CN216000523U

CN216000523U - Medicine barrel pouring manipulator

Info

Publication number: CN216000523U
Application number: CN202120510887.4U
Authority: CN
Inventors: 彭新桥; 刘东兴
Original assignee: Suzhou Iron Technology Co Ltd
Current assignee: Suzhou Iron Technology Co Ltd
Priority date: 2021-03-10
Filing date: 2021-03-10
Publication date: 2022-03-11
Anticipated expiration: 2031-03-10

Abstract

The application discloses medicine bucket empties manipulator includes: mounting a plate; the first mounting frame is in sliding fit with the mounting plate, and a first clamping plate is rotatably connected to the first mounting frame; the second mounting frame is in sliding fit with the mounting plate and is arranged opposite to the second mounting frame, and a second clamping plate is rotatably connected to the second mounting frame; the linear driving device is arranged on the mounting plate, is connected with the first mounting frame and is used for driving the first mounting frame and the second mounting frame to approach each other, so that the first clamping plate and the second clamping plate are matched to clamp the medicine barrel; and the rotating assembly is connected to the first mounting frame and used for driving the first clamping plate to rotate. The medicine liquid can be automatically poured out by the medicine barrel pouring manipulator, so that the production efficiency is improved, and the labor intensity is reduced.

Description

Medicine barrel pouring manipulator

Technical Field

The application relates to a medicine barrel empting manipulator.

Background

With the development of technology, automation is increasingly applied to industrial production, and at present, the use of automated equipment is also widely tried in the aspect of traditional Chinese medicine decoction. After the liquid medicine decocte is accomplished, need empty the liquid medicine and pack, pack in the packagine machine, this step is usually by artifical transport explosive barrel, then empty the liquid medicine in the explosive barrel to packagine machine and accomplish the packing, and the manpower is emptyd intensity of labour greatly, is unfavorable for improving production efficiency, though also have some equipment that can empty the explosive barrel at present, its structure is complicated, and rocks easily when carrying the explosive barrel, unstability. Therefore, it is necessary to provide a device capable of pouring out the chemical liquid to improve the production efficiency and reduce the labor intensity.

Disclosure of Invention

To the weak point that exists in the above-mentioned technique, this application provides a medicine barrel emptys manipulator, and it can empty the medicine barrel, is favorable to reducing intensity of labour.

In order to solve the technical problem, the technical scheme adopted by the application is as follows:

a medication barrel dumping robot comprising:

mounting a plate;

the first mounting frame is in sliding fit with the mounting plate, and a first clamping plate is rotatably connected to the first mounting frame;

the second mounting frame is in sliding fit with the mounting plate and is arranged opposite to the second mounting frame, and a second clamping plate is rotatably connected to the second mounting frame;

the linear driving device is arranged on the mounting plate, is connected with the first mounting frame and is used for driving the first mounting frame and the second mounting frame to approach each other, so that the first clamping plate and the second clamping plate are matched to clamp the medicine barrel; and

and the rotating assembly is connected to the first mounting frame and used for driving the first clamping plate to rotate so as to drive the medicine barrel clamped between the first clamping plate and the second clamping plate to rotate.

Further, the medicine barrel topples over manipulator still including connect in guide rail on the mounting panel, first mounting bracket with the second mounting bracket all connect in on the guide rail.

Further, the medicine barrel dumping manipulator further comprises a gear which is rotatably connected to the mounting plate, the first mounting frame comprises a first rack portion meshed with the gear, the second mounting frame comprises a second rack portion meshed with the gear, and the first rack portion and the second rack portion are respectively located on two sides of the gear.

Further, the medicine barrel dumping mechanical arm further comprises a first bearing seat and a second bearing seat which are installed on the first installation frame, and a first rotating shaft which is connected into the two bearing seats, and the first clamping plate is connected with the first rotating shaft.

Further, the rotating assembly comprises a speed reducing motor connected to the first mounting frame, a driving gear driven by the speed reducing motor to rotate and a driven gear connected with the first rotating shaft, and the driving gear is meshed with the driven gear.

Further, the medicine barrel dumping manipulator further comprises a first rotating plate connected to the first rotating shaft and a first photoelectric sensor connected to the first mounting frame, the first rotating plate is provided with a first light-transmitting groove, and the second photoelectric sensor detects the position of the first rotating shaft through the first light-transmitting groove.

Further, the medicine barrel dumping mechanical arm further comprises a third bearing seat and a fourth bearing seat which are arranged on the second mounting frame, and a second rotating shaft connected in the two bearing seats, and the second clamping plate is connected with the second rotating shaft.

Further, the medicine barrel dumping mechanical arm further comprises a fixed cylinder connected to the second mounting frame and a positioning block driven by the fixed cylinder, and the fixed cylinder drives the positioning block to be fixed to the second rotating shaft.

Furthermore, two cutting grooves are symmetrically formed in the surface of the second rotating shaft, the positioning block comprises two fixing fingers matched and connected with the cutting grooves, and the fixing cylinder can drive the fixing fingers to extend into the cutting grooves.

Further, the medicine barrel dumping manipulator further comprises a second rotating plate connected to the second rotating shaft and a second photoelectric sensor connected to the second mounting frame, the second rotating plate is provided with a second light-transmitting groove, and the second photoelectric sensor detects the position of the second rotating shaft through the second light-transmitting groove.

Compared with the prior art, the application has the beneficial effects that:

1. according to the medicine barrel dumping mechanical arm, the first mounting frame and the second mounting frame can be driven to be close to and far away from each other through the linear driving device, so that the first clamp plate on the first mounting frame and the second clamp plate on the second mounting frame are matched to clamp or loosen a medicine barrel, the medicine barrel can be rotated through the rotating assembly, liquid medicine in the medicine barrel can be dumped, automation of dumping the medicine barrel is achieved, production efficiency is improved, and labor intensity is reduced;

2. according to the medicine barrel dumping mechanical arm, the gear is arranged to drive the first mounting frame and the second mounting frame to be close to and away from each other, so that the first mounting frame and the second mounting frame can clamp or loosen the medicine barrel more quickly, the production beat can be accelerated, the production efficiency can be further improved, meanwhile, the clamping force can be increased, and the clamping is more reliable;

3. the utility model provides a medicine barrel empties manipulator can fix the fixed cylinder and the locating piece of second pivot axis position through the setting for more stable when carrying the medicine barrel, be difficult for rocking, and positioning accuracy is higher.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:

fig. 1 is a schematic structural diagram of an automatic liquid medicine filling apparatus according to the present application.

Fig. 2 is a schematic structural diagram of a traditional Chinese medicine barrel conveying line in the application.

Fig. 3 is a schematic diagram of the structure of the present application in which the moving device and the robot are mounted on the frame.

Fig. 4 is an enlarged view of a portion I in fig. 3.

Fig. 5 is a schematic diagram of the bottom view of the Y-axis moving assembly in the present application.

Fig. 6 is a schematic structural diagram of the Y-axis moving assembly, the Z-axis moving assembly, and the robot in the present application.

Fig. 7 is a front view of the robot in the present application.

Fig. 8 is a bottom view of the robot in the present application.

Fig. 9 is a sectional view of the robot in the present application.

Fig. 10 is a schematic view of the positions of the first rotating plate and the first photosensor in the present application.

Fig. 11 is a schematic position diagram of the second rotating plate and the second photosensor in the present application.

Fig. 12 is a schematic view of the installation of the fixed cylinder and the positioning block in the present application.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present application more comprehensible, embodiments accompanying the present application are described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "comprising" and "having," as well as any variations thereof, in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1, fig. 1 shows an automatic liquid medicine filling apparatus, which includes a medicine barrel conveying line 1, a moving device 2, a medicine barrel pouring robot 3 (hereinafter referred to as a robot 3), and a packing machine 4.

The explosive barrel conveying line 1 is used for conveying the explosive barrel 10 loaded with the liquid medicine, can be a belt line, a roller conveying line or other conveying lines, can convey the explosive barrel 10 to the moving device 2 and the manipulator 3, and can convey the empty explosive barrel 10 out after the manipulator 3 pours the liquid medicine into the liquid medicine. In this embodiment, as shown in fig. 2, the medicine barrel conveying line 1 is a roller conveying line, and the position sensor 11 and the positioning cylinder 12 are arranged on both sides of the roller conveying line, and the arc-shaped clamping block 13 adapted to the outer surface of the medicine barrel 10 is arranged on the cylinder shaft of the positioning cylinder 12, so that after the medicine barrel 10 is sensed by the position sensor 11, the positioning cylinders 12 on both sides extend out, and the clamping block 13 fixes the medicine barrel 10, thereby realizing the positioning of the medicine barrel 10.

The mobile device 2 is arranged on a frame 5, and the frame 5 can be formed by welding square pipes or aluminum profiles in a lap joint mode. The moving device 2 is used for moving the manipulator 3, so that the manipulator 3 can move to the upper part of the medicine barrel conveying line 1 to grab the medicine barrel, and then move to the upper part of the packing machine 4 to pour the medicine liquid into the packing machine 4 for packing.

The moving device 2 includes an X-axis moving unit 20, a Y-axis moving unit 21, and a Z-axis moving unit 22.

As shown in fig. 3 and 4, the X-axis moving assembly 20 includes a first slide rail 200 connected to the top of the frame 5, a slide beam 201 connected to the first slide rail 200, and a first driving mechanism 202 for driving the slide beam 201 to move, wherein the first slide rail 200 is disposed along the X-axis, and the slide beam 201 can move along the first slide rail 200 under the driving of the first driving mechanism 202. The first driving mechanism 202 may be driven by an electric cylinder, an air cylinder, a chain and sprocket drive, a rack and pinion, etc.

In this embodiment, as shown in fig. 3 to 5, the first driving mechanism 202 is a synchronous belt transmission mechanism, and includes a first driving motor 2020 mounted on the frame 5, a first shaft 2024 driven by the first driving motor 2020, a first synchronous pulley 2021 mounted on the first shaft 2024, a second synchronous pulley 2025 rotatably connected to the frame 5, a synchronous belt 2022 connected to the two synchronous pulleys, and a synchronous belt fixing plate 2023 fixed to the sliding beam 201, where the two synchronous pulleys are respectively located at two ends of the frame 5, so that the synchronous belt 2022 is arranged along the X axis, and the synchronous belt 2022 is fixed to the synchronous belt fixing plate 2023, so that when the synchronous belt 2022 rotates by the first driving motor 2020, the synchronous belt 2022 can simultaneously drive the sliding beam 201 to move along the X axis.

As shown in fig. 6, the Y-axis moving assembly 21 includes a second slide rail 210 connected to the slide beam 201, a slide plate 211 connected to the second slide rail 210, and a second driving mechanism 212 driving the slide plate 211 to slide along the second slide rail 210. The second slide rail 210 is disposed along the Y-axis, and the slide plate 211 is movable along the second slide rail 210 by a second driving mechanism 212. The structure of the second driving mechanism 212 may adopt a synchronous belt transmission structure as described in the first driving mechanism 202, and may also adopt other structures such as an electric cylinder, an air cylinder, a sprocket-and-chain mechanism, a rack-and-pinion mechanism, etc., and will not be described herein again.

The Z-axis moving assembly 22 includes a third driving mechanism 220 coupled to the sliding plate 211 and a plurality of guide shafts 222 coupled between the mounting plate 35 and the sliding plate 211, and the third driving mechanism 220 is coupled at its end to the mounting plate 35 of the robot 3. The third driving mechanism 220 is disposed along the Z-axis for driving the mounting plate 35 to ascend and descend along the Z-axis, and in this embodiment, the third driving mechanism 220 is an electric cylinder, and the electric cylinder shaft is connected to the mounting plate 35 through the sliding plate 211 so as to drive the mounting plate 35 to ascend and descend. The guide shaft 222 is slidably coupled in the linear bearing 223 mounted on the sliding plate 211, and the bottom end of the guide shaft is connected to the mounting plate 35, so that the guide function can be achieved, the mounting plate 35 is more stable in lifting motion, and better position accuracy is achieved.

In this way, the mounting plate 35 can be moved in three directions, i.e., the X-axis direction, the Y-axis direction, and the Z-axis direction, by the third driving mechanism 220, the X-axis moving unit 20, and the Y-axis moving unit 21.

The manipulator 3 is used for grabbing the medicine barrel for pouring, and as shown in fig. 7, the manipulator includes a clamping assembly 30, a first clamping plate 31 and a second clamping plate 32 driven by the clamping assembly 30 to clamp the medicine barrel 10, and a rotating assembly 33 driving the first clamping plate 31 to rotate.

The clamping assembly 30 includes a rail 300 coupled to the mounting plate 35, first and second mounting

brackets

301 and 302 coupled to the rail 300, and a linear actuator 303 mounted to the mounting plate 35 for driving the first mounting bracket 301 to slide along the rail 300. The linear driving device 303 is mounted on the mounting plate 35, and may be an electric cylinder, an air cylinder, or other devices having a linear driving function, in this embodiment, the linear driving device 303 is an air cylinder, and the air cylinder is pivotally connected to the first mounting frame 301 and can drive the first mounting frame 301 to move along the guide rail 300.

As shown in fig. 8, the clamping assembly 30 further includes a rotating shaft 304 rotatably connected to the mounting plate 35 and a gear 305 mounted on the rotating shaft 304, the first and second mounting

brackets

301 and 302 are respectively provided with a first rack portion 306 and a second rack portion 307 on both sides of the gear 305, the first and

second rack portions

306 and 307 respectively engage with both sides of the gear 305, when the first mounting bracket 301 is driven to move, the first mounting bracket 301 will drive the gear 305 to rotate, thereby driving the second mounting bracket 302 to move along the guide rail 300, and the first and second mounting

brackets

301 and 302 always move in opposite directions and can move toward or away from each other.

The first clamping plate 31 and the second clamping plate 32 are respectively mounted on the first mounting frame 301 and the second mounting frame 302, and both have arc-shaped inner surfaces 310 for matching with the outer surface of the medicine barrel 10, thereby conveniently clamping the medicine barrel 10. When the first mounting rack 301 and the second mounting rack 302 are close to each other, the first clamping plate 31 and the second clamping plate 32 can clamp the medicine barrel 10; conversely, when the first and second mounting

brackets

301 and 302 are moved away from each other, the first and

second clamp plates

31 and 32 can release the cartridge 10.

As shown in fig. 9, the first clamping plate 31 and the second clamping plate 32 are rotatably connected to the corresponding mounting frames, specifically, a first bearing seat 308 and a second bearing seat 309 which are coaxially arranged are connected to the first mounting frame 301, a first rotating shaft 311 is arranged in the first bearing seat 308 and the second bearing seat 309, and the first clamping plate 31 is connected to the first rotating shaft 311 so as to be capable of rotating; similarly, a third bearing housing 3080 and a fourth bearing housing 3090 which are coaxially disposed are connected to the second mounting bracket 302, a second rotating shaft 3110 is provided in the third bearing housing 3080 and the fourth bearing housing 3090, and the second clamping plate 32 is connected to the second rotating shaft 3110 so as to be rotatable.

The rotating assembly 33 includes a gear motor 330 mounted on the first mounting frame 301, a driving gear 331 driven by the gear motor 330 to rotate, and a driven gear 332 driven by the driving gear 331, wherein the driven gear 332 is connected to the first rotating shaft 311 and engaged with the driving gear 331, when the gear motor 330 drives the driving gear 331 to rotate, the driving gear 331 drives the driven gear 332 and the first rotating shaft 311 to rotate, so as to drive the first clamping plate 31 to rotate, and when the medicine barrel 10 is clamped between the first clamping plate 31 and the second clamping plate 32, the second clamping plate 32 is also driven to rotate, so that the medicine barrel 10 rotates, and the medicine liquid is poured into the packing machine 4.

As shown in fig. 10, in order to detect whether the first rotating shaft 311 is rotated in place, a first rotating plate 312 is connected to an end portion of the first rotating shaft 311 extending to the outside of the first mounting block 301, a first light transmission groove 3120 is formed in the first rotating plate 312, a first photosensor 313 is further disposed on the first mounting block 301, the first photosensor 313 is preferably a groove type photosensor, and an edge of the first rotating plate 312 is located in the groove of the groove type photosensor, so that the first photosensor 313 can sense the position of the first rotating shaft 311 through the first light transmission groove 3120.

Similarly, as shown in fig. 11, in order to detect whether the second rotating shaft 3110 is rotated in place, the second rotating plate 314 is connected to an end portion of the second rotating shaft 3110 extending to the outside of the second mounting bracket 302, the second rotating plate 314 is provided with a second light-transmitting groove 3140, and the second mounting bracket 302 is further provided with a second photoelectric sensor 315 which senses the position of the first rotating shaft 311 through the first light-transmitting groove 3120.

Preferably, the first light transmission groove 3120 is formed at a position different from the second light transmission groove 3140, and when the medicine barrel 10 is located at the vertical position, the first light transmission groove 3120 triggers the first photoelectric sensor 313; when the medicine barrel 10 is inclined to the right position, the second light transmission groove 3140 triggers the second photoelectric sensor 315, so that the angle state of the medicine barrel 10 on the manipulator 3 can be judged through the two photoelectric sensors.

As shown in fig. 12, in order to increase the stability of the robot 3 and prevent the first clamp plate 31 and the second clamp plate 32 from shaking during the transportation of the medicine barrel 10, the robot 3 further includes a fixed cylinder 34 mounted on the second mounting frame 302 and a positioning block 340 connected to a cylinder shaft of the fixed cylinder 34, and the positioning block 340 can be driven by the fixed cylinder 34 to contact with or separate from the second rotating shaft 3110. Two notches 3111 are symmetrically formed on both sides of the outer surface of the second rotating shaft 3110, the positioning block 340 includes two fixing fingers 341 capable of being respectively coupled with the two notches 3111, and when the fixing cylinder 34 drives the positioning block 340 to extend, the two fixing fingers 341 are inserted into the corresponding notches 3111, so as to fix the second rotating shaft 3110 and prevent the second rotating shaft 3110 from rotating.

When carrying medicine barrel 10, fixed cylinder 34 stretches out, makes locating piece 340 fix second axis of rotation 3110, and when needs rotated medicine barrel 10, fixed cylinder 34 withdraws, and second axis of rotation 3110 is released, and at this moment, second axis of rotation 3110 can be by being driven rotatory.

Packer 4 is existing equipment, and its quantity can be a plurality of, and in this embodiment, its quantity is 4, and arranges side by side with explosive barrel transfer chain 1, and both all arrange along the X axle, through the drive of Y axle removal module 21, can make manipulator 3 remove in explosive barrel transfer chain 1 top and packer 4 top.

During operation, the medicine barrel 10 containing the liquid medicine is conveyed to the rack 5 through the medicine barrel conveying line 1, then the manipulator 3 is moved to the position corresponding to the medicine barrel 10 through the moving device 2, the medicine barrel 10 is clamped by the manipulator 3, then the moving device 2 drives the medicine barrel 10 to move to the position corresponding to the packaging machine 4, the manipulator 3 drives the medicine barrel 10 to incline, and the liquid medicine is filled into the packaging machine 4. After pouring the liquid medicine, 3 drive explosive barrel 10 of manipulator just, mobile device 2 drive manipulator 3 remove to the explosive barrel transfer chain 1 directly over, place explosive barrel 10 by manipulator 3 on the explosive barrel transfer chain 1, empty bucket is follow-up to be shifted out frame 5 by explosive barrel transfer chain 1. After one of them packagine machine was filled with, mobile device 2 can remove manipulator 3 to other packagine machine 4 tops, with the liquid medicine filling to other packagine machine 4 in, packagine machine 4 that fill with can be simultaneously the manual work clear up the operation, need not to shut down, very big improvement production efficiency.

The utility model provides a medicine barrel empties manipulator possesses following advantage at least:

The above description is only for the purpose of illustrating embodiments of the present invention and is not intended to limit the scope of the present invention, and all modifications, equivalents, and equivalent structures or equivalent processes that can be used directly or indirectly in other related fields of technology shall be encompassed by the present invention.

Claims

1. The utility model provides a medicine barrel empties manipulator which characterized in that includes:

mounting a plate;

2. The drumstick pouring manipulator of claim 1, further comprising a guide rail connected to the mounting plate, the first and second mounting brackets both being connected to the guide rail.

3. The medication barrel dumping manipulator of claim 2 further comprising a gear rotatably connected to said mounting plate, said first mounting bracket including a first rack portion in meshing engagement with said gear, said second mounting bracket including a second rack portion in meshing engagement with said gear, said first and second rack portions being located on opposite sides of said gear, respectively.

4. A drumstick pouring robot as claimed in any one of claims 1 to 3, further comprising first and second bearing blocks mounted on the first mounting frame and a first spindle connected within both bearing blocks, the first clamp plate being connected to the first spindle.

5. The drumstick pouring manipulator of claim 4, wherein the rotation assembly comprises a gear motor connected to the first mounting frame, a drive gear driven to rotate by the gear motor, and a driven gear connected to the first rotation shaft, the drive gear and the driven gear being engaged.

6. The medicine barrel dumping manipulator of claim 4, further comprising a first rotating plate connected to the first rotating shaft and a first photoelectric sensor connected to the first mounting frame, wherein the first rotating plate is provided with a first light-transmitting groove, and the second photoelectric sensor detects the position of the first rotating shaft through the first light-transmitting groove.

7. A drumstick pouring manipulator according to any one of claims 1 to 3, further comprising third and fourth bearing blocks mounted on the second mounting frame and a second pivot shaft connected within the two bearing blocks, the second clamp plate being connected to the second pivot shaft.

8. The medicine barrel pouring manipulator as claimed in claim 7, further comprising a fixing cylinder connected to the second mounting frame and a positioning block driven by the fixing cylinder, wherein the fixing cylinder drives the positioning block to fix the second rotating shaft.

9. The medicine barrel pouring manipulator as claimed in claim 8, wherein the second rotating shaft is symmetrically provided with two slots, the positioning block comprises two fixing fingers matched with the slots, and the fixing cylinder can drive the fixing fingers to extend into the slots.

10. The medicine barrel dumping manipulator of claim 7, further comprising a second rotating plate connected to the second rotating shaft and a second photoelectric sensor connected to the second mounting frame, wherein the second rotating plate is provided with a second light-transmitting groove, and the second photoelectric sensor detects the position of the second rotating shaft through the second light-transmitting groove.