CN214003315U - Two-sided grabbing device and sterilization box loading and unloading system - Google Patents

Abstract

The utility model discloses a double-sided grabbing device, wherein a box clamping mechanism and a chuck mechanism are arranged on a frame, and a box clamping driver drives box clamping claws at two sides to move in a translational and opening-closing way so as to clamp and release a sterilization box; the chuck driver drives chuck claws at two sides to move in a translational and opening-closing mode to clamp and release the sterilization tray; press from both sides box claw and (holding) chuck claw and stretch out from the opposite two sides of frame respectively, when needs press from both sides dress sterilization tray or sterilization box, the arm drives the frame upset and changes the orientation, makes to press from both sides box claw down or (holding) chuck claw down, and the correspondence snatchs different structures, the utility model provides a two-sided grabbing device realizes pressing from both sides through the upset and gets different structures, presss from both sides to two kinds of structures and gets and not produce the interference each other. The utility model also provides a sterilization box handling system, including above-mentioned two-sided grabbing device, the sterilization box is placed in the sterilization dish, and the height that highly is greater than the sterilization box of sterilization dish, multilayer sterilization dish can be stacked layer upon layer, and is applicable in the transportation of different quantity, and the flexibility ratio is higher.

Description

Two-sided grabbing device and sterilization box loading and unloading system

Technical Field

The utility model relates to a processing transportation technical field further relates to a two-sided grabbing device. Furthermore, the utility model discloses still relate to a sterilization box handling system.

Background

After the packaging of the small-capacity packaging bottles is finished, the small-capacity packaging bottles need to be disinfected and sterilized, a certain number of packaging bottles are firstly filled into a sterilization box, then the sterilization box is integrally transferred to a sterilization vehicle, and the sterilization vehicle is used for driving a plurality of sterilization discs to transfer.

The sterilization car is equipped with the multilayer supporter, consequently can only place the sterilization box of the fixed number of piles, also needs whole supporter to shift when transporting a small amount of sterilization boxes, and the flexibility is relatively poor.

For those skilled in the art, how to transfer the sterilization cases more flexibly is a technical problem to be solved at present.

SUMMERY OF THE UTILITY MODEL

The utility model provides a two-sided grabbing device can realize that two-sided clamp gets the operation, can realize snatching sterilization box and sterilization tray in a flexible way, and concrete scheme is as follows:

a double-sided grabbing device comprises a rack, wherein a box clamping mechanism and a chuck mechanism are arranged on the rack;

the box clamping mechanism comprises a box clamping driver and box clamping claws, and the box clamping drivers on the two sides respectively drive the box clamping claws on the two sides to move in a translational opening and closing manner so as to clamp and release the sterilization box;

the sterilizing tray comprises a tray body, a tray clamping mechanism and a tray clamping mechanism, wherein the tray clamping mechanism comprises a tray clamping driver and tray clamping claws, and the tray clamping drivers on two sides respectively drive the tray clamping claws on two sides to move in a translational and opening-closing mode to clamp and release the sterilizing tray;

the box clamping claws and the chuck claws respectively extend out of two opposite surfaces of the rack; the frame is arranged on a mechanical arm, the mechanical arm can drive the frame to overturn and change the orientation, the box clamping claws and the chuck claws are respectively clamped, taken and placed, and the sterilization boxes are placed in the sterilization plates which are independently arranged and can be stacked.

Optionally, the chuck jaws include a driving clamping plate, a driven clamping plate and a guide shaft which are relatively fixed, the guide shaft is slidably inserted into the rack, and the driving clamping plate is fixed at the telescopic end of the chuck driver, so as to drive the driven clamping plate to move and clamp.

Optionally, a linear bearing is mounted on the frame, and the linear bearing is used for guiding and limiting the guide shaft to move linearly.

Optionally, the cartridge driver and the chuck driver are both air cylinders, and the cartridge driver is a guide air cylinder.

Optionally, the cartridge driver comprises four air cylinders and the chuck driver comprises two air cylinders.

The utility model also provides a sterilization box handling system, including above-mentioned arbitrary two-sided grabbing device, the sterilization box is placed in the sterilization dish, highly being greater than of sterilization dish the height of sterilization box.

Optionally, a placing positioning pin for positioning the sterilizing box is convexly arranged on the bottom surface of the sterilizing tray; and the upper edge of the sterilization tray is convexly provided with a stacking positioning pin for positioning during stacking.

Optionally, welding and fixing steel pipes at the positions where the opening edges of the sterilization box and the sterilization tray are clamped; and notches for hooking the box clamping claws and the chuck claws are respectively formed in the two opposite sides of the sterilizing box and the sterilizing disk.

The utility model provides a double-sided grabbing device, wherein a box clamping mechanism and a chuck mechanism are arranged on a frame, and the frame drives the box clamping mechanism and the chuck mechanism to move and turn over; the box clamping mechanism comprises a box clamping driver and box clamping claws, and the box clamping driver drives the box clamping claws at two sides to move in a translational and opening-closing mode to clamp and release the sterilization box; the chuck mechanism comprises a chuck driver and chuck jaws, and the chuck driver drives the chuck jaws at two sides to move in a translational and opening-closing mode to clamp and release the sterilization disc; press from both sides box claw and (holding) chuck claw and stretch out from the opposite two sides of frame respectively, when needs press from both sides dress sterilization tray or sterilization box, the arm drives the frame upset and changes the orientation, makes to press from both sides box claw down or (holding) chuck claw down, and the correspondence snatchs different structures, the utility model provides a two-sided grabbing device realizes pressing from both sides through the upset and gets different structures, presss from both sides to two kinds of structures and gets and not produce the interference each other.

The utility model also provides a sterilization box handling system, including above-mentioned two-sided grabbing device, the sterilization box is placed in the sterilization dish, and the height that highly is greater than the sterilization box of sterilization dish, multilayer sterilization dish can be stacked layer upon layer, can be applicable to the transportation of different quantity as required, and the flexibility ratio is higher.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1A and 1B are a front view and a top view of the double-sided gripping device of the present invention, respectively;

fig. 2A and fig. 2B are respectively a structural diagram of the assembly of the double-sided gripping device and the mechanical arm of the present invention;

FIG. 3 is a schematic view of the sterilization case being placed in the sterilization tray;

FIG. 4 is a schematic view of a loading station;

FIG. 5 is a schematic view of an unloading station.

The figure includes:

the automatic sterilizing machine comprises a frame 1, a linear bearing 11, a box clamping mechanism 2, a box clamping driver 21, box clamping claws 22, a chuck mechanism 3, a chuck driver 31, chuck claws 32, a driving clamping plate 321, a driven clamping plate 322, a guide shaft 323, a mechanical arm 4, a sterilizing box 5, a sterilizing disk 6, a placing positioning pin 61 and a stacking positioning pin 62.

Detailed Description

The core of the utility model is to provide a two-sided grabbing device can realize that two-sided clamp is got the operation, can realize snatching sterilization box and sterilization tray in a flexible way.

In order to make those skilled in the art better understand the technical solution of the present invention, the following will describe the double-sided gripping device and the sterilization box loading and unloading system in detail with reference to the accompanying drawings and the detailed description.

The utility model provides a double-sided gripping device, and a front view and a top view of the double-sided gripping device of the utility model are respectively shown in a figure 1A and a figure 1B; the sterilizing tray comprises a rack 1, a box clamping mechanism 2, a chuck plate mechanism 3 and the like, wherein the box clamping mechanism 2 and the chuck plate mechanism 3 are installed on the rack 1, the rack 1 plays a role in supporting, the box clamping mechanism 2 is used for clamping a sterilizing box, and the chuck plate mechanism 3 is used for clamping a sterilizing tray.

The box clamping mechanism 2 comprises a box clamping driver 21 and a box clamping claw 22, the box clamping driver 21 and the box clamping claw 22 are arranged in pairs, and at least one pair of the box clamping driver 21 and the box clamping claw 22 is arranged on each side of the machine frame 1. The box clamping drivers 21 on the two sides respectively drive the box clamping claws 22 on the two sides to move in a translational opening and closing mode, the sterilization boxes are clamped and released, the box clamping claws 22 on the two sides can move to be opened and closed, when the box clamping claws 22 on the two sides are close to each other and closed, the sterilization boxes are clamped and fixed, and when the box clamping claws 22 on the two sides are far away from each other, the sterilization boxes are released.

The chuck mechanism 3 includes a chuck driver 31 and chuck jaws 32, and at least one pair of the chuck driver 31 and the chuck jaws 32 is disposed at each side of the frame 1, respectively. The chuck drivers 31 on the two sides respectively drive the chuck claws 32 on the two sides to move in a translational opening and closing mode to clamp and release the sterilization tray, the chuck claws 32 on the two sides are close to each other to clamp the sterilization tray, and the chuck claws 32 on the two sides are far away from each other to release the sterilization tray.

The box clamping claws 22 and the chuck claws 32 respectively extend out from two opposite surfaces of the rack 1, the rack 1 is a cuboid frame in a flat structure, and the box clamping claws 22 and the chuck claws 32 respectively extend out from two side surfaces with the largest area surrounded by the side edges of the rack 1.

Fig. 2A and fig. 2B are respectively a structural diagram of the assembly of the double-sided gripping device and the mechanical arm of the present invention, fig. 2A is a schematic diagram of the chuck mechanism 3 facing downward, and fig. 2B is a schematic diagram of the cassette mechanism 2 facing downward; the frame 1 is installed on the arm 4, and the arm 4 can drive the frame 1 upset and change the orientation, makes respectively press from both sides box claw 22 and (holding) chuck claw 32 and accomplish to press from both sides the dress and get and put, places the sterilization box in the sterilization tray that independent setting can range upon range of putting.

Because installed simultaneously in the frame 1 and pressed from both sides box mechanism 2 and (holding) chuck mechanism 3 to press from both sides box claw 22 and (holding) chuck claw 32 and stretch out from opposite orientation respectively, consequently change the orientation of frame 1 through the arm, make press from both sides box claw 22 or (holding) chuck claw 32 orientation treat the object that snatchs, the utility model provides a two-sided grabbing device can realize snatching of two kinds of structures simultaneously, mutually supports with independent range upon range of sterilization tray of placing, can realize transferring in a flexible way. The trays are transferred to a sterilization cart, typically an AGV (automated Guided vehicle) cart.

On the basis of the above technical scheme, the chuck jaw 32 of the present invention comprises a driving clamping plate 321, a driven clamping plate 322 and a guiding shaft 323 which are relatively fixed, wherein the driving clamping plate 321, the driven clamping plate 322 and the guiding shaft 323 are connected into a whole, the driving clamping plate 321, the driven clamping plate 322 and the guiding shaft 323 are fixed to form a rectangular structure, the driving clamping plate 321 and the driven clamping plate 322 form two opposite sides of the rectangle, and the two guiding shafts 323 respectively form another set of opposite sides of the rectangle; the length direction of the guide shaft 323 is respectively vertical to the length direction of the driving clamping plate 321 and the driven clamping plate 322, and the guide shaft 323 is inserted on the frame 1 in a sliding way; the driving clamping plate 321 is positioned at the inner side of the frame 1, and the driven clamping plate 322 is positioned at the outer side of the frame; the driving clamp 321 is fixed at the telescopic end of the chuck driver 31, and further drives the driven clamp 322 to move for clamping, the driving direction of the chuck driver 31 is parallel to the guiding direction of the guiding shaft 323, and clamping force is generated when the driven clamps 322 at two sides are closed. The guide shaft 323 has a longer overlapping size with the frame 1, and thus can make the movement of the driven clamp plate 322 more smooth.

Preferably, the utility model discloses install linear bearing 11 in frame 1, linear bearing 11 is used for the spacing guiding axle 323 of direction along linear movement, and linear bearing 11 can reduce the frictional force of guiding axle 323, and the horizontal opening and shutting removes more level and smooth.

Specifically, the utility model provides a press from both sides box driver 21 and (holding) chuck driver 31 and be the cylinder, press from both sides box driver 21 and be the guide cylinder, the guide cylinder is from taking guide structure, because the size and the weight of sterilization box are less, consequently only can realize through the guide structure of guide cylinder self that stable clamp is got. The chuck driver 31 and the cassette driver 21 may also be in the form of electric cylinders, etc., and the chuck jaws 32 and the cassette jaws 22 have bent hook-shaped structures at their ends, respectively, to hook the sterilization tray or the sterilization cassette when clamped.

As shown in fig. 1B, the cartridge driving unit 21 includes four cylinders, two cylinders are respectively disposed on the left and right sides, and as shown in fig. 2A, each cylinder individually corresponds to one cartridge gripper 22, and a total of four cartridge grippers 22 are disposed. The chuck driver 31 includes two air cylinders connected to the middle of the driving plate 321, and two guide shafts 323 corresponding to each air cylinder are symmetrically disposed with respect to the air cylinders.

The utility model also provides a sterilization box handling system, including foretell two-sided grabbing device, sterilization box 5 is placed in sterilization tray 6, and sterilization tray 6 highly is greater than sterilization box 5's height. As shown in fig. 3, the sterilizing cases 5 are placed in the sterilizing tray 6, and the sterilizing trays 6 are in contact with each other when stacked on each other, so as to avoid squeezing the sterilizing cases 5.

Referring to fig. 3, the bottom surface of the sterilization tray 6 is convexly provided with a positioning pin 61 for positioning the sterilization box 5, and the positioning pin 61 convexly provided on the bottom surface of the sterilization tray 6 can be inserted into a groove at the bottom of the sterilization box 5 to keep the positions of the sterilization box 5 and the sterilization tray 6 relatively fixed. The upper edge of the sterilization tray 6 is convexly provided with a stacking positioning pin 62 for positioning when stacking, and the positioning pin 62 can be inserted into a groove on the bottom surface of the sterilization tray 6 above, so that the stability of each layer of sterilization tray 6 when stacking is improved.

Further, a steel pipe is welded and fixed to a position where the opening edges of the sterilization case 5 and the sterilization tray 6 are sandwiched, and a steel pipe structure is shown in fig. 3 a, and the steel pipe is prevented from being bent and deformed when coming into contact with the jaws. The two opposite sides of the sterilization box 5 and the sterilization plate 6 are respectively provided with notches for hooking the box clamping claws 22 and the chuck claws 32, so that the box clamping claws 22 and the chuck claws 32 can be clamped conveniently when being clamped.

FIG. 4 is a schematic view of a loading station; the loading station flow is as follows:

when the sterilization vehicle with the empty sterilization boxes reaches a designated position, the clamp mode is in a clamp loading and unloading mode, the empty sterilization boxes are placed on the upper layer conveyed by the double-layer roller, after the empty sterilization boxes in the corresponding sterilization disks are all placed on the upper layer of the roller conveyor, the clamps are converted into an unfolding and folding clamp mode, the sterilization disks are disassembled to the disk stacking position, the clamps are converted into a clamp loading and unloading mode, and the operation is continuously repeated to realize the disk disassembling and the box unloading of the sterilization vehicle; meanwhile, the full-load (namely, medicines are loaded) sterilization boxes are conveyed to a designated position through the lower layer of the double-layer roller conveyor, the clamp is in a clamp loading and unloading mode, the full-load sterilization boxes are loaded into empty sterilization disks at the disk stacking position, loading of the sterilization boxes is realized, after the process is finished, the clamp is switched to an unfolding and folding clamp mode, the empty sterilization disks are placed at the disk stacking position, sterilization disk stacking is carried out, and the actions are repeated, so that loading of the sterilization disks and the sterilization boxes is realized; the two large cycles are sequentially and alternately carried out, and finally, the automatic operation of the loading station is realized.

FIG. 5 is a schematic view of an unloading station; the unloading station flow is as follows:

when the sterilization vehicle with the full-load sterilization boxes reaches a designated position, the clamp mode is in a clamp loading and unloading mode, the full-load sterilization boxes are placed on the upper layer conveyed by the double-layer roller, after the no-load sterilization boxes in the corresponding sterilization disks are all placed on the upper layer of the roller conveyor, the clamps are converted into an unfolding and folding clamp mode, the sterilization disks are detached to the disk stacking position, the clamps are converted into a clamp loading and unloading mode, and the operation is continuously repeated to realize the disk detaching and the unloading of the sterilization boxes of the sterilization vehicle; meanwhile, the empty (no medicine) sterilization box is conveyed to a designated position through the lower layer of the double-layer roller conveyor, the clamp is in a clamp loading and unloading mode, the full-load sterilization box is loaded into the empty sterilization plate at the plate stacking position, the loading of the sterilization box is realized, after the process is finished, the clamp is switched to an unfolding and folding clamp mode, the empty sterilization plate is placed at the plate stacking position, the sterilization plate stacking is carried out, and the actions are repeated, so that the loading of the sterilization plate stacking plate and the sterilization box is realized; the two large cycles are sequentially and alternately carried out, and finally, the automatic operation of the unloading station is realized.

In the operation process of other unloading stations of the loading station, when the box clamping mechanism 2 clamps the empty sterilization box, the box clamping mechanism can rotate 180 degrees in the carrying process, and foreign matters or glass residues in the sterilization box are poured to a specified position or in a collection box, so that no foreign matters exist in the sterilization box, and the packaging bottle is prevented from being influenced to be normally placed in.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (8)

1. A double-sided grabbing device is characterized by comprising a rack (1), wherein a box clamping mechanism (2) and a chuck plate mechanism (3) are installed on the rack (1);

the box clamping mechanism (2) comprises a box clamping driver (21) and box clamping claws (22), and the box clamping drivers (21) on the two sides respectively drive the box clamping claws (22) on the two sides to move in a translation opening and closing mode to clamp and release the sterilization box;

the chuck mechanism (3) comprises chuck drivers (31) and chuck claws (32), the chuck drivers (31) on the two sides respectively drive the chuck claws (32) on the two sides to move in a translation opening and closing mode to clamp and release the sterilization disc;

the box clamping claw (22) and the chuck claw (32) respectively extend out from two opposite surfaces of the rack (1); the machine frame (1) is arranged on a mechanical arm (4), the mechanical arm (4) can drive the machine frame (1) to overturn and change the direction, the box clamping claws (22) and the tray clamping claws (32) are respectively used for clamping, loading and taking, and the sterilization boxes are placed in the sterilization trays which are independently arranged and can be stacked.

2. The double-sided gripping device according to claim 1, wherein the chuck jaws (32) comprise a driving clamping plate (321), a driven clamping plate (322) and a guide shaft (323) which are fixed relatively, the guide shaft (323) is slidably inserted into the frame (1), the driving clamping plate (321) is fixed at the telescopic end of the chuck driver (31), and the driven clamping plate (322) is driven to move for clamping.

3. A double-sided gripping device according to claim 2, characterized in that a linear bearing (11) is mounted on the frame (1), and the linear bearing (11) is used for guiding and limiting the linear movement of the guide shaft (323).

4. A double-sided gripping device according to claim 2, wherein the cassette driver (21) and the chuck driver (31) are both air cylinders, and the cassette driver (21) is a guide air cylinder.

5. A double-sided gripping apparatus according to claim 4, wherein the cassette driver (21) comprises four air cylinders and the chuck driver (31) comprises two air cylinders.

6. A sterilization case handling system, characterized in that it comprises a double-sided gripping device according to any one of claims 1 to 5, said sterilization cases (5) being placed in said sterilization tray (6), the height of said sterilization tray (6) being greater than the height of said sterilization cases (5).

7. A sterilization case handling system according to claim 6, wherein a locating pin (61) for locating the sterilization case (5) is protrudingly provided on the bottom surface of the sterilization tray (6); and a stacking positioning pin (62) used for positioning during stacking is arranged on the upper edge of the sterilizing tray (6) in a protruding mode.

8. The sterilization case attachment/detachment system according to claim 6, wherein the opening edges of the sterilization case (5) and the sterilization tray (6) are clamped by welding to fix steel pipes; the two opposite sides of the sterilization box (5) and the sterilization plate (6) are respectively provided with a notch for hooking the box clamping claw (22) and the plate clamping claw (32).

Images