to the outer diameter of the shell, the inner hole of the conical connecting tube of the air guide device can contact with the outer surface of the oscillation device in each stroke, therefore, the oscillation device is calibrated, the problem that the axes of the power machine, the telescopic bin and the telescopic rod are not on the same central line to cause centrifugal force is avoided before the power machine drives the telescopic bin and the telescopic rod to rotate, and the running stability of the device is further improved.

4. According to the invention, the spring is in a compressed state under the initial condition, so that the telescopic rod is kept in a retracted state under the initial state and the telescopic rod is always subjected to a vertical upward acting force, the air guide tube is ensured to be capable of stably opening the sealing block and introducing external air into the sucker and separating the medicine plate in the process that the air guide device is in contact with the sucker device, and meanwhile, the sucker device, the telescopic rod and the stroke plate after the air guide device is reset can be reset through the spring, the automation of the device is ensured, and the reliability of the device is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic bottom view of the structure of the present invention;

FIG. 3 is a schematic cross-sectional view taken along the direction A in FIG. 2 according to the present invention;

FIG. 4 is a schematic cross-sectional view taken along the direction B in FIG. 2 according to the present invention;

FIG. 5 is an enlarged view of E in FIG. 3 according to the present invention;

FIG. 6 is a schematic view of a structural gas guide of the present invention;

FIG. 7 is a schematic cross-sectional view of a structural gas guide of the present invention;

FIG. 8 is a schematic view of a suction cup device according to the present invention;

FIG. 9 is a schematic cross-sectional view of a suction cup device of the present invention;

FIG. 10 is a schematic view of a structural oscillation device according to the present invention;

FIG. 11 is a schematic top view of an oscillating device of the present invention;

FIG. 12 is a schematic cross-sectional view taken along the direction C in FIG. 11 according to the present invention;

FIG. 13 is a schematic cross-sectional view taken along direction D in FIG. 11 according to the present invention.

In the figure: 1. a storage bin; 2. a partition plate; 3. a material conveyer; 4. a compressor; 5. a travel sleeve; 6. an air guide device; 61. fixing the sleeve; 62. a tapered connecting pipe; 63. an air duct; 64. a gas-guide hole; 7. a connecting plate; 8. a torsion machine; 9. a power bin; 10. a power machine; 11. a telescopic bin; 12. a contact lever; 13. a stroke plate; 14. a telescopic rod; 15. a spring; 16. a suction cup device; 161. fixing the disc; 162. a sealing block; 163. a suction cup; 164. an air inlet; 17. a vibrating device; 171. a housing; 172. a travel guide rail; 173. vibrating a sleeve; 174. a vibration groove; 175. an acting force sensor; 18. a mating rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-5, a medicine packaging and detecting robot for pharmaceutical industry includes a storage bin 1, a partition plate 2 is fixedly installed at a position near the middle inside the storage bin 1, a rectangular through hole is opened at a position near two ends of the bottom of the inner cavity of the storage bin 1, a material conveyor 3 is movably installed at the top of the rectangular through hole, a telescopic machine 4 is fixedly sleeved at a position between the partition plates 2 at the bottom of the storage bin 1, a stroke sleeve 5 is fixedly installed at a position at the bottom of the storage bin 1 and outside the telescopic machine 4, sliding grooves are opened at two sides of the stroke sleeve 5, an air guide device 6 is movably installed inside the stroke sleeve 5 through the sliding grooves, the top of the air guide device 6 is fixedly connected with one end of an output shaft of the telescopic machine 4, so that the telescopic machine 4 can drive the air guide device 6 to move in a vertical downward direction, because the opening diameter at the bottom of a conical connecting pipe 62 is equal to the outer diameter of a shell 171, the bottom of the air guide device 6 contacts with the top of the sucker device 16 in the process of moving downwards, so that the sucker device 16 contacts with the medicine plate and sucks the medicine plate through the sucker 163, at the moment, the power machine 10 drives the contact rod 12 and the telescopic rod 14 to rotate, so as to drive the sucker device 16 and the medicine plate sucked by the sucker 163 to synchronously rotate, when the medicine plate is filled with tablets and the quality of the medicines is qualified, the centrifugal force generated by the integral rotation of the medicine plate is zero, so that the acting force between the contact rod 12 and the acting force sensor 175 is equal, when the medicine plate is empty and the tablets are not placed or the quality of the tablets is unbalanced, at the moment, the centrifugal force which cannot be counteracted is generated in the rotation process of the medicine plate, the centrifugal force acts on the telescopic rod 14 and is transmitted to the telescopic bin 11, at the moment, the acting force on the surfaces of the contact rod 12 and the acting force sensor 175 changes, the acting force on the surface of one contact rod 12 or the adjacent contact rod 12 and the acting force sensor 175 is improved, at the moment, the output end of the acting force sensor 175 is connected with the input end of the twisting machine 8 in a signal connection mode, the twisting machine 8 drives the power bin 9 and the oscillating device 17 to rotate by taking the axis of the twisting machine 8 as a rotation center, so that the medicine plates sucked by the suction disc device 16 are contacted with the material conveyor 3 and are transported to the inside of the storage bin 1 by the material conveyor 3 to be discharged out of a production line, and the detection of medicine packaging is finished, the detection mode can not distinguish the medicine plates with empty slots, the medicine plates with uneven medicine quality can still be distinguished, the phenomenon that the equipment of the traditional bearing detection mode cannot detect whether the quality distribution of the medicine tablets is even or not so as to cause unqualified products to flow to the market is avoided, and the detection precision of the device is improved, the bottom of the stroke sleeve 5 is fixedly provided with a connecting plate 7, the outer surface of an output shaft of the connecting plate 7 is fixedly sleeved with a twisting machine 8, the bottom of the twisting machine 8 is fixedly provided with a power bin 9, the inside of the power bin 9 is fixedly sleeved with a power machine 10, one end of the output shaft of the power machine 10 is fixedly provided with a telescopic bin 11, the outer surface of the telescopic bin 11 and the position close to the top are fixedly provided with contact rods 12, the number of the contact rods 12 is six and the contact rods 12 are distributed in an annular array mode, the inside of the telescopic bin 11 is movably sleeved with a stroke plate 13, the position of the bottom of the stroke plate 13, which is positioned at the center, is fixedly provided with a telescopic rod 14, the position of the bottom of the stroke plate 13, which is positioned at the outer side of the telescopic rod 14, is fixedly provided with a spring 15, and the spring 15 is in a compressed state under the initial condition, so that the telescopic rod 14 keeps a retraction state and the telescopic rod 14 is always subjected to a vertically upward acting force, the air guide pipe 63 can be ensured to be capable of opening the sealing block 162 stably and introducing external air into the suction cup 163 and enabling the air guide device 6 to be separated from the medicine plate in the contact process of the air guide device 6 and the suction cup device 16, the telescopic rod 14 and the stroke plate 13 after the air guide device 6 is reset, the automation of the device is ensured, the reliability of the device is improved, one end of the spring 15 is fixedly connected with the telescopic bin 11, the suction cup device 16 is fixedly arranged at the bottom of the telescopic rod 14, the vibration device 17 is fixedly arranged at the bottom of the power bin 9 and on the position outside the power machine 10, the matching rod 18 is fixedly arranged at the bottom of the outer surface of the telescopic rod 14, the contact rod 12 is in contact with the vibration device 17, and the matching rod 18 is in contact with the vibration device 17.

Referring to fig. 6-7, the air guide device 6 includes a fixing sleeve 61, the fixing sleeve 61 is fixedly mounted at the bottom of the fixing sleeve 61, an air guide tube 63 is fixedly mounted at the bottom of the fixing sleeve 61, an air guide hole 64 is formed at the bottom of the air guide tube 63, the air guide hole 64 penetrates through the air guide tube 63 and extends to the outer surface of the tapered connecting tube 62, and the air guide tube 63 corresponds to the suction cup device 16.

Referring to fig. 8-9, the suction cup device 16 includes a fixed plate 161, the fixed plate 161 is fixedly connected to the bottom of the telescopic rod 14, a circular through hole is formed at the top of the fixed plate 161 and located at the outer side, a sealing block 162 is movably sleeved inside the circular through hole, a suction cup 163 is fixedly sleeved inside the fixed plate 161, and an air inlet hole 164 is formed at the top of the suction cup 163 and located at the outer side.

Referring to fig. 6-9, the axes of the air inlet hole 164, the suction cup 163 and the air duct 63 are all located on the same central line, so that the air duct 63 contacts the sealing block 162 first during the process of the air guide device 6 moving under the action of the expansion machine 4 each time, the sealing block 162 is in an open state, at this time, the external air can enter the inside of the suction cup 163 through the air guide hole 64, the sealing block 162 and the air inlet hole 164, so that the suction force of the suction cup 163 to the medicine plate disappears and the medicine plate is separated, the suction cup 163 releases the medicine plate sucked before moving, the problem that the function of the device is abnormal because the suction cup 163 cannot suck and detect the subsequent medicine plate is avoided, the operation stability of the device is improved, in addition, because the bottom opening diameter of the conical connection pipe 62 is equal to the outer diameter of the outer shell 171, the inner hole of the conical connection pipe 62 of each time of the air guide device 6 can contact the outer surface of the air guide oscillation device 17, therefore, the oscillation device 17 is calibrated, the problem that the centrifugal force is generated certainly because the axes of the power machine 10, the telescopic bin 11 and the telescopic rod 14 are not on the same central line before the power machine 10 drives the telescopic bin 11 and the telescopic rod 14 to rotate is solved, and the running stability of the device is further improved.

Referring to fig. 10-13, the oscillating device 17 includes a housing 171, the diameter of the bottom opening of the conical connection tube 62 is equal to the outer diameter of the housing 171, travel guide rails 172 are fixedly installed on two sides of the inner wall of the housing 171, an oscillating sleeve 173 is movably installed inside the housing 171 through the travel guide rails 172, an oscillating groove 174 is formed inside the oscillating sleeve 173, the oscillating groove 174 is arranged in an inclined manner, the oscillating groove 174 is matched with the matching rod 18, so that the twisting machine 8 can drive the matching rod 18 to slide inside the oscillating groove 174 in the rotating process, because the oscillating groove 174 is arranged in an inclined manner, the matching rod 18 can fluctuate up and down in the sliding process inside the oscillating groove 174, and the fluctuation effect can be transmitted to the suction cup device 16 through the expansion link 14 and act on the medicine plate, when the medicine plate is not tightly sealed, the tablets inside the medicine plate can be thrown out under the fluctuation effect, thereby the problem that centrifugal force can't offset appears under the rotation effect thereby makes this medicine board transported the inside of storage silo 1 by stroke board 13, has avoided the problem that sealed not tight medicine board gets into market, has improved the device's reliability, and fixed mounting has effort inductor 175 on the position of shell 171 inner wall and lie in stroke guide rail 172 both sides, and effort inductor 175 contacts with contact arm 12.

Referring to fig. 13, the output terminal of the force sensor 175 is connected to the input terminal of the torque machine 8 by signal connection.

The using method of the invention is as follows:

in the using process, the telescopic machine 4 can drive the air guide device 6 to move along the vertical downward direction, because the diameter of the opening at the bottom of the conical connecting pipe 62 is equal to the outer diameter of the shell 171, the bottom of the air guide device 6 can contact with the top of the sucker device 16 in the downward moving process, so that the sucker device 16 can contact with the medicine plate and suck the medicine plate through the sucker 163, at the moment, the power machine 10 drives the contact rod 12 and the telescopic rod 14 to rotate, so that the medicine plate sucked by the sucker device 16 and the sucker 163 can be driven to rotate synchronously, when the medicine plate is provided with tablets in the grooves and has qualified medicine quality, the centrifugal force generated by the integral rotation of the medicine plate is zero, so that the acting force between the contact rod 12 and the acting force sensor 175 is equal, when the medicine plate is provided with empty grooves and is not provided with tablets or has unbalanced quality, the centrifugal force generated in the rotation process of the medicine plate can be cancelled, the centrifugal force acts on the telescopic rod 14 and is transmitted to the telescopic bin 11, at the moment, the acting force on the surfaces of the contact rod 12 and the acting force sensor 175 changes, so that the acting force on the surfaces of the contact rod 12 and the acting force sensor 175 at one position is improved, at the moment, the output end of the acting force sensor 175 is connected with the input end of the twisting machine 8 in a signal connection mode, the twisting machine 8 drives the power bin 9 and the oscillating device 17 to rotate by taking the axis of the twisting machine 8 as a rotation center, so that the medicine plates sucked by the sucking disc device 16 are contacted with the material conveyer 3 and are transported to the interior of the storage bin 1 by the material conveyer 3 to be discharged out of a production line, and thus the detection of medicine packaging is completed, the detection mode can not only distinguish the medicine plates with empty slots, but also distinguish the medicine plates with uneven medicine quality, the twisting machine 8 can drive the matching rod 18 to slide in the interior of the vibrating slot 174 in the rotating process, because the vibration groove 174 is arranged in an inclined manner, the matching rod 18 can fluctuate up and down in the sliding process in the vibration groove 174, and the fluctuation effect can be transferred to the sucker device 16 through the telescopic rod 14 and acts on the medicine plate, when the medicine plate is not tightly sealed, the tablets in the medicine plate can be thrown out under the fluctuation effect, so that the medicine plate can be transported to the interior of the storage bin 1 by the stroke plate 13 due to the problem that the centrifugal force cannot be counteracted under the rotation effect, the air guide pipe 63 can firstly contact with the sealing block 162 in the stroke process that the air guide device 6 moves under the action of the expansion machine 4, so that the sealing block 162 is in an open state, at the moment, the external air can enter the interior of the sucker 163 through the air guide hole 64, the sealing block 162 and the air inlet hole 164, so that the suction force of the sucker 163 on the medicine plate disappears and the medicine plate is separated, guaranteed that sucking disc 163 can release the medicine board of absorbing before removing, because the opening diameter in the bottom of the taper connecting pipe 62 equals with shell 171 external diameter, make gas guide device 6 the hole of stroke taper connecting pipe 62 every time all can contact with oscillation device 17's surface, thereby the realization is calibrated oscillation device 17, telescopic link 14 keeps the state of returning back and telescopic link 14 receives vertical ascending effort all the time under initial condition, guarantee that gas guide device 6 can be stable open sealed piece 162 and let in outside gas the inside of sucking disc 163 and make the medicine board break away from with air guide device 6 at the back sucking disc device 16 that resets with sucking disc device 16 in-process air duct 63 of contact, simultaneously, gas guide device 6 is at the back sucking disc device 16 that resets, telescopic link 14 and stroke board 13 all can reset through spring 15.

It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a pharmaceutical industry medicine encapsulation inspection robot, includes storage silo (1), its characterized in that: the material storage device is characterized in that a partition plate (2) is fixedly mounted in the storage bin (1) and close to the middle position, a rectangular through hole and a material conveyor (3) are arranged in the position, close to two ends, of the bottom of an inner cavity of the storage bin (1), a telescopic machine (4) is fixedly sleeved on the position, close to two ends, of the bottom of the storage bin (1), a stroke sleeve (5) is fixedly mounted on the position, located on the outer side of the telescopic machine (4), of the bottom of the storage bin (1), a sliding groove is formed in two sides of the stroke sleeve (5), an air guide device (6) is movably mounted in the stroke sleeve (5) through the sliding groove, the top of the air guide device (6) is fixedly connected with one end of an output shaft of the telescopic machine (4), a connecting plate (7) is fixedly mounted at the bottom of the stroke sleeve (5), a torsion machine (8) is fixedly sleeved on the outer surface of the output shaft of the connecting plate (7), the bottom fixed mounting who turns round quick-witted (8) has power storehouse (9), the fixed cover in inside of power storehouse (9) has connect engine (10), the one end fixed mounting of engine (10) output shaft has flexible storehouse (11), fixed mounting has contact bar (12) and contact bar (12) quantity to be six and distribute with the mode of annular array on the position of flexible storehouse (11) surface and being close to the top, the inside activity of flexible storehouse (11) has cup jointed stroke board (13), fixed mounting has telescopic link (14) on the position that stroke board (13) bottom is located the center, fixed mounting has spring (15) on the position that stroke board (13) bottom is located telescopic link (14) outside, spring (15) are in the state of compressing under the initial condition, the one end and the flexible storehouse (11) fixed connection of spring (15), the bottom of the telescopic rod (14) is fixedly provided with a sucker device (16), the bottom of the power bin (9) is fixedly provided with a vibration device (17) at the position outside the power machine (10), the bottom of the outer surface of the telescopic rod (14) is fixedly provided with a matching rod (18), the contact rod (12) is in contact with the vibration device (17), and the matching rod (18) is in contact with the vibration device (17).

2. The pharmaceutical industry drug packaging detection robot of claim 1, wherein: air guide device (6) are including fixed sleeve (61), the bottom fixed mounting of fixed sleeve (61) has air duct (63), air guide hole (64) and air guide hole (64) have been seted up to the bottom of air duct (63) and have been run through air duct (63) and extend to the surface of tapered connection pipe (62), air duct (63) correspond with sucking disc device (16).

3. The pharmaceutical industry drug packaging detection robot of claim 2, wherein: sucking disc device (16) include fixed disk (161), the bottom fixed connection of fixed disk (161) and telescopic link (14), sealed piece (162) have been cup jointed in the inside activity that has seted up circular through-hole and this circular through-hole at fixed disk (161) top and be located the position in the outside, sucking disc (163) have been cup jointed to the inside of fixed disk (161) is fixed, inlet port (164) have been seted up at the top of sucking disc (163) and be located the position in the outside.

4. The pharmaceutical industry drug packaging detection robot of claim 3, wherein: the axes of the air inlet hole (164), the sucking disc (163) and the air guide pipe (63) are all located on the same central line.

5. The pharmaceutical industry drug packaging detection robot of claim 3, wherein: vibrate device (17) and include shell (171), conical connection pipe (62) bottom opening diameter equals with shell (171) external diameter, the both sides fixed mounting of shell (171) inner wall has stroke guide rail (172), there is vibration sleeve (173) inside through stroke guide rail (172) movable mounting, the inside of vibrating sleeve (173) has been seted up vibrations groove (174) and has been arranged with the mode of slope, vibrations groove (174) cooperate with cooperation pole (18), fixed mounting has effort inductor (175) on the position of shell (171) inner wall and be located stroke guide rail (172) both sides, effort inductor (175) contact with contact bar (12).

6. The pharmaceutical industry drug packaging detection robot of claim 5, wherein: the output end of the acting force sensor (175) is connected with the input end of the torsion machine (8) in a signal connection mode.