CN207748093U - Zhua Ping mechanisms and pharmaceutical production equipment - Google Patents

Abstract

The utility model is related to a kind of Zhua Ping mechanisms and pharmaceutical production equipment, Zhua Ping mechanisms include：Pedestal (5) and the multiple crawl bars being operatively coupled on the pedestal (5) are equipped with support portion (2) in the outer surface of the crawl bar；At least part of adjacent crawl bar surrounds the accommodating space for accommodating bottle in the multiple crawl bar, and can be rotated relative to the pedestal (5), so that the support portion (2) switches in the first position and releasing for forming support locking to the exterior contour of the bottle between the second position of the support locking of the exterior contour of the bottle.For existing Zhua Ping mechanisms, the utility model is supported bottle exterior contour using support portion, and the grasping movement of bottle is relatively reliable.On the other hand, it realizes grasping movement as a result of the mode of crawl bar rotation, will not interfere the structure, it can be achieved that closely between multiple crawl bars, occupy less space.

Description

Zhua Ping mechanisms and pharmaceutical production equipment

Technical field

The utility model is related to food and medicine production or packaging fields more particularly to a kind of Zhua Ping mechanisms and pharmaceutical production to set It is standby.

Background technology

In food and medicine production or packaging industry, it is often necessary to capture out bottle using from a region, then move Bottle is placed into another region to another region.For example, cushion is packed into carton after the crawl of active conveying bottle line, The Zhua Ping mechanisms that can be matched with cushion using some are needed in this process stable grab bottle to realize and put bottle Action.

At present there are many structure type of Zhua Ping mechanisms, the mode that air bag is injected for example, by using compressed air is carried out hard-pressed bale and is lived Part bottle applies the both sides of bottle to realize action of grabbing bottles, or using the bottle structure of grabbing of the bottle catching mechanical hand similar to pliers Action of grabbing bottles is realized with extruding force, or draws bottle using the negative pressure mechanism being arranged at the top of bottle to realize that grab bottle dynamic Make etc..But there is certain defects for these existing Zhua Ping mechanisms.

For using packet bottle or inhale bottle Zhua Ping mechanisms, grab bottle head can only the lighter bottle of weight capacity, for dead weight Larger bottle fills for the bottle compared with heavy material, there is the possibility of certain crawl failure, reduces use reliability. If increasing used positive pressure or negative pressure, the energy consumption of system can be increased again.In addition, not being stringent closed bottle for bottle cap For body, negative pressure inhales bottle mode and is also difficult to apply.For jaw type Zhua Ping mechanisms, since it exists when grabbing bottle and putting bottle The action of opening, for the occasion of multiple bottles while pick-and-place, in order to avoid the action of grabbing bottles hair between adjacent bottle catching mechanical hand Raw interference needs to design the larger Zhua Ping mechanisms of overall dimensions, causes to use the equipment size of this Zhua Ping mechanisms huger, Occupy more spaces.

Utility model content

The purpose of this utility model is a kind of Zhua Ping mechanisms of proposition and pharmaceutical production equipment, can improve bottle grasping movement Reliability, while reducing the space hold of Zhua Ping mechanisms.

To achieve the above object, the utility model provides a kind of Zhua Ping mechanisms, including：It pedestal and is operatively coupled on Multiple crawl bars on the pedestal are equipped with support portion in the outer surface of the crawl bar；At least portion in the multiple crawl bar The adjacent crawl bar divided surrounds the accommodating space for accommodating bottle, and can be rotated relative to the pedestal, so that the branch Support part forms the first position of support locking in the exterior contour to the bottle and releases to the exterior contour of the bottle Switch between the second position of support locking.

Further, the adjacent crawl bar for surrounding the accommodating space of bottle includes at least three crawl bars.

Further, on at least three crawl bars in the support portion that is arranged at least partly can be described the One position forms the supporting role of the exterior contour to the bottle, and is released to the outer of the bottle in the second position The supporting role of contouring.

Further, the adjacent crawl bar for surrounding the accommodating space of bottle includes four crawl bars.

Further, the exterior contour of the bottle is equipped with discrete or continuous flange, the support portion include relative to The bulge-structure of the outer surface of the crawl bar, when the support portion turns to the first position with the crawl bar, institute The lower section that bulge-structure enters the flange from side is stated, the flange is formed and is supported, in the support portion with the crawl When bar is rotated to the second position, the bulge-structure leaves the lower section of the flange.

Further, the exterior contour of the bottle is equipped with discrete or continuous groove, the support portion include relative to The bulge-structure of the outer surface of the crawl bar, when the support portion turns to the first position with the crawl bar, institute It states bulge-structure and enters the groove from side, the groove is formed and is supported, in the support portion with the crawl bar to institute When stating second position rotation, the bulge-structure leaves the groove.

Further, in the state that the support portion is in the first position, the bulge-structure is directed toward the bottle Body；The support portion is in the second position in a state that, the bulge-structure is cut with corresponding position on the bottle Line direction is consistent.

Further, the multiple crawl bar forms the crawl bar of the accommodating space with multiple bottles along the horizontal plane Array, to capture multiple bottles simultaneously.

Further, the crawl bar includes：Seat, driving mechanism and supporting rod are captured, the supporting rod is arranged described The lower section of seat is captured, the crawl seat is operably connected with the pedestal, and the driving mechanism is arranged on the pedestal, energy Enough drive the crawl seat rotation predetermined angle.

Further, at least partly outer profile of the supporting rod is cylinder.

Further, the outer profile that the supporting rod of the crawl bar in outside is located in the multiple crawl bar is equipped with guiding Plane.

Further, it is additionally provided with taper guide part in the lower end of the supporting rod.

Further, further include：Clutch on the pedestal is set, and the clutch is consistent with rotation direction extremely Driving mechanism connection in few two crawl bars, can realize the synchronous rotation of each driving mechanism.

Further, the driving mechanism includes swing rod and swing arm, and the both ends of the swing arm are separately connected the clutch With the swing rod, the swing rod is also connect with the crawl seat.

Further, further include the elastic Tui Ping dropping places mechanism being located above the accommodating space of the bottle, it can be in institute When stating support portion and being in the second position, the bottle dropping place is pushed down on.

To achieve the above object, the utility model provides a kind of pharmaceutical production equipment, including Zhua Ping mechanisms above-mentioned.

Based on the above-mentioned technical proposal, the switching that the utility model is locked and unlocked using the action of rotation crawl bar, And the support portion on the accommodating space and crawl bar surrounded using crawl bar realizes grabbing for bottle to the support locking of bottle It takes.For existing Zhua Ping mechanisms, the utility model is supported bottle exterior contour using support portion, and bottle exists Support portion will not be detached under the limitation of support portion because of dead weight, therefore the grasping movement of bottle is relatively reliable.On the other hand, due to The mode for using crawl bar rotation realizes grasping movement, will not be interfered between multiple crawl bars, is also not present and is similar to The expansion action of existing jaw type Zhua Ping mechanisms, therefore can realize structure closely, occupy less space.

Description of the drawings

Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application, The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model It limits.In the accompanying drawings：

Fig. 1 is structural schematic diagram of the embodiment in head-up angle of the utility model Zhua Ping mechanisms.

Fig. 2 is structural schematic diagram of another embodiment in head-up angle of the utility model Zhua Ping mechanisms.

Fig. 3 be the utility model grab bottle mechanism embodiment depression angle structural schematic diagram.

Specific implementation mode

Below by drawings and examples, the technical solution of the utility model is described in further detail.

As shown in Figure 1, being structural schematic diagram of the embodiment in head-up angle of the utility model Zhua Ping mechanisms.In this reality It applies in example, Zhua Ping mechanisms include：Pedestal 5 and the multiple crawl bars being operatively coupled on the pedestal 5.Pedestal 5 can be used Bar is captured in installation, and the movement for capturing bar is driven, the in addition movement of pedestal 5 can also drive crawl bar to transport therewith It is dynamic.

It is equipped with support portion 2 in the outer surface of the crawl bar.With reference to figure 1, support portion 2 may include in crawl rod outer surface The bulge-structure of formation, such as including multiple continuous or discrete bulge-structure (showing at least three bulge-structures in Fig. 1), An individual bulge-structure can also be only included.Support portion 2 is arranged in the outer surface of crawl bar, can turn with crawl bar It moves and moves to different operating positions, and different operating positions has corresponded to its different role relationship to bottle.

In multiple crawl bars, there is at least part of adjacent crawl bar that can surround the accommodating space for accommodating bottle. That is, when carrying out grabbing bottle operation, these adjacent crawl bars can reach the surrounding of bottle, and bottle is surrounded, is formed The accommodating space of the bottle, in this way when bottle is picked up, these crawl bars can limit the double swerve of bottle, maintain its fortune Stability when dynamic.When bottle enters above-mentioned accommodating space, bar is captured by driving and is rotated relative to pedestal 5, can be made Support portion 2 forms the first position of support locking in the exterior contour to bottle and releases the branch to the exterior contour of the bottle Switch between the second position of support locking.

Compared with existing Zhua Ping mechanisms, the present embodiment is supported bottle exterior contour using support portion, and bottle exists Support portion will not be detached under the limitation of support portion because of dead weight, therefore the grasping movement of bottle is relatively reliable.On the other hand, due to The mode for using crawl bar rotation realizes grasping movement, will not be interfered between multiple crawl bars, is also not present and is similar to The expansion action of existing jaw type Zhua Ping mechanisms, therefore can realize structure closely, occupy less space.

For the multiple crawl bars connected on pedestal, all crawl bars can be as surrounding the adjacent of accommodating space Bar is captured, only can also be used as adjacent crawl bar by crawl bar in part, this main quantity and pendulum according to bottle to be captured Mode is put to determine.But for a bottle, the adjacent crawl bar for surrounding the accommodating space of the bottle includes at least three The crawl bar can not form the stable support function for being directed to bottle this is because if adjacent crawl bar is less than three, And three crawl bars are then the compositions of the minimum adjacent crawl bar for the accommodating space that can form bottle.And it is steady in view of what is captured Qualitative and economy, the adjacent crawl bar for preferably surrounding the accommodating space of bottle include four crawl bars.

Due to grab bottle transport bottle during, other than support portion 2 plays the supporting role to the exterior contour of bottle, The outer profile of crawl bar itself also can to a certain extent be supported bottle, therefore at least three for constituting adjacent crawl bar For a crawl bar, capture on bar in the support portion 2 that is arranged at least partly (such as only one or two is grabbed Take the support portion 2 on bar or the support portion 2 on all crawl bars) it can be formed to the outer of the bottle in the first position The supporting role of contouring.And then need to release the supporting role of the exterior contour to the bottle in the second position, in order to avoid Cause bottle cannot normal dropping place the problem of.

Support portion 2 mentioned above may include the bulge-structure relative to the outer surface of crawl bar, then in order to more Good support limits bottle, and the exterior contour for being preferably useful in bottle is equipped with the bottle example of discrete or continuous flange, in this way When support portion 2 turns to the first position with the crawl bar, bulge-structure can enter from side under the flange Side forms the flange and supports.And when support portion 2 is rotated with the crawl bar to the second position, bulge-structure can To leave the lower section of the flange, to release the support restriction effect to bottle.

In the applicable bottle example of another kind, the exterior contour of bottle is equipped with discrete or continuous groove.With a kind of upper bottle The pick-and-place process of body example is similar, and support portion 2 preferably includes the bulge-structure of the outer surface relative to the crawl bar, and is propping up When support part 2 turns to the first position with the crawl bar, which can enter the groove from side, to described Groove forms support.And when the support portion 2 is rotated with the crawl bar to the second position, the bulge-structure leaves The groove, to release the support restriction effect to bottle.

For above-mentioned different bottle example, in the state that support portion 2 is in the first position, bulge-structure can be with It is directed toward the bottle, so as to reliably be resisted against below the flange being arranged on bottle or in groove.According to flange or groove Size and form, bulge-structure can be directed toward the different location of bottle, such as be directed toward the center of gravity institute of bottle in the vertical direction In straight line or deviate the position etc. of the straight line pre-determined distance, as long as the supporting role to the stabilization of bottle can be formed. The support portion 2 is in the state of the second position, the tangent line side of the bulge-structure and corresponding position on the bottle To consistent, to ensure that bulge-structure can leave below the flange being arranged on bottle or the range of groove.

In order to capture multiple bottles simultaneously, the bottle especially put according to specific array is grabbed in another embodiment Multiple crawl bars of bottle mechanism can form the crawl bar array of the accommodating space with multiple bottles along the horizontal plane.With reference to Fig. 3, it can be seen that the crawl bar array of 5*7 arrays.In different embodiments, 4*4, the arrays such as 8*5 can also be arranged to.Separately Outside, it can see from depression angle shown in Fig. 3, multiple crawl bars can form whole rectangle, to realize from rectangular box The job requirement of multiple bottles is captured in son.Certainly, multiple crawl bars can also form other global shapes, such as diamond shape, Stairstepping etc..In addition, can also be simultaneously as the bottle of another adjacent position in constituting the adjacent crawl bar of some bottle Adjacent crawl bar is equivalent to the crawl that a crawl bar coordinates other adjacent crawl bars to can be realized simultaneously more than one bottle Action.

For the composition for capturing bar, with reference to figure 1, crawl bar can specifically include：Capture seat 11, driving mechanism and folder Hold bar 12.Wherein, supporting rod 12 is arranged in the lower section of the crawl seat 11, and the crawl seat 11 and the pedestal 5 are operationally Connection, the driving mechanism are arranged on the pedestal 5, and the crawl seat 11 can be driven to rotate predetermined angle.Capture seat 12 It, also can be at top to the wheel of bottle for the bottle of some specific shapes other than it can connect supporting rod 12 Profile is at effect is held out against, to assist action of grabbing bottles.

It is realized to the clamping action of bottle in order to facilitate supporting rod 12, preferably makes at least partly outer profile of supporting rod 12 be in Cylinder, the circumferential outer profile for especially capturing the supporting rod being located in bar array in the crawl bar of non-edge position are in integrally circle Cylindricality can adapt to the requirement for capturing multiple bottles simultaneously in this way.And positioned at the crawl bar of marginal position, such as multiple crawl bars In be located at outside the outer profile of supporting rod 12 of crawl bar be then preferably provided with guide surface, so as to the babinet that installs with bottle Outer wall is oriented to cooperation, and avoids interfering with installation babinet.

It is may being placed due to bottle and irregular for the grasping manipulation for the multiple bottles being arranged in babinet, or Arrangement mode between multiple crawl bars has a small amount of difference.Each bottle can smoothly enter corresponding accommodating for convenience Space is reduced artificial auxiliary adjustment, is oriented in one embodiment, it is preferred that taper is further arranged in the lower end of supporting rod 12 Portion 13.The taper guide part 13 can reduce the difficulty in the gap that supporting rod 12 is properly inserted between adjacent bottle, and And with the increase of insertion depth, bottle is from taper guide part 13 to can be from less neat pendulum under the constraint of supporting rod 12 Position is put gradually to arrange to neat and accurate crawl position.

In order to control crawl bar accurately rotate special angle so that support portion in time reach specified first position or The second position independently or associatedly can drive crawl bar by driving mechanism.In order to reduce the number of power unit Amount, the clutch 4 that may further include and be arranged on the pedestal 5 in bottle mechanism embodiment is grabbed at one.The clutch 4 with Driving mechanism connection in at least two consistent crawl bars of rotation direction, can realize the synchronization of each driving mechanism Rotation.It can either ensure to capture the consistency that bar moves in this way, also save the power unit that power is provided.

With reference to figure 1, driving mechanism can specifically include swing rod 31 and swing arm 32.The both ends of swing arm 32 are separately connected described Dynamic device 4 and the swing rod 31, the swing rod 31 are also connect with the crawl seat 11.In this way when clutch 4 power unit (such as Servo motor, cylinder etc.) drive under when being translatable, clutch 4 can drive swing arm 32 to move, and the further band movable pendulum of swing arm 32 Bar 31 rotates, and the crawl seat 11 being connect with swing rod 31 will drive supporting rod 12 to rotate simultaneously.In another embodiment, Multiple power units can be used, crawl bar rotation is independently driven by driving mechanism respectively.

As shown in Fig. 2, being structural schematic diagram of another embodiment in head-up angle of the utility model Zhua Ping mechanisms.With it is upper One embodiment is compared, and the Zhua Ping mechanisms of the present embodiment further include that the elasticity being located above the accommodating space of the bottle pushes away a bottle dropping place Mechanism 6 can push down on the bottle dropping place when the support portion 2 is in the second position.When Zhua Ping mechanisms carry out When grabbing bottle operation, the top of bottle can be with elasticity of compression Tui Ping dropping places mechanism 6, and elasticity Tui Ping dropping places mechanism 6 can also match at this time It closes support portion 2 and clamps bottle jointly so that the crawl of bottle and transport process are relatively reliable, it is not easy to the problem of bottle falling occurs. And when needing to fall bottle, once having removed support of the support portion 2 to bottle, then elasticity Tui Ping dropping places mechanism 6 can be formed to bottle The lower pressure of body, it is ensured that bottle can be pushed in certain dynamics to dropping place surface is waited for, to which the bottle that falls for realizing stable operates.

In fig. 2, elastic Tui Ping dropping places mechanism 6 may include extension sleeve, push plate 61 and compressed spring 62, extension sleeve Fixing end be fixed on pedestal 5, telescopic end connect push plate 61, compressed spring 62 be arranged inside extension sleeve, one end connect The telescopic end of push plate 61 or extension sleeve is connect, the other end connects the fixing end of pedestal 5 or extension sleeve, in this way when bottle passes through When abutting against push plate 61 so that compressed spring 62 is compressed upwards, compressed spring 62, which is formed by elastic force, to transport bottle mistake grabbing bottle It is realized in journey to the pressuring action at the top of bottle, steps up the effect that bottle makes it be not easy to rock to realize.And in bottle dropping place When position, once having removed supporting role of the support portion 2 to bottle, then the elastic force of compressed spring 62 again can be fast downwards by bottle Speed is released, and is held out against and is waited for dropping place surface, to the stability for improving working efficiency He falling bottle.

Each embodiment of above-mentioned Zhua Ping mechanisms is widely portable to all kinds of synchronization transfer operations for needing to carry out multiple bottles, It is especially suitable for applying in pharmaceutical production field.Therefore the utility model additionally provides a kind of pharmaceutical production equipment, including above-mentioned The embodiment of any Zhua Ping mechanisms.Either empty bottle still claims the bottle for having drug or material, can be new by this practicality The reliable operation that the Zhua Ping mechanisms of type complete crawl, shift and fall bottle.

Based on an above-mentioned bottle mechanism embodiment of grabbing, the utility model additionally provides corresponding bottle transfer flow, including：

First pedestal 5 is moved to above bottle to be captured, and drives the pedestal 5 and the multiple crawl bar towards institute Bottle movement is stated, so that the bottle is used to accommodate into what at least part of adjacent crawl bar in the multiple crawl bar surrounded The accommodating space of the bottle.Then, the crawl bar is driven to turn to the first position relative to the pedestal 5, so that The support portion 2 forms support locking to the exterior contour of the bottle.This completes the grasping movements of bottle.

Dropping place surface is waited for next, the bottle of the pedestal 5 and crawl is moved to, so that the bottle body bottom contacts It is described to wait for dropping place surface or in the preset height waited on dropping place surface.Then drive the crawl bar relative to institute It states pedestal 5 and turns to the second position, so that the support portion 2 releases the support locking to the exterior contour of the bottle, Realize the bottle in the dropping place waited on dropping place surface.This completes the actions of the dropping place of bottle.

For grabbing for bottle mechanism embodiment including flexible Tui Ping dropping places mechanism 6,6 energy of elasticity Tui Ping dropping places mechanism Enough cooperation support portions 2 are formed in the vertical direction to the clamping action of bottle, and when support portion 2 releases the outside to the bottle When the support locking of profile, what elasticity Tui Ping dropping places mechanism 6 stablized by capable of making bottle rapid under the action of elastic force Dropping place.

Multiple embodiments are described by the way of progressive in this specification, and the emphasis of each embodiment is different, and each Same or analogous part cross-reference between embodiment.

Finally it should be noted that:Above example is only to illustrate the technical solution of the utility model rather than limits it System；Although the utility model is described in detail with reference to preferred embodiment, those of ordinary skill in the art should Understand：It can still modify to specific embodiment of the present utility model or some technical characteristics are equally replaced It changes；Without departing from the spirit of technical solutions of the utility model, should all cover in the claimed technical solution of the utility model In range.

Claims (16)

1. a kind of Zhua Ping mechanisms, which is characterized in that including：It pedestal (5) and is operatively coupled on multiple on the pedestal (5) Bar is captured, support portion (2) is equipped in the outer surface of the crawl bar；At least part of adjacent crawl bar in the multiple crawl bar The accommodating space for accommodating bottle is surrounded, and can be rotated relative to the pedestal (5), so that the support portion (2) is right The exterior contour of the bottle forms the first position of support locking and releases the support locking to the exterior contour of the bottle The second position between switch.

2. Zhua Ping mechanisms according to claim 1, which is characterized in that surround the adjacent crawl bar packet of the accommodating space of bottle Include at least three crawl bars.

3. Zhua Ping mechanisms according to claim 2, which is characterized in that the branch being arranged on at least three crawl bars At least partly the supporting role of the exterior contour to the bottle can be formed in support part (2) in the first position, and The second position releases the supporting role of the exterior contour to the bottle.

4. Zhua Ping mechanisms according to claim 2, which is characterized in that surround the adjacent crawl bar packet of the accommodating space of bottle Include four crawl bars.

5. Zhua Ping mechanisms according to claim 1, which is characterized in that the exterior contour of the bottle is equipped with discrete or continuous Flange, the support portion (2) include relative to it is described crawl bar outer surface bulge-structure, the support portion (2) with When the crawl bar turns to the first position, the bulge-structure enters the lower section of the flange from side, to described convex Edge forms support, and when the support portion (2) is rotated with the crawl bar to the second position, the bulge-structure leaves institute State the lower section of flange.

6. Zhua Ping mechanisms according to claim 1, which is characterized in that the exterior contour of the bottle is equipped with discrete or continuous Groove, the support portion (2) include relative to it is described crawl bar outer surface bulge-structure, the support portion (2) with When the crawl bar turns to the first position, the bulge-structure enters the groove from side, is formed to the groove Support, when the support portion (2) is rotated with the crawl bar to the second position, the bulge-structure leaves described recessed Slot.

7. Zhua Ping mechanisms according to claim 5 or 6, which is characterized in that be in described first in the support portion (2) In the state of setting, the bulge-structure is directed toward the bottle；In the state that the support portion (2) is in the second position, The bulge-structure is consistent with the tangential direction of corresponding position on the bottle.

8. Zhua Ping mechanisms according to claim 1, which is characterized in that the multiple crawl bar is formed along the horizontal plane with more The crawl bar array of the accommodating space of a bottle, to capture multiple bottles simultaneously.

9. Zhua Ping mechanisms according to claim 1, which is characterized in that the crawl bar includes：Capture seat (11), driving machine Structure and supporting rod (12), the supporting rod (12) setting in the lower section of the crawl seat (11), the crawl seat (11) with it is described Pedestal (5) is operably connected, and the driving mechanism is arranged on the pedestal (5), and the crawl seat (11) can be driven to turn Dynamic predetermined angle.

10. Zhua Ping mechanisms according to claim 9, which is characterized in that at least partly outer profile of the supporting rod (12) It is cylinder.

11. Zhua Ping mechanisms according to claim 9, which is characterized in that be located at the described of outside in the multiple crawl bar The outer profile for capturing the supporting rod (12) of bar is equipped with guide surface.

12. Zhua Ping mechanisms according to claim 9, which is characterized in that be additionally provided with cone in the lower end of the supporting rod (12) Shape guide part (13).

13. Zhua Ping mechanisms according to claim 9, which is characterized in that further include：Connection on the pedestal (5) is set Dynamic device (4), the clutch (4) at least two driving mechanism connections that capture in bars consistent with rotation direction, can Realize the synchronous rotation of each driving mechanism.

14. Zhua Ping mechanisms according to claim 13, which is characterized in that the driving mechanism includes swing rod (31) and swing arm (32), the both ends of the swing arm (32) are separately connected the clutch (4) and the swing rod (31), the swing rod (31) also with institute Crawl seat (11) is stated to connect.

15. Zhua Ping mechanisms according to claim 1, which is characterized in that further include on the accommodating space of the bottle The elastic Tui Ping dropping places mechanism (6) of side, can push down on the bottle when the support portion (2) is in the second position Body dropping place.

16. a kind of pharmaceutical production equipment, which is characterized in that including any Zhua Ping mechanisms of claim 1~15.