CN209635404U - Blister packaging machine new type of continuous catching robot - Google Patents

Abstract

The utility model discloses blister packaging machine new type of continuous catching robots, including protecting crust, transfer tube, protective shell and appendix, encoder is installed on the inside of the protecting crust, and vacuum generator is mounted on the right side of encoder, it is connected between the protecting crust and encoder for screw, and it is connected between vacuum generator and protecting crust for screw, the transfer tube is mounted on the right side of vacuum generator, and the bottom of transfer tube is connected with gas swivels, it is to be flexibly connected between the transfer tube and vacuum generator, and it is connected between transfer tube and gas swivels for screw, the protective shell is mounted on the right side of protecting crust, and gear-box is mounted on the inside of protective shell, the protective shell is mounted on the right side of protecting crust.The manipulator is provided with sucker, so that apparatus function is more complete, and three row's suckers realize crawl, inspection rejects simultaneously and place three continuous actions, and while the movement of every row it is far, it is non-interference, so that the function of every row's sucker be made all to go on smoothly.

Description

Blister packaging machine new type of continuous catching robot

Technical field

The utility model relates to manipulator technical fields, specially blister packaging machine new type of continuous catching robot.

Background technique

Manipulator is a kind of certain holding functions that can imitate manpower and arm, to by fixed routine crawl, carrying object Or the automatic pilot of operational instrument, domestic existing blister packaging machine manipulator are the reciprocating crawl structure of cam drive With rotary reciprocating swinging structure, wherein cam drive is reciprocating controls grasping plate according to cam height halt and puts the plate time, The position adjustment that it grabs and places is lever regulated using positive/negative thread, and advantage adjustment is simple and convenient, easy to maintain.But its Structure is reciprocating swing, and not only inertia is larger, but also swings that efficiency is not also high, and speed is more than the medicine grabbed after 100 beats/min Plate, which places unstable or even plate, may be thrown away winged, and structure is only suitable for middle low-speed device and uses；Rotary reciprocating swings mechanical Hand getting is controlled with eccentric wheel and is swung, and Serve Motor Control rotates hand and rotates angle, and rotation mode is to remain fortune counterclockwise Turn, the manipulator compared to the mechanical cam kind of drive is more efficient, and faster, but its structure is complex for speed, and inertia is bigger, high Speed operating is easy to throw away the plate of crawl winged.Its structure is suitble to middling speed equipment to use, i.e. ,/the speed of minute is cut lower than 150.

Manipulator in the market is because the mechanical effectively duration of runs is just reduced half by reciprocating drive manner, reciprocal faster machine Tool abrasion is more serious, and just worse and worse, and the running frequency of unit time is higher for stability, and speed is faster, and inertia is bigger, grabs The time for taking and placing plate, which is compressed, to be caused to grab and placement plate is all extremely unstable, while the plate grabbed is easier to fall off The problem of even flying out, for this purpose, it is proposed that a kind of grab stronger safe blister packaging machine new type of continuous crawl machinery Hand.

Utility model content

The purpose of this utility model is to provide blister packaging machine new type of continuous catching robots, to solve above-mentioned background skill The manipulator proposed in art is because the mechanical effectively duration of runs is just reduced half by reciprocating drive manner, reciprocal faster mechanical wear More serious, just worse and worse, and the running frequency of unit time is higher for stability, and speed is faster, and inertia is bigger, grabs and puts The time for setting plate, which is compressed, to be caused to grab and placement plate is all extremely unstable, while the plate grabbed is easier to fall off and even fly Out the problem of.

To achieve the above object, the utility model provides the following technical solutions: the crawl of blister packaging machine new type of continuous is mechanical Hand, including protecting crust, transfer tube, protective shell and appendix are equipped with encoder, and the right side of encoder on the inside of the protecting crust Side is mounted with vacuum generator, connects between the protecting crust and encoder for screw, and between vacuum generator and protecting crust For screw connection, the transfer tube is mounted on the right side of vacuum generator, and the bottom of transfer tube is connected with gas swivels, To be flexibly connected between the transfer tube and vacuum generator, and connected between transfer tube and gas swivels for screw, institute The right side that protective shell is mounted on protecting crust is stated, and is mounted with gear-box on the inside of protective shell, between the protective shell and protecting crust It connects for screw, and is connected between gear-box and gas swivels for screw, the inside of the gear-box is equipped with built-in tooth Wheel, and servo motor is connected on rear side of built-in gear, it is flexibly connected between the gear-box and built-in gear, and built-in tooth It connects, is flexibly connected between the servo motor and gear-box, the right side of the gear-box for groove between wheel and servo motor Side is mounted with gear-box protective shell, and mechanical arm is connected on the right side of gear-box protective shell, and the gear-box and gear-box are protected It connects between shell for screw, and is connected between gear-box protective shell and mechanical arm for screw, the appendix is fixed on mechanical arm Inside, and sucker fixed link is installed on the outside of appendix, is flexibly connected between the sucker fixed link and appendix, and To be flexibly connected between sucker fixed link and mechanical arm, the top of the sucker fixed link is mounted with sucker, and sucker and sucker To be flexibly connected between fixed link, the front end of the built-in gear is equipped with transmission gear, and the front end of transmission gear is mounted with It is punched knife, is connected between the built-in gear and transmission gear for groove, and is connected between transmission gear and punching knife for groove.

Preferably, it is drive mechanism between transfer tube and gas swivels that the vacuum generator, which passes through, and vacuum is sent out It is fitted closely between raw device and transfer tube.

Preferably, it is snap-in structure between the gear-box protective shell and protective shell, and is between gear-box and protective shell Nested structure.

Preferably, it is nested structure between the mechanical arm and appendix, and is between mechanical arm and gas swivels Screw connection.

Preferably, the sucker is provided with three rows, and there are four every rows, and it is evenly distributed in the outer of mechanical arm Side, and be snap-in structure between sucker fixed link and sucker.

Preferably, it is parallel construction between punching knife and the mechanical arm, and is tooth between servo motor and transmission gear Line connection.

Compared with prior art, the utility model has the beneficial effects that

1, the blister packaging machine new type of continuous catching robot is provided with encoder and vacuum generator, passes through encoder point The angle matched can accurately control each crawl of vacuum generator, inspection rejects and the position for placing three movements, configure two Six road gas swivels, each vacuum generator control an access, the independent each crawl for realizing manipulator, inspection rejects and put Three movements are set, so that device more stable can carry out pick-and-place to article, so that device can be more stable Carry out using avoiding article and be damaged, pass through gear-box protective shell to reduce the probability that article is fallen off It uses, gear-box can be protected, so that reduce that gear-box can be safer carries out using so that avoiding The case where device breaks down when in use, to reduce the time loss of device in hood to maintain；

2, the blister packaging machine new type of continuous catching robot is provided with gear-box, and when equipment operation, gear-box is driven Mechanical arm does displacement clockwise, but mechanical arm does rotation counterclockwise, so that the inertia clockwise of mechanical arm is largely cancelled, is used to Property also reduce the noise of equipment while decline to a great extent so that the stable and reliable operation of device, servo motor drives gear Case and the mechanical arm speed of service are more steady, and the mechanical structure of all-gear drive, and enabling to device, whether there is or not accumulative mistakes Difference, relative position is accurate and reliable, and control is simple, and can make machinery accordingly per one whole circle of operating clockwise by gear-box Arm relative counterclockwise rotates one third circle, i.e., when mechanical arm rotates to punching cutter position, corresponding sucker all revolves counterclockwise Turn one third circle, and then improves the speed of device crawl article, so that the working efficiency of device is improved, so that device Operational efficiency greatly improves；

3, the blister packaging machine new type of continuous catching robot is provided with sucker, by the use of sucker, so that device function Can be more complete, and three row's suckers realize crawl, inspection rejects simultaneously and place three continuous actions, and while the movement of every row It is far, it is non-interference, so that the function of every row's sucker be made all to go on smoothly, and then avoids device and send out when in use Raw failure, realizes two plate inspection rejects functions, reduces finished product sorting work intensity, while when wherein a plate or more plate medicine plates are by inspection rejects The adsorption capacity of remaining medicine plate is not influenced.

Detailed description of the invention

FIG. 1 is a schematic structural view of the utility model；

Fig. 2 is the utility model right side structural representation；

Fig. 3 is the utility model schematic perspective view.

In figure: 1, protecting crust；2, encoder；3, vacuum generator；4, transfer tube；5, protective shell；6, gas swivels； 7, gear-box；8, built-in gear；9, gear-box protective shell；10, servo motor；11, mechanical arm；12, appendix；13, sucker is solid Fixed pole；14, sucker；15, transmission gear；16, it is punched knife.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: blister packaging machine new type of continuous catching robot, Including protecting crust 1, encoder 2, vacuum generator 3, transfer tube 4, protective shell 5, gas swivels 6, gear-box 7, built-in tooth Take turns 8, gear-box protective shell 9, servo motor 10, mechanical arm 11, appendix 12, sucker fixed link 13, sucker 14, transmission gear 15 With punching knife 16, the inside of protecting crust 1 is equipped with encoder 2, and the right side of encoder 2 is mounted with vacuum generator 3, protecting crust It connects between 1 and encoder 2 for screw, and is connected between vacuum generator 3 and protecting crust 1 for screw, vacuum generator 3 passes through It is drive mechanism between transfer tube 4 and gas swivels 6, and is fitted closely between vacuum generator 3 and transfer tube 4, is encoded Device 2 is connected, and vacuum generator 3 is driven to run, and is then extracted gas out by transfer tube 4, is driven the angle distributed by encoder 2 Accurately control vacuum generator 3 grabs degree every time, and inspection rejects and the position for placing three movements configure six road gas rotating of Liang Ge Connector 6, one access of each control of vacuum generator 3, the independent each crawl for realizing manipulator, inspection rejects are moved with placing three Make, so that device more stable can carry out pick-and-place to article, so that device can be more stable make With avoiding article and be damaged, transfer tube 4 is mounted on vacuum generator 3 to reduce the probability that article is fallen off Right side, and the bottom of transfer tube 4 is connected with gas swivels 6, is flexibly connected between transfer tube 4 and vacuum generator 3, and It is connected between transfer tube 4 and gas swivels 6 for screw, protective shell 5 is mounted on the right side of protecting crust 1, and protective shell 5 is interior Side is mounted with gear-box 7, connects between protective shell 5 and protecting crust 1 for screw, and be between gear-box 7 and gas swivels 6 Screw connection, the inside of gear-box 7 is equipped with built-in gear 8, and the rear side of built-in gear 8 is connected with servo motor 10, gear To be flexibly connected between case 7 and built-in gear 8, and connected between built-in gear 8 and servo motor 10 for groove, servo motor 10 To be flexibly connected between gear-box 7, the right side of gear-box 7 is mounted with gear-box protective shell 9, and the right side of gear-box protective shell 9 Side is connected with mechanical arm 11, connects between gear-box 7 and gear-box protective shell 9 for screw, and gear-box protective shell 9 and mechanical arm It is connected between 11 for screw, is snap-in structure between gear-box protective shell 9 and protective shell 5, and between gear-box 7 and protective shell 5 Gear-box 7 can be protected for nested structure by the use of gear-box protective shell 9, to reduce 7 energy of gear-box It is enough safer to carry out using so that the case where device breaks down when in use is avoided, to reduce device The time loss of maintenance；

Appendix 12 is fixed on the inside of mechanical arm 11, and the outside of appendix 12 is equipped with sucker fixed link 13, sucker It is mechanical to be flexibly connected between fixed link 13 and appendix 12, and to be flexibly connected between sucker fixed link 13 and mechanical arm 11 It is nested structure between arm 11 and appendix 12, and connected between mechanical arm 11 and gas swivels 6 for screw, servo motor 10 operatings clockwise, then the built-in gear 8 in gear-box 7 is rotated, and mechanical arm 11 is driven to do operating counterclockwise, because It is 3 times of 11 bottom circumference of Zhou Changwei mechanical arm of built-in gear 8, so the built-in gear 8 in gear-box 7 is per operating clockwise One whole circle, 11 relative counterclockwise of mechanical arm rotates one third circle, and when equipment operation, it is suitable that gear-box 7 drives mechanical arm 11 to do Hour hands displacement, but mechanical arm 11 does rotation counterclockwise, and so that the inertia clockwise of mechanical arm 11 is largely cancelled, inertia is substantially Also reduce the noise of equipment while decline, so that the stable and reliable operation of device, servo motor 10 drives 7 He of gear-box 11 speed of service of mechanical arm is more steady, and the mechanical structure of all-gear drive, enables to device whether there is or not cumulative errors, Relative position is accurate and reliable, and control is simple, and the top of sucker fixed link 13 is mounted with sucker 14, and sucker 14 and sucker fixed link To be flexibly connected between 13, sucker 14 is provided with three rows, and there are four every rows, and it is evenly distributed in the outer of mechanical arm 11 Side, and be snap-in structure between sucker fixed link 13 and sucker 14, by the use of sucker 14, so that apparatus function is neater Entirely, and three row's suckers simultaneously realize crawl, inspection rejects and place three continuous actions, and while the movement of every row space length Greatly, non-interference, so that the function of every row's sucker be made all to go on smoothly, and then avoids device and break down when in use, It realizes two plate inspection rejects functions, reduces finished product sorting work intensity, while not influenced when wherein a plate or more plate medicine plates are by inspection rejects The adsorption capacity of remaining medicine plate, the front end of built-in gear 8 is equipped with transmission gear 15, and the front end of transmission gear 15 is mounted with punching Cut-off knife 16 connects between built-in gear 8 and transmission gear 15 for groove, and connects between transmission gear 15 and punching knife 16 for groove It connects, being punched is parallel construction between knife 16 and mechanical arm 11, and is connected between servo motor 10 and transmission gear 15 for groove, tooth Roller box 7 rotates one third circle per one whole circle of operating clockwise, mechanical arm relative counterclockwise, i.e. mechanical arm 11 rotates to punching When 16 position of knife, corresponding sucker 14 all rotates one third circle counterclockwise, and then improves the speed of device crawl article, from And the working efficiency of device is improved, so that the operational efficiency of device greatly improves.

Working principle: for this kind of manipulator, encoder 2 is connected, the model E50S8 of encoder 2, drives vacuum hair Raw device 3 is run, 3 model MCP-FS of vacuum generator, then extracts gas by transfer tube 4 out, drives the operation pair of sucker 14 Article is fixed, and drives the angle distributed by encoder 2 accurately to control vacuum generator 3 and grabs every time, inspection rejects and puts The position of three movements is set, configures six road gas swivels 6 of Liang Ge, each vacuum generator 3 controls an access, independent real Each crawl of existing manipulator, three movements of inspection rejects and placement, so that device more stable can grab article It puts, then servo motor 10 operates clockwise, and then the built-in gear 8 in gear-box 7 is rotated, and drives mechanical arm 11 Operating counterclockwise is done, the built-in tooth because 3 times of 11 bottom circumference of Zhou Changwei mechanical arm of built-in gear 8, in gear-box 7 Wheel 8 rotates one third circle, when equipment operation, 7 band of gear-box per one whole circle of operating clockwise, 11 relative counterclockwise of mechanical arm Dynamic mechanical arm 11 does displacement clockwise, but mechanical arm 11 does rotation counterclockwise, so that the inertia clockwise of mechanical arm 11 is most of It is cancelled, also reduces the noise of equipment while inertia declines to a great extent, then gear-box 7 is mechanical per one whole circle of operating clockwise Arm relative counterclockwise rotates one third circle, i.e., when mechanical arm 11 rotates to punching 16 position of knife, corresponding sucker 14 is all inverse Hour hands rotate one third circle, and then improve the speed of device crawl article, so that the working efficiency of device is improved, so that The operational efficiency of device greatly improves, and then needs to put down the vacuum generator 3 that the sucker 14 of article connects thereunder and stops It only runs, is put down so that sucker 14 unclamps article, complete the use process of entire manipulator like this.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims (6)

1. blister packaging machine new type of continuous catching robot, including protecting crust (1), transfer tube (4), protective shell (5) and appendix (12), it is characterised in that: be equipped with encoder (2), and be mounted on the right side of encoder (2) true on the inside of the protecting crust (1) Empty generator (3) connect between the protecting crust (1) and encoder (2) for screw, and vacuum generator (3) and protecting crust (1) Between for screw connect, the transfer tube (4) is mounted on the right side of vacuum generator (3), and the bottom of transfer tube (4) is connected with Gas swivels (6) are flexibly connected between the transfer tube (4) and vacuum generator (3), and transfer tube (4) and gas It is connected between rotary joint (6) for screw, the protective shell (5) is mounted on the right side of protecting crust (1), and protective shell (5) is interior Side is mounted with gear-box (7), is connect between the protective shell (5) and protecting crust (1) for screw, and gear-box (7) and gas revolve It being connected between adapter (6) for screw, the inside of the gear-box (7) is equipped with built-in gear (8), and built-in gear (8) Rear side is connected with servo motor (10), is flexibly connected between the gear-box (7) and built-in gear (8), and built-in gear (8) It connect, is flexibly connected between the servo motor (10) and gear-box (7), the tooth for groove between servo motor (10) It is mounted on the right side of roller box (7) gear-box protective shell (9), and is connected with mechanical arm (11), institute on the right side of gear-box protective shell (9) It states and is connect between gear-box (7) and gear-box protective shell (9) for screw, and between gear-box protective shell (9) and mechanical arm (11) For screw connection, the appendix (12) is fixed on the inside of mechanical arm (11), and is equipped with sucker on the outside of appendix (12) Fixed link (13) is flexibly connected between the sucker fixed link (13) and appendix (12), and sucker fixed link (13) and machine To be flexibly connected between tool arm (11), the top of the sucker fixed link (13) is mounted with sucker (14), and sucker (14) and suction To be flexibly connected between disk fixed link (13), the front end of the built-in gear (8) is equipped with transmission gear (15), and transmission gear (15) front end is mounted with punching knife (16), connect between the built-in gear (8) and transmission gear (15) for groove, and is driven It is connect between gear (15) and punching knife (16) for groove.

2. blister packaging machine new type of continuous catching robot according to claim 1, it is characterised in that: the vacuum occurs Device (3) is by being drive mechanism between transfer tube (4) and gas swivels (6), and vacuum generator (3) and transfer tube (4) Between fit closely.

3. blister packaging machine new type of continuous catching robot according to claim 1, it is characterised in that: the gear-box is protected It is snap-in structure between protective case (9) and protective shell (5), and is nested structure between gear-box (7) and protective shell (5).

4. blister packaging machine new type of continuous catching robot according to claim 1, it is characterised in that: the mechanical arm It (11) is nested structure between appendix (12), and connect between mechanical arm (11) and gas swivels (6) for screw.

5. blister packaging machine new type of continuous catching robot according to claim 1, it is characterised in that: the sucker (14) Three rows are provided with, and there are four every rows, and its outside for being evenly distributed in mechanical arm (11), and sucker fixed link (13) It is snap-in structure between sucker (14).

6. blister packaging machine new type of continuous catching robot according to claim 1, it is characterised in that: the punching knife It (16) is parallel construction between mechanical arm (11), and connect between servo motor (10) and transmission gear (15) for groove.