CN204604815U - A kind of medical heparin tube takes out and packaging system automatically - Google Patents

Abstract

The utility model relates to an automatic taking-out and boxing system for medical blood collection tubes, comprising a safety protection frame and a taking-out manipulator, a turning manipulator, a material distribution system, a boxing manipulator, and an automatic box supplying and arranging system arranged in the safety protection frame And the electronic control module; the take-out manipulator is used to take out the product from the injection molding mold of the blood collection tube; the flipping manipulator turns the product taken out by the take-out manipulator from the vertical direction to the horizontal direction and places it in the material distribution system; the material distribution system takes out the product The product is transported to the designated location and waits for the packing manipulator to grab; the packing manipulator is used to grab and take out the product and place it in the product packing box; the automatic box feeding and arranging system supplies the empty packing box to the designated place and packs the packed product Boxes are moved from designated locations to other locations. The utility model has a compact and reliable structure, not only has the function of quickly taking out products, but also has the functions of automatic box supply and box packing, and all of them are fully automated.

Description

A system for automatically taking out and packing blood collection tubes for medical use

technical field

The utility model belongs to automatic taking out and boxing equipment for molding injection molding parts, in particular to an automatic taking out and boxing system for medical blood collection tubes.

Background technique

The existing blood collection tube extraction system generally only has the extraction function, and generally lacks some very practical functions in the actual injection molding production process. For example: in the first few molded products produced by the injection molding machine, due to temperature or other reasons, the quality has not been stable, and there are more or less defects, so they are regarded as defective products. If these defective products cannot be collected in time It will be confused with the stable quality finished products produced later, it will take time to distinguish, and may cause secondary pollution. In addition, most of the current take-out manipulators take out the products and directly unload them on the conveyor belt. Manual or other devices are required to arrange and pack the taken-out parts, and the functions of boxing and other functions have not been integrated and fully automated.

Chinese utility model patent CN202640718U discloses a single-arm dual-servo drive to get a preform manipulator. The utility model includes two sets of traction mechanisms, and each set of traction mechanisms includes a servo motor and a transmission mechanism connected with the servo motor. The problem of force deflection comes. However, because this system requires two sets of servo drive devices, not only the cost is increased, but the frequent start and operation of the two servo motors will cause relatively large damage to the same belt.

Utility model content

The technical problem to be solved by the utility model is to provide an automatic taking out and boxing system for medical blood collection tubes, which is closer to the injection molding production process, more convenient and faster automatic taking out and boxing system.

The utility model is achieved by providing a medical blood collection tube automatic take-out and boxing system, including a safety protection frame and a take-out manipulator arranged in the safety protection frame, a turning manipulator, a material distribution system, a boxing manipulator, and an automatic feeding machine. Box arrangement system and electric control module; the take-out manipulator is set on the front side of the safety protection frame, which is used to take out the product from the injection molding mold of the blood collection tube; the flipping manipulator is set on the back side of the take-out manipulator, and the product taken out by the take-out manipulator Flip from the vertical direction to the horizontal direction and place it in the material distribution system; the material distribution system is set directly below the turning manipulator and in the middle of the safety protection frame, and transports the taken out products to the designated position to wait for the packing manipulator to grab; The box manipulator is set at the rear side of the material distribution system, which is used to grab and take out the products and place them in the product packaging boxes; the automatic box feeding and arranging system is set under the box packing manipulator and at the rear of the safety protection frame. Empty packaging boxes are supplied to the designated location and the packaging boxes containing products are moved from the designated location to other locations; the electronic control module is arranged on the side of the packing manipulator 5, which controls and ensures that all components of the system from the unloading manipulator to the automatic box feeding and arranging system actions are coordinated.

Further, the take-out manipulator includes a support frame, a beam, a first servo motor, a first reducer, a reducer mounting seat, a first driving synchronous pulley, a first synchronous belt, a first passive synchronous pulley, a first moving slide, Slider, line rail, take-out mechanical arm and first jig; the beam is installed parallel to one side of the support frame, the support frame is fixed on the base of the safety protection frame, and the first servo motor is fixed through the first reducer and the reducer mounting seat on one end surface of the beam; two line rails are set on the bottom surface of the beam, and the take-out robot arm is connected to the first jig on the end and fixed on the first moving slide, and the first moving slide is fixed with two pairs embedded in the The slider in the two line rails, the first active synchronous pulley and the output shaft of the first reducer are connected by a key, the first active synchronous pulley, the first passive synchronous pulley and the first synchronous belt form a belt transmission system, The first passive synchronous pulley is installed inside the other end of the crossbeam; the first synchronous belt runs through the inside of the crossbeam, one side of which is inside the crossbeam, and the first synchronous belt is fixed on the first moving slide plate through a pressing block; through the first servo motor and the second With the transmission of the synchronous belt, take out the mechanical arm and move left and right along the direction of the line rail together with the first jig.

Further, the turning manipulator includes a turning support frame, a second servo motor, a second reducer, a slider fixing plate, a slider, a hollow telescopic beam, a third servo motor, a third reducer, a rotating output shaft, and a second jig , telescopic cylinder and cylinder support; the flip support frame is fixed on the base of the safety protection frame, the second servo motor and the second reducer are installed inside the flip support frame, and the circular output disk of the second reducer is fixedly connected to the slider The fixed plate, the bottom of the hollow telescopic beam is equipped with two line rails, the slider slides on the two line rails, the slider fixed plate is fixedly connected to the slider, and the telescopic cylinder is fixedly connected to the slider fixed block by the cylinder bracket. One end of the piston rod is connected to the hollow telescopic beam, and the telescopic movement of the hollow telescopic beam is realized through the push of the telescopic cylinder; the third servo motor and the third reducer are installed inside the hollow telescopic beam, and the circular output disk of the third reducer is fixedly connected The rotary output shaft is connected with the second jig by bolts, and the third servo motor drives the second jig to rotate back and forth.

Further, a buffer station is also provided on the side of the flip support frame, and the buffer station includes a hopper and a hopper box.

Furthermore, the material distribution system is mainly composed of a material distribution box, a material distribution pipeline, a chain transmission system, a conveyor belt and a material distribution grid; the chain transmission system mainly includes a servo motor, a reducer, a driving sprocket, a driven sprocket and Chain; there are countersunk holes on the uppermost panel of the distribution box, the number of countersunk holes is equal to the number of products, each countersunk hole is connected with the distribution pipeline below, and the products released on the second fixture pass through the distribution line. The material pipeline is conveyed to the material distribution grid below, and then the chain drive system drives the conveyor belt to move forward, and after reaching the designated position, it waits for the packing manipulator to grab.

Further, the packing manipulator is mainly supported by two, the second beam, the line rail, the second moving slide, the slider, the fifth servo motor, the fifth reducer, the second synchronous pulley, the reducer mounting seat, the second The second synchronous belt, the idler wheel, the sixth servo motor, the servo linear module and the third fixture; the two ends of the second beam are fixedly installed on two supports, and the upper and side sides of the second beam are respectively provided with line rails, which are connected with the The two pairs of sliders fixed by the second moving skateboard are respectively fitted and embedded in the two wire rails, and can move left and right along the direction of the wire rails; the fifth servo motor, the fifth reducer and the reducer mounting seat are installed on the second moving skateboard , the output end of the fifth reducer is connected to the synchronous belt pulley, and forms a belt transmission connection with the second synchronous belt fixed on the second beam at both ends and two idlers; the side plate of the second mobile slide is fixedly installed For the servo linear module, the third fixture is fixedly installed on the slide table of the linear module.

Further, the automatic box feeding and arranging system is mainly composed of an automatic box feeding system, a first packing conveying system and a second packing conveying system, the first packing conveying system and the second packing conveying system are mutually symmetrical structures, respectively set On the left and right sides of the automatic box supply system; the automatic box supply system mainly includes the seventh servo motor, the sixth reducer, the third active synchronous pulley, the third passive synchronous pulley, the third synchronous belt, the ejection cylinder, and the frame Structure, empty box and push box rodless cylinder; the seventh servo motor and the sixth reducer drive the third active synchronous pulley and the third passive synchronous pulley to rotate, and the empty box placed on it by two third synchronous belts Convey to the front end; the function of the ejector cylinder is to push out the empty boxes transported to the front, and then push the empty boxes left or right to the first packing conveying system or the second packing by using push box rodless cylinder The packing position of the conveyor system, waiting for the packing manipulator to pack.

Further, the first packing conveying system includes a box frame, advancing rodless cylinder assembly and retreating rodless cylinder; when the automatic case supply system pushes the first empty case to the designated position of the first packing conveying system, pushes The rodless cylinder assembly starts to perform actions, pushing the empty box forward for a certain distance, and waits for the boxing mechanical system to place the product inside after reaching the boxing position; The case of the product is pushed back until it is in a suitable position, and then the rodless cylinder assembly returns to its original position.

Compared with the prior art, a medical blood collection tube automatic taking out and boxing system of the utility model, after the blood collection tube is injection-molded, uses the manipulator to quickly extend into the template of the injection molding machine, and uses a suction cup or a special device to put the blood collection tube into a box. Take it out of the mold in batches, then move to a suitable position to stack the products, and finally realize a complete set of automatic equipment for arranging and packing. The utility model has the following characteristics:

1. The utility model has a compact and reliable structure and good performance. It not only has the function of quickly taking out products, but also has the functions of automatic box supply and box packing, and all of them are fully automated;

2. With intelligent detection function, it can judge whether the product is completely demolded, avoid causing compression mold, and has a protection function for the mold;

3. With a buffer station, when there is an abnormality in the follow-up station, the production will not be affected, and the injection molding machine will work as usual. In addition, defective products whose quality is not stable in the first few times of molding can also be recycled directly.

Description of drawings

Fig. 1 is the three-dimensional schematic diagram of a preferred embodiment of the utility model;

Fig. 2 is the structural representation of taking out manipulator among Fig. 1;

Fig. 3 is the enlarged schematic diagram of part A in Fig. 2;

Fig. 4 is the enlarged schematic view of part B in Fig. 2;

Fig. 5 is a schematic structural view of the turning manipulator in Fig. 1;

Fig. 6 is the structural representation of the distribution system in Fig. 1;

Fig. 7 is a schematic structural view of the packing manipulator in Fig. 1;

Fig. 8 is an enlarged schematic diagram of part C in Fig. 7;

Fig. 9 is a schematic structural diagram of the automatic box supply and arrangement system in Fig. 1;

Fig. 10 is a schematic structural diagram of the automatic box supply system in Fig. 9;

FIG. 11 is a schematic diagram of the first packing conveying system in FIG. 9 .

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

Please refer to Fig. 1, a preferred embodiment of a system for automatically taking out and packing medical blood collection tubes of the present utility model, including a safety protection frame 1 and a removal manipulator 2, a turning manipulator 3, and a safety protection frame 1 arranged in the safety protection frame 1 Material distributing system 4, box packing manipulator 5, automatic box feeding and arranging system 6 and electric control module 7.

The take-out manipulator 2 is arranged on the front side of the safety protection frame 1, and is used to take out the product from the injection molding mold of the blood collection tube. The overturning manipulator 3 is arranged on the rear side of the taking-out manipulator 2, and the product taken out by the taking-out manipulator 2 is turned over from vertical to horizontal and placed in the distribution system 4. The material distribution system 4 is arranged directly below the turning manipulator 3 and is located in the middle of the safety protection frame 1, and transports the taken out products to a designated position to wait for the packing manipulator 5 to grab. The packing manipulator 5 is arranged on the rear side of the material distribution system 4, and is used to grab and take out the product and place it in the packaging box of the product. The automatic box supplying and arranging system 6 is arranged on the lower right side of the boxing manipulator 5 and at the rear of the safety protection frame 1, and supplies empty packaging boxes to the designated position and transfers the packaging boxes containing products from the designated position to other positions . The electronic control module 7 is arranged on the left side of the box packing manipulator 5, which controls and ensures that the actions of each component from the taking out manipulator 2 to the automatic box feeding and arranging system 6 are coordinated.

Please refer to Fig. 2 to Fig. 4 at the same time, the take-out manipulator 2 includes a support frame 2-1, a beam 2-2, a first servo motor 2-3, a first reducer 2-4, a reducer mounting seat 2-5, The first active synchronous pulley 2-6, the first synchronous belt 2-7, the first passive synchronous pulley 2-8, the first mobile slide 2-9, the slider 2-10, the line rail 2-11, and the take-out mechanism Arm 2-12 and first jig 2-13.

The beam 2-2 is installed in parallel on one side of the support frame 2-1, the support frame 2-1 is fixed on the base of the safety protection frame 1, the first servo motor 2-3 passes through the first reducer 2-4 and the reducer mounting seat 2-5 is fixed on an end face of the beam 2-2. The two line rails 2-11 are arranged on the bottom surface of the beam 2-2, and the take-out mechanical arm 2-12 is connected to the first jig 2-13 on its end and fixed on the first moving slide plate 2-9, while the first moving Two pairs of slide blocks 2-10 embedded in the two line rails 2-11 are fixed on the slide plate 2-9. The first active synchronous pulley 2-6 is connected with the first reducer 2-4 output shaft by a key, the first active synchronous pulley 2-6, the first passive synchronous pulley 2-8 and the first synchronous belt 2-7 A belt transmission system is formed, and the first passive synchronous pulley 2-8 is installed inside the other end of the crossbeam 2-2. The first synchronous belt 2-7 runs through the inside of the crossbeam 2-2, and one side thereof is inside the crossbeam 2-2, and the first synchronous belt 2-7 is fixed on the first moving slide plate 2-9 by a pressing block. Therefore, through the transmission of the first servo motor 2-3 and the first synchronous belt 2-7, the take-out mechanical arm 2-12 and the first jig 2-13 move left and right along the direction of the line rail 2-11, so as to realize the Remove the product from the mold for vascular injection molding.

Please refer to Fig. 5, the overturn manipulator 3 includes a overturn support frame 3-1, a second servo motor 3-2, a second reducer 3-3, a slider fixing plate 3-4, a slider 3-5, a hollow telescopic Beam 3-6, third servo motor 3-7, third reducer 3-8, rotary output shaft 3-9, second jig 3-10, telescopic cylinder 3-11 and cylinder support 3-12.

The overturn support frame 3-1 is fixed on the base of the safety protection frame 1, the second servo motor 3-2 and the second speed reducer 3-3 are installed inside the overturn support frame 3-1, and the second speed reducer 3-3 The circular output disc is fixedly connected with the slider fixing plate 3-4. The bottom of the hollow telescopic beam 3-6 is equipped with two wire rails, the slide block 3-5 slides on the two wire rails, and the slide block fixing plate 3-4 is fixedly connected on the slide block 3-5. The telescopic cylinder 3-11 is fixedly connected to the slider fixed block 3-4 by the cylinder bracket 3-12, and one end of the piston rod is connected to the hollow telescopic beam 3-6, and the hollow telescopic beam 3-6 is realized through the promotion of the telescopic cylinder 3-11. 6 telescopic movements. The third servo motor 3-7 and the third speed reducer 3-8 are installed inside the hollow telescopic beam 3-6, and the circular output disc of the third speed reducer 3-8 is fixedly connected with the rotation output shaft 3-9, and the rotation output shaft 3-9 is bolted to the second fixture 3-10 again, and the third servo motor 3-7 drives the second fixture 3-10 to rotate 90 degrees back and forth.

A buffer station is also provided on the side of the flip support frame 3-1, and the buffer station includes a hopper and a hopper box 3-13. Once an abnormality occurs during production, the injection molding machine does not need to be shut down to continue production, and the subsequent products can be unloaded at the buffer station. At the same time, because the quality of the several molded products just before the molding is not stable, they can also be placed in the buffer station for direct recycling.

Please refer to FIG. 6, the material distribution system 4 is mainly composed of a material distribution box 4-1, a material distribution pipeline 4-2, a chain transmission system 4-3, a conveyor belt 4-4 and a material distribution grid 4-5.

The chain transmission system 4-3 mainly includes a servo motor, a reducer, a driving sprocket, a driven sprocket and a chain. Countersink 4-6 is arranged on the uppermost panel of distribution box body 4-1, and the quantity of countersink 4-6 is equal to the quantity of product, each countersink 4-6 and the distribution pipeline 4-2 below it connected. The products released on the second jig 3-10 are transferred to the lower distributing grid 4-5 through the distributing pipeline 4-2, and then drive the conveyor belt 4-4 to move forward through the chain transmission system 4-3 to reach the specified Wait for the grabbing of packing manipulator 5 behind the position.

Please refer to Fig. 7 and Fig. 8 at the same time, the packing manipulator 5 is mainly supported by two supports 5-1, the second beam 5-2, the line rail 5-3, the second moving slide plate 5-4, and the slider 5- 5. The fifth servo motor 5-6, the fifth reducer 5-7, the second synchronous pulley 5-8, the reducer mounting seat 5-9, the second synchronous belt 5-10, the idler 5-11, the first It consists of six servo motors 5-12, a servo linear module 5-13 and a third jig 5-14.

The two ends of the second crossbeam 5-2 are fixedly installed on two supports 5-1, and the top and side of the second crossbeam 5-2 are respectively provided with line rails 5-3, which are fixed with the second mobile slide plate 5-4. The sliders 5-5 are fitted and embedded in the two wire rails 5-3 respectively, and can move left and right along the direction of the wire rails 5-3. The fifth servo motor 5-6, the fifth speed reducer 5-7 and the speed reducer mounting seat 5-9 are installed on the second mobile slide plate 5-4, and the output end of the fifth speed reducer 5-7 is connected with the synchronous pulley 5- 8, and form a belt transmission connection with the second synchronous belt 5-10 and two idler pulleys 5-11 whose two ends are fixed on the second beam 5-52. A servo linear module 5-13 is fixedly installed on the side plate of the second mobile slide plate 5-4 to realize up and down movement, and a third jig 5-14 is fixedly installed on the slide table of the linear module 5-13. Packing manipulator 5 can realize moving left and right and moving up and down.

Please refer to Fig. 9 to Fig. 11 at the same time, the automatic box feeding and arranging system 6 is mainly composed of an automatic box feeding system, a first packing conveying system and a second packing conveying system, the first packing conveying system and the second packing conveying system The conveying system is a mutual symmetrical structure, which is respectively set on the left and right sides of the automatic box feeding system. The automatic box supplying and arranging system 6 effectively utilizes the space and improves the packing efficiency.

The automatic box feeding system mainly includes the seventh servo motor 6-1, the sixth reducer 6-2, the third active synchronous pulley 6-3, the third passive synchronous pulley 6-4, the third synchronous belt 6-5, Ejection cylinder 6-6, frame structure 6-7, empty box 6-8 and push box rodless cylinder 6-9. The seventh servo motor 6-1 and the sixth reducer 6-2 drive the third active synchronous pulley 6-3 and the third passive synchronous pulley 6-4 to rotate, and two third synchronous belts 6-5 are placed on them The empty case 6-8 on the top is transported to the front end. The function of the ejecting cylinder 6-6 is to push out the empty box delivered to the front, and then use the push box rodless cylinder 6-9 to push the empty box 6-8 to the first packing conveying system or to the left or right. The packing position of the second packing transfer system is waiting for the packing manipulator 5 to pack.

Since the first case-packing conveying system and the second case-packing conveying system have symmetrical structures and basically have the same functions, the following uses the first case-packing conveying system as an example for illustration. The first case transfer system includes a case frame 6-11, an advance rodless cylinder assembly 6-10, and a retreat rodless cylinder 6-12. After the automatic case supply system pushes the first empty case 6-8 to the designated position of the first packing conveying system, the rodless cylinder assembly 6-10 is pushed to perform actions, and the empty case 6-8 is pushed forward for a certain distance After arriving at the boxing position, wait for the boxing mechanical system 5 to place the product inside it. Once the product is full, the retreat rodless cylinder assembly 6-12 starts to work, pushes back the case full of products until it is in a suitable position, and the retreat rodless cylinder assembly 6-12 returns to its original position.

The electronic control module 7 can also control the detector on the product fixture, so that the utility model has an intelligent detection function: after the molding mold is opened, if a certain hole or several holes are not demoulded or lack of material, take out the manipulator 2 and pass through the first A jig 2-13 sends an alarm immediately after detection and shuts down; if the turning manipulator 3 is in the flipping process or the packing manipulator 5 is in the grabbing process when the product falls off or lacks material, the second jig 3-10 or the third jig Tool 5-14 also all can send an alarm.

During actual use, the entire taking-out and boxing action flow of the utility model is as follows:

1. Take out the manipulator 2 and stand by at the position shown in Figure 1, waiting for the mold opening signal from the injection molding machine;

2. After receiving the mold opening signal, take out the manipulator arm 2-12 and push it forward to the set position in the mold, and the first jig 2-13 obtains the product under the action of the mold push plate; then retreat to the designated position and wait for the flip Manipulator 3 exchanges products, as shown in Figure 2;

3. As shown in Figure 5, under the action of telescopic cylinder 3-11, the hollow telescopic beam 3-6 of the turning manipulator 3 advances to a suitable position, absorbs the product on the first jig 2-13 and retreats, and simultaneously takes out the manipulator 2 to return to the standby state;

4. Driven by the third servo motor 3-7, the second jig 3-10 rotates 90 degrees, switching from vertical to horizontal, and then driven by the second servo motor 3-2, so that the hollow telescopic beam 3-6 Together with the second jig 3-10, rotate 90 degrees again; at this time, the product is switched from a horizontal state to a vertical state, and then the second jig 3-10 is vacuum disconnected, and the product slides smoothly on the distribution material under the action of gravity. In system 4 (as shown in Figure 6), the product is transported through the distribution pipeline 4-2 and the conveyor belt 4-4, so that the product finally arrives at the designated position along the conveying trough of the distribution grid 4-5; at the same time, flip The actions of manipulator 3 are reset;

5. After receiving the product arrival signal, the third fixture 5-14 descends to the set position through the servo linear module 5-13 to obtain the product and rises to the specified height, and then moves to the left to move to the first packing conveying system The preset position, finally the third jig 5-14 descends, puts the product into the material box and rises and resets, as shown in Figure 7;

6. Combined with Figure 9, Figure 10 and Figure 11, the action flow of the automatic box supply and arrangement system 6 is as follows: After the empty box in the middle is conveyed to the front by the timing belt, the empty box is lifted upward by the ejector cylinder 6-6 A certain distance to make it break away from the shackles of the synchronous belt (the action is shown by the arrow ①), and then the push box rodless cylinder 6-9 (shown by the dotted line in Figure 9) first rotates 90 degrees (the action is shown by the arrow ②), so that the push box The plate changes from a horizontal state to a vertical state, and is just in the middle of the side of the first empty box; then the push box rodless cylinder 6-9 starts to work, and pushes the empty box to the left along the direction of the guide rod to the first box. The corresponding position of the box transmission system (the action is shown by the arrow ③, and the dotted line in Figure 9); then, another group of propelling rodless cylinder assemblies 6-10 starts to work, and it is also rotated 90 degrees first (the action is shown by the arrow ④), Then push the empty box forward to make it reach the set actual boxing position (the action is shown by the arrow ⑤); when the first boxing conveyor system is full of products, the full box will be moved backward by the rodless cylinder 6- 12 to move backwards (the action is shown by arrow ⑥); during this process, the packing manipulator 5 continues to work and puts the obtained product into the empty material box of the second packing system on the right; when packing After the full product box back movement is completed, the first empty material box 6-8 located at the front of the automatic box supply system is ejected by the ejection cylinder 6-6 installed at the bottom, and pushed out by the rodless cylinder 6 -9 is pushed to the designated position and waits for the next packing; the action principle of the second packing conveying system is the same and will not be repeated here; functions such as automatic case supply and packing arrangement are realized through the above-mentioned continuous cycle.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (8)

1. a medical heparin tube takes out and packaging system automatically, it is arranged on the sidepiece of heparin tube injection moulding machine, it is characterized in that, comprise security protection framework and be arranged on extracting mechanical arm, turning manipulator, material-distributing system, boxing manipulator, automatic confession case arranging system and the electronic control module in described security protection framework; Described extracting mechanical arm is arranged on the front side portion of security protection framework, for taking out product in the mould from heparin tube injection mo(u)lding; Described turning manipulator is arranged on the rear lateral portion of extracting mechanical arm, the product that extracting mechanical arm takes out is turned into horizontal direction from vertical direction and is placed on material-distributing system; Described material-distributing system to be arranged on immediately below turning manipulator and to be positioned at the middle part of security protection framework, the product taken out is transported to assigned address and waits for that boxing manipulator captures; Described boxing manipulator is arranged on the rear lateral portion of material-distributing system, and the product for capturing taking-up is placed in the packing case of product; Describedly automatically then be arranged on the below of boxing manipulator for case arranging system and be positioned at the rear portion of security protection framework, empty package case be supplied to assigned address and the packing case of splendid attire product is transplanted on other position from assigned address; Described electronic control module is arranged on the sidepiece of boxing manipulator, and it controls and guarantees from extracting mechanical arm to the close look at the swing automatically supplying each assembly of case arranging system.

2. a kind of medical heparin tube as claimed in claim 1 takes out and packaging system automatically, it is characterized in that, described extracting mechanical arm comprises bracing frame, crossbeam, the first servomotor, the first reductor, speed reducer mounting base, the first active synchronization belt wheel, the first Timing Belt, the first passive and synchronous belt wheel, the first moving slide board, slide block, line rail, extracting mechanical arm arm and the first tool; Described crossbeam is installed in parallel in bracing frame side, and support frame as described above is fixed on the base of security protection framework, and described first servomotor is fixed on an end face of crossbeam by the first reductor and speed reducer mounting base; Two described line rails are arranged on the bottom surface of crossbeam, described extracting mechanical arm arm first tool of ining succession on its end is fixed on the first moving slide board, and described first moving slide board is fixed with two to the slide block be embedded in two line rails, described first active synchronization belt wheel is connected by key with the first speed reducer output shaft, described first active synchronization belt wheel, the first passive and synchronous belt wheel and the first Timing Belt constitute belt transmission system, and the other end that described first passive and synchronous belt wheel is arranged on crossbeam is inner; Described first Timing Belt runs through crossbeam inside, and it is inside crossbeam, and described first Timing Belt is fixed on the first moving slide board by briquetting; By the transmission of described first servomotor and the first Timing Belt, described extracting mechanical arm arm just moves left and right along line rail direction together with the first tool.

3. a kind of medical heparin tube as claimed in claim 1 takes out and packaging system automatically, it is characterized in that, described turning manipulator comprises overturning support, the second servomotor, the second reductor, slide block fixed head, slide block, hollow extensible canopy, the 3rd servomotor, the 3rd reductor, rotating output shaft, the second tool, telescopic cylinder and air cylinder support, described overturning support is fixed on the base of security protection framework, described second servomotor and the second reductor are arranged on the inside of overturning support, the circular output panel of the second reductor is fixedly connected slide block fixed head, the bottom of described hollow extensible canopy is provided with two line rails, described slide block slides on two line rails, described slide block fixed head is fixedly connected on slide block, described telescopic cylinder is fixedly connected on sliding dowel block by air cylinder support, its piston rod one end is connected to hollow extensible canopy, the stretching motion of hollow extensible canopy is realized by the promotion of described telescopic cylinder, it is inner that described 3rd servomotor and the 3rd reductor are arranged on hollow extensible canopy, the circular output panel of described 3rd reductor has been fixedly connected with rotating output shaft, described rotating output shaft is with bolts with the second tool again, and described 3rd servomotor drives the second tool reciprocating rotation.

4. a kind of medical heparin tube as claimed in claim 3 takes out and packaging system automatically, it is characterized in that, be also provided with buffer station in the side of described overturning support, described buffer station comprises hopper and hopper box.

5. a kind of medical heparin tube as claimed in claim 3 takes out and packaging system automatically, it is characterized in that, described material-distributing system forms primarily of sub-material casing, sub-material pipeline, chain drive system, conveyer belt and sub-material grid; Described chain drive system mainly comprises servomotor, reductor, drive sprocket, driven sprocket and chain; The panel that described sub-material casing is gone up most has countersunk, the quantity of described countersunk is equal with the quantity of product, countersunk described in each is connected with the sub-material pipeline below it, the product that described second tool discharges is sent on sub-material grid below by sub-material pipeline, drive conveyer belt to travel forward by described chain drive system again, after arriving assigned address, wait for the crawl of boxing manipulator.

6. a kind of medical heparin tube as claimed in claim 1 takes out and packaging system automatically, it is characterized in that, described boxing manipulator primarily of two support, second cross beam, line rail, the second moving slide board, slide block, the 5th servomotor, the 5th reductor, the second synchronous pulley, speed reducer mounting base, the second Timing Belt, idle pulley, the 6th servomotor, servo linear module and the 3rd tool composition; Described second cross beam two ends are fixedly mounted on two and support, above described second cross beam and side is respectively arranged with line rail, the two pair slide blocks fixing with described second moving slide board coordinate respectively and are embedded in the middle of two line rails, can move left and right along line rail direction; Described second moving slide board is provided with the 5th servomotor, the 5th reductor and speed reducer mounting base, described 5th output end of reducer is connected to synchronous pulley, and is fixed on the second Timing Belt on second cross beam and two idle pulleys with two ends and forms V belt translation and be connected; The lateral plates of described second moving slide board fixedly mounts servo linear module, the slide unit of described linear module has fixedly mounted the 3rd tool.

7. a kind of medical heparin tube as claimed in claim 1 takes out and packaging system automatically, it is characterized in that, the described automatic case arranging system that supplies is primarily of automatically forming for case system, the first vanning transfer system and the second vanning transfer system, described first vanning transfer system and the second vanning transfer system are symmetrical structure, are separately positioned on automatically for the left and right sides of case system; The described automatic case system that supplies mainly comprises the 7th servomotor, the 6th reductor, the 3rd active synchronization belt wheel, the 3rd passive and synchronous belt wheel, the 3rd Timing Belt, ejects cylinder, frame structure, empty van and push away case Rodless cylinder; Described 7th servomotor and the 6th reductor drive the 3rd active synchronization belt wheel and the 3rd passive and synchronous belt wheel to rotate, and two described 3rd Timing Belts are transported to empty van placed thereon foremost; The described effect ejecting cylinder is that the empty van being transported to foremost is upwards ejected, and pushes away the vanning position that case Rodless cylinder promotes empty van to the first vanning transfer system or the second vanning transfer system to the left or to the right, wait for boxing manipulator vanning described in recycling.

8. a kind of medical heparin tube as claimed in claim 7 takes out and packaging system automatically, it is characterized in that, described first vanning transfer system comprises box frame, advances Rodless cylinder assembly and retreat Rodless cylinder; When after the assigned address automatically for case system first empty van being pushed to the first vanning transfer system, described propelling Rodless cylinder assembly starts to perform an action, empty van is pushed ahead a segment distance, after arriving vanning position, waits for that vanning mechanical system places product toward its inside; Once after product fills, described retrogressing Rodless cylinder assembly is started working, filling the chest of product toward pusher until retreat Rodless cylinder component recovery behind suitable position to original position.