CN109332198A - A kind of medicine bottle circulation method and flow system - Google Patents
A kind of medicine bottle circulation method and flow system Download PDFInfo
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- CN109332198A CN109332198A CN201811067006.5A CN201811067006A CN109332198A CN 109332198 A CN109332198 A CN 109332198A CN 201811067006 A CN201811067006 A CN 201811067006A CN 109332198 A CN109332198 A CN 109332198A
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- Prior art keywords
- medicine bottle
- conveyer
- manipulator
- bottle
- robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/04—Sorting according to size
- B07C5/12—Sorting according to size characterised by the application to particular articles, not otherwise provided for
- B07C5/122—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware
- B07C5/126—Sorting according to size characterised by the application to particular articles, not otherwise provided for for bottles, ampoules, jars and other glassware by means of photo-electric sensors, e.g. according to colour
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Abstract
The invention discloses a kind of medicine bottle circulation method and flow systems comprising following steps: 1) is vertically placed on medicine bottle second conveyer in；2) third manipulator grabs the spacing between medicine bottle, rotation medicine bottle and adjustment medicine bottle in second conveyer downstream, and medicine bottle is moved in detection line by mobile third manipulator；The invention avoids by the rigid process fired the medicine bottle completed and directly fall into the medicine bottle collection device of lower section from flask machine, solve the problems, such as that middle boron glass bottle is broken；The second robot has the function of grabbing drug, rotation medicine bottle and medicine bottle displacement simultaneously, therefore medicine bottle can be closely spaced vertically in second conveyer, increase the turnover of second conveyer, further improve circulation efficiency of the medicine bottle between second conveyer and bottle inspector, therefore the present invention greatly improves producing efficiency and producing qualification rate for medicine bottle.
Description
Technical field
The present invention relates to medicine bottle detection fields, and in particular to a kind of medicine bottle circulation method and flow system.
Background technique
In existing bottle technology processed, medicine bottle directly falls into the medicine bottle collection device of lower section after the completion of producing on flask machine
It is interior, although collecting medicine bottle speed so comparatively fast, suffers from the drawback that and be easily damaged when 1, middle boron glass bottle is fallen down, medicine bottle damage
Bad rate is high；2, annealing time is inadequate, easily ruptures when causing to frame up；3, be easily damaged when medicine bottle is fallen, and it is in disorder put, lead
The negligible amounts for causing a collection device to bottle increase circulation cost, reduce circulation efficiency；4, after all vials frame up directly
It needs that medicine bottle is manually placed on detection device one by one, increases the processing cost of detection medicine bottle, elongated medicine bottle
Be transferred to the time of detection machine from flask machine, medicine bottle produce efficiency and to produce qualification rate all lower.
Therefore those skilled in the art are dedicated to studying a kind of device and method that can be improved medicine bottle detection efficiency.
Summary of the invention
In view of the above drawbacks of the prior art, the present invention provides a kind of medicine bottle circulation method, the present invention be can be improved
The detection efficiency of medicine bottle.
To achieve the above object, the present invention provides a kind of medicine bottle circulation method, include the following steps:
1) medicine bottle is placed in second conveyer vertically；
2) third manipulator grabs the spacing between medicine bottle, rotation medicine bottle and adjustment medicine bottle in second conveyer downstream, mobile
Medicine bottle is moved in detection line by third manipulator.
Further, second conveyer (4) upstream is additionally provided with second conveyer (1), puts medicine bottle vertically in step 1)
Set that specific step is as follows in second conveyer (4):
A, medicine bottle is removed and is buckled to from flask machine and be placed in second conveyer；
B, a drug row bottle is removed from second conveyer downstream, and medicine bottle is in a row placed on to second conveyer upstream vertically.
Preferably, further including medicine bottle quality inspection steps before step 1), the specific steps are as follows:
A, the medicine bottle that completion is fired on flask machine station is shot one by one by video camera, video camera passes the data after shooting
Transport to controller；
B, controller distinguishes quality and quality results is transmitted to the first manipulator；
C, the first manipulator based on the received screened by quality results, if up-to-standard, the first manipulator by medicine bottle press from both sides to
Above second conveyer, and tip upside down in second conveyer；Conversely, medicine bottle is then sandwiched useless bottle frame.
Further, medicament taking bottle is placed on the specific steps of second conveyer such as from second conveyer in step b)
Under:
A, several medicine bottles adjacent in second conveyer are grabbed simultaneously using the second manipulator with multiple clamping jaws；
B, above using first the second manipulator of revolute to second conveyer, and the second manipulator of rotation makes back-off
Medicine bottle is upright；
C, mobile second manipulator of the first robot, it is medicine bottle is upright and be in a row neatly placed on second conveyer；
D) the first robot resets the second manipulator, and carries out secondary stroke.
Further, the second robot of step 2 grabs medicine bottle, rotates medicine bottle and adjust the specific step of the spacing between medicine bottle
It is rapid as follows:
A) the second robot grabs the drug row bottle in second conveyer by the third manipulator with more clamping jaws simultaneously；
B) the second robot rotates third manipulator, makes upright medicine bottle horizontal inversion；
C) spacing between third manipulator upper gripper jaw is adjusted, makes to place in the spacing and detection line of clamping jaw between the band ear of medicine bottle
Spacing be mutually adapted.
A kind of medicine bottle flow system, including second conveyer, the first robot, second conveyer, the second robot,
Detection line and flask machine；Second conveyer is set to flask machine side, and is connected by the first manipulator；Flask machine and first passes
It send and is equipped with useless bottle frame between device；Pass through the first robot between the downstream of second conveyer and the upstream of second conveyer
Linking；It is connected between the downstream of second conveyer and detection line by the second robot.
Further, the second robot includes third manipulator；Third manipulator includes displacement module and rotary module；Displacement
Module is fixed on rotary module；Displacement module includes pedestal, distance changing mechanism, crawl structure, drive mechanism；Distance changing mechanism setting
In on pedestal；Crawl structure is fixedly installed on distance changing mechanism；Drive mechanism is connect with distance changing mechanism；
Further, distance changing mechanism is made of several first collet mounting blocks of several first opening pin connections；Intermediate two adjacent
The first collet mounting blocks between first open pin be fixedly connected on the base by nut mounting blocks；
Further, limiting slot is equipped in the middle part of the first collet mounting blocks, the end of limiting slot is equipped with limit plate, and first opens the two of pin
End is respectively arranged in the limiting slot in the middle part of two the first collet mounting blocks；First collet mounting blocks top is slidably connected by sliding block
On the sliding rail of pedestal；First collet mounting blocks lower part is fixedly connected with crawl structure；The first folder positioned at distance changing mechanism both ends
The top of head mounting blocks is connected by the screw rod portion of nut and drive mechanism.
Preferably, second conveyer includes symmetrically arranged first chain and the second chain, the first chain and the second chain
Corresponding opposite side is connected with several bottle holder on item, and bottle holder includes the cylindrical case of top opening lower end sealing, is provided in the middle part of bottle holder
Positioning column.
Preferably, being placed with the medicine bottle fired and completed on the station of flask machine；The side of flask machine is provided with video camera, takes the photograph
Camera side is equipped with the first manipulator.
The invention avoids the medicine bottle collection devices that the rigid medicine bottle for firing completion is directly fallen into from flask machine to lower section
Process solves the problems, such as that middle boron glass bottle is broken；There is crawl drug, rotation medicine bottle and medicine bottle to become for the second robot simultaneously
Away from function, therefore medicine bottle can be closely spaced in second conveyer vertically, increase the circulation of second conveyer
Amount, further improves circulation efficiency of the medicine bottle between second conveyer and bottle inspector, therefore the present invention greatly improves
Medicine bottle produces efficiency and produces qualification rate.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the specific embodiment of the invention one；
Fig. 2 is the axis view structural schematic diagram of Fig. 1；
Fig. 3 is enlarged structure schematic diagram at the A of Fig. 2；
Fig. 4 is the structural schematic diagram of medicine bottle circulation line back segment in the present invention；
Fig. 5 is the structural schematic diagram of the second robot in the present invention；
Fig. 6 is the structural schematic diagram of three axle suspension arm assemblies of the invention；
Fig. 7 is the schematic diagram of internal structure of Fig. 2；
Fig. 8 is the structural schematic diagram of third manipulator；
Fig. 9 is the structural schematic diagram of displacement module in Fig. 8；
Figure 10 is the overlooking structure diagram of Fig. 9；
Figure 11 is the structural schematic diagram of second conveyer in the present invention；
Figure 12 is enlarged structure schematic diagram at the B of Figure 11.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and examples, it should be noted that, in the description of the present invention,
The orientation or positional relationship of the instructions such as term " on ", "lower", " cross ", " vertical ", "inner", "outside" be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, construct and operate in a particular manner, therefore be not considered as limiting the invention.Term " the
One ", " second ", " third " etc. are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.
With reference to the accompanying drawings and examples, the invention will be further described:
Embodiment 1
As shown in Figures 1 to 4, a kind of medicine bottle circulation method, includes the following steps:
1) medicine bottle 6 that completion is fired on 9 station of flask machine is shot one by one by video camera 11, video camera is by the number after shooting
According to being transmitted to controller (not shown)；
2) controller distinguishes quality and quality results is transmitted to the first manipulator 8；
3) the first manipulator 8 based on the received screened by quality results, if up-to-standard, the first manipulator 8 presss from both sides medicine bottle
To second conveyer 1, and tip upside down in second conveyer 1；Conversely, medicine bottle is then sandwiched useless bottle frame 2；
4) a drug row bottle is removed from 1 downstream of second conveyer using the first robot 3, and medicine bottle is in a row placed on to vertically
Two transmission devices, 4 upstream, the specific steps are as follows:
A, the first robot 3 includes the second manipulator 31 with multiple clamping jaws, utilizes the second crawl simultaneously of manipulator 31 the
Adjacent several medicine bottles on one transmission device 1；
B, it is rotated above the second manipulator 31 to second conveyer 4 using the first robot 3, and rotate the second manipulator 31 to make
The medicine bottle of back-off is upright；
C, mobile second manipulator 31 of the first robot 3, it is medicine bottle is upright and be in a row neatly placed on second conveyer 4；
D, the first robot 3 resets the second manipulator 31, and carries out secondary stroke.
5) between third manipulator 51 grabs between medicine bottle, rotation medicine bottle and adjustment medicine bottle in 4 downstream of second conveyer
Away from medicine bottle is moved in detection line 6 by mobile third manipulator 51, the specific steps are as follows:
A, the second robot 5 grabs the drug row in second conveyer 4 by the third manipulator 51 with more clamping jaws simultaneously
Bottle；
B, the second robot 5 rotates third manipulator 51, makes upright medicine bottle horizontal inversion；
C, the spacing between 51 upper gripper jaw of third manipulator is adjusted, the band ear 61 for placing medicine bottle in the spacing and detection line of clamping jaw is made
Between spacing be mutually adapted.
Flask machine can be connected with detection machine by this method, avoid by it is rigid fire the medicine bottle completed directly from
The process that the medicine bottle collection device of lower section is fallen on flask machine, solves the problems, such as that middle boron glass bottle is broken；Additionally by this
Method also extends the annealing time of medicine bottle, further reduced the risk that medicine bottle ruptures；In addition this method can be whole
Medicine bottle is arranged in second conveyer, the circulation efficiency of medicine bottle is improved, since second robot of this method has
Displacement function and rotation function, therefore can be closely spaced medicine bottle vertically in second conveyer, increase by the second transmission
The turnover of device further improves circulation efficiency of the medicine bottle between second conveyer and bottle inspector, therefore this method
It greatly improves producing for medicine bottle and efficiency and produces qualification rate.
A kind of medicine bottle flow system, including second conveyer 1, the first robot 3, second conveyer 4, the second machine
People 5, detection line 6 and flask machine 9；Second conveyer 1 is set to 9 side of flask machine, and is connected by the first manipulator 8, is convenient for
First manipulator 8 removes medicine bottle from flask machine；Useless bottle frame 2 is equipped between flask machine 9 and second conveyer 1, convenient for losing
Abandon useless bottle；It is connected between the downstream of second conveyer 1 and the upstream of second conveyer 4 by the first robot 3, convenient for benefit
The medicine bottle in second conveyer 1 is in a row removed with the first robot, it is neatly vertical to be placed in second conveyer；The
It is connected between the downstream of two transmission devices 4 and detection line 6 by the second robot 5, convenient for utilizing the second robot adjustment second
The distance between medicine bottle on transmission device and orientation are that medicine bottle can accurately be placed in detection machine in second conveyer
On band ear.
Second robot 5 includes third manipulator 51；Third manipulator 51 includes displacement module and rotary module；Displacement mould
Block is fixed on rotary module；Displacement module includes pedestal 511, distance changing mechanism 512, crawl structure 513, drive mechanism 514；Become
It is set on pedestal 511 away from structure 512；Crawl structure 513 is fixedly installed on distance changing mechanism 512；Drive mechanism 514 and displacement
Structure 512 connects；
Distance changing mechanism 512 is made of several first collet mounting blocks 5122 that several first opening pins 5121 connect；It is two intermediate
The first opening pin 5121 between the first adjacent collet mounting blocks 5122 is fixedly connected on pedestal 511 by nut mounting blocks
On；Limit fixed function is risen to entire distance changing mechanism.
Pedestal 511 is equipped with fixed block 114, and sliding slot is offered on fixed block 114, and sliding slot is equipped with sliding block 115；First folder
Limiting slot is equipped in the middle part of head mounting blocks 5122, the end of limiting slot is equipped with limit plate, and the both ends of the first opening pin 5121 are set respectively
In in the limiting slot at two 5122 middle parts of the first collet mounting blocks, so that the first collet mounting blocks 5122 is opened pin 5121 with first has
The even sliding rail sliding of opposite base 511；First collet mounting blocks, 5122 lower part is fixedly connected with crawl structure 513；Positioned at displacement
The top of the first collet mounting blocks 5122 at 512 both ends of structure is connect by nut 412 with the screw rod portion 411 of drive mechanism 514,
The screw rod portion of drive mechanism 514 is set between the left and right side side plate of pedestal 511；Motor 515 is arranged on left or right side side
On plate, the big belt wheel 413 outside screw rod is driven to rotate by the small pulley 414 of motor output end, and then drive 411 turns of screw rod portion
Dynamic, screw rod rotation back nut 412 can generate displacement, and nut and the first collet mounting blocks 5122 at 512 both ends of distance changing mechanism are fixed
Connection, therefore nut drives the first collet mounting blocks at 512 both ends of distance changing mechanism to move to both sides；And then realize crawl structure
It changes.
Grabbing structure 513 includes several grippers；Grippers include that portion is grabbed in interconnecting piece and suction；Interconnecting piece and distance changing mechanism
512 connections；The grasping end for inhaling portion of grabbing is set as arc；Suction, which is grabbed, is equipped with mounting hole among portion；Vacuum slot is provided in mounting hole (not
Diagram), vacuum slot front end is provided with sucker 313, is that medicine bottle is fixed on third manipulator 51 for medicine bottle to be sucked.
The pedestal rear of distance changing mechanism 512 is equipped with mounting base, and mounting base is fixed on the rotary screw of rotary module, rotates
Screw rod is driven by a motor rotation；Rotary module further includes manipulator mounting base 71, passes through manipulator mounting base 71 and the second machine
Three axle suspension arm assemblies on people 5 are fixedly connected.
Second robot 5 further includes three axle suspension arm assemblies, and third manipulator 51 is fixed on three axle suspension arm assemblies, and three
Axle suspension arm assembly includes X-axis cantilever 81, Y-axis cantilever 82 and Z axis cantilever 83；X-axis cantilever 81 passes through connecting plate 84 and Y-axis cantilever 82
It is slidably connected；X-axis cantilever 81 is slidably connected by connecting plate 84 with Z axis cantilever 83；Wherein X-axis cantilever 81 includes by front shroud
811, rear bottom plate 812, left motor plate 813 and right side plate 814；Sliding rail 815 is provided with above and below bottom plate 812 afterwards；
Sliding block is provided on sliding rail 815；Sliding seat 816 is provided on sliding block；The is equipped between left motor plate 813 and right side plate 814
Four screw rods 817；Sliding seat 816 includes nut interconnecting piece, and nut interconnecting piece and the 4th screw rod 817 cooperate；4th screw rod 817 and a left side
Motor connection on side motor plate 813；816 bottom and upper segment of sliding seat protrusion, and it is erected on the upper side edge of rear bottom plate 812 respectively
And lower side；Front shroud 811 is set within 816 bottom and upper segment of sliding seat；In addition, the structure of Y-axis cantilever 82 and Z axis cantilever 83
It is identical as X-axis cantilever 81；The right end of X-axis cantilever 81 is connect by connecting plate 84 with the sliding seat 816 on Y-axis cantilever 82；Z axis is outstanding
The sliding seat 816 of arm 83 is connect by connecting plate 84 with the sliding seat 816 on X-axis cantilever 81；It is being detected convenient for third manipulator
Movement, enables third manipulator to adjust the drug in spacing and orientation in line and the top three-dimensional space of second conveyer
Accurately it is placed in detection line.
Second conveyer 1 includes symmetrically arranged first chain 101 and the second chain 102, the first chain 101 and second
Corresponding opposite side is connected with several bottle holder 103 on chain 102, and bottle holder 103 includes the cylindrical case 1031 of top opening lower end sealing,
It is provided with positioning column 104 in the middle part of bottle holder 103, is conducive to the first manipulator and removes medicine bottle to tip upside down on positioning column, medicine can be prevented
Bottle is fallen from second conveyer, while also being provided the foundation for medicine bottle of closely placing vertical in second conveyer.This
Other devices and structure of the upstream of second robot in invention, patent " a kind of medicine bottle with application number 201810346924.5
Corresponding device and structure in flow system " is identical.
The medicine bottle 10 fired and completed is placed on the station of flask machine 9；The side of flask machine 9 is provided with video camera 11, takes the photograph
11 side of camera is equipped with the first manipulator 8, is conducive to screen product off quality, improves medicine bottle and produces qualification rate.
Specifically used process of the invention, first passes through video camera and images to medicine bottle, and screen medicine bottle by controller
Quality, product off quality is then thrown into useless bottle frame using the first manipulator, up-to-standard product is tipped upside down on
Medicine bottle is delivered at the first robot by the positioning column of second conveyer by second conveyer, and the first robot passes through
Second manipulator disposably grabs multiple medicine bottles from second conveyer, and then by the second manipulator of rotation, medicine bottle is erected
Directly upright to be placed in second conveyer, medicine bottle is moved at the second robot by second conveyer, the second robot
Medicine bottle, rotation medicine bottle are grabbed by third manipulator and displacement is carried out to medicine bottle, it is ensured that between medicine bottle pose pattern and medicine bottle
It is accurately placed on the band ear of detection machine after consistent with the spacing with ear of detection machine, then by medicine bottle, improves medicine bottle
It produces efficiency and produces qualification rate.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that those skilled in the art without
It needs creative work according to the present invention can conceive and makes many modifications and variations.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical solution, all should be within the scope of protection determined by the claims.
Claims (10)
- A kind of method 1. medicine bottle circulates, which comprises the steps of:1) medicine bottle (10) is placed on vertically on second conveyer (4)；2) third manipulator (51) grabs between medicine bottle, rotation medicine bottle and adjustment medicine bottle in the second conveyer (4) downstream Spacing, medicine bottle is moved on detection line (6) by mobile third manipulator (51).
- The method 2. medicine bottle as described in claim 1 circulates, it is characterized in that: the second conveyer (4) upstream is additionally provided with the One transmission device (1), medicine bottle is placed on to the second conveyer (4) vertically in the step 1), and specific step is as follows:A, medicine bottle is removed and is buckled to from flask machine (9) station and be placed on the second conveyer (1)；B, a drug row bottle is removed from the second conveyer (1) downstream, and medicine bottle is in a row placed on described second vertically and is passed Send device (4) upstream.
- The method 3. medicine bottle as claimed in claim 2 circulates, it is characterized in that: further including medicine bottle quality testing step before the step 1) Suddenly, the specific steps are as follows:A, the medicine bottle (10) that completion is fired on flask machine (9) station is shot one by one by video camera (11), the video camera Data after shooting are transmitted to controller；B, the controller distinguishes quality and quality results is transmitted to the first manipulator (8)；C, first manipulator (8) based on the received screened by quality results, if up-to-standard, first manipulator (8) medicine bottle is pressed from both sides to the second conveyer (1), and tipped upside down on the second conveyer (1)；Conversely, then will Medicine bottle sandwiches useless bottle frame (2).
- The method 4. medicine bottle as claimed in claim 2 circulates, it is characterized in that: from the second conveyer in the step b) (1) medicament taking bottle is placed on the second conveyer (4) specific step is as follows in:A, it is grabbed simultaneously using the second manipulator (31) with multiple clamping jaws adjacent several on the second conveyer (1) Medicine bottle；B, above using the first robot (3) rotation the second manipulator (31) to second conveyer (4), and it is mechanical to rotate second Hand (31) keeps the medicine bottle of back-off upright；C, first robot (3) is mobile second manipulator (31), medicine bottle is upright and be in a row neatly placed on described second Transmission device (4)；D, first robot (3) resets the second manipulator (31), and carries out secondary stroke.
- The method 5. medicine bottle as described in Claims 1-4 is any circulates, it is characterized in that: the second robot of the step 2 grabs Medicine bottle, specific step is as follows for the spacing for rotating medicine bottle and adjusting between medicine bottle:A, second robot (5) grabs the second conveyer by the third manipulator (51) with more clamping jaws simultaneously (4) the drug row bottle on；B, the second robot (5) rotation third manipulator (51), makes upright medicine bottle horizontal inversion；C, the spacing between third manipulator (51) upper gripper jaw is adjusted, makes to place medicine bottle in the spacing and detection line of clamping jaw It is mutually adapted with the spacing between ear (61).
- 6. a kind of medicine bottle flow system, it is characterized in that: including second conveyer (1), the first robot (3), the second transmission dress Set (4), the second robot (5), detection line (6) and flask machine (9)；The second conveyer (1) is set to the flask machine (9) Side, and be connected by the first manipulator (8)；It is equipped between the flask machine (9) and second conveyer (1) useless bottle frame (2)； Pass through first robot (3) between the downstream of the second conveyer (1) and the upstream of the second conveyer (4) Linking；It is connected between the downstream of the second conveyer (4) and the detection line (6) by the second robot (5).
- 7. medicine bottle flow system as claimed in claim 6, it is characterized in that: second robot (5) includes third manipulator (51)；The third manipulator (51) includes displacement module and rotary module；The displacement module is fixed on the rotary module On；The displacement module includes pedestal (511), distance changing mechanism (512), crawl structure (513), drive mechanism (514)；The change It is set on pedestal (511) away from structure (512)；The crawl structure (513) is fixedly installed on the distance changing mechanism (512)； The drive mechanism (514) connect with the distance changing mechanism (512).
- 8. medicine bottle flow system as claimed in claim 7, it is characterized in that: the distance changing mechanism (512) is by several first Several the first collet mounting blocks (5122) of expense (5121) connection are constituted；Intermediate two adjacent first collet installations Described first between block (5122) opens pin (5121) is fixedly connected on the pedestal (511) by nut mounting blocks；It is equipped with limiting slot in the middle part of the first collet mounting blocks (5122), the end of the limiting slot is equipped with limit plate, and described the One both ends for opening pin (5121) are respectively arranged in the limiting slot in the middle part of two the first collet mounting blocks (5122)；Described One collet mounting blocks (5122) top is slidably connected on the sliding rail of the pedestal (511) by sliding block；The first collet peace Dress block (5122) lower part is fixedly connected with the crawl structure (513)；First collet positioned at distance changing mechanism (512) both ends The top of mounting blocks (5122) is connect by nut with the screw rod portion of the drive mechanism (514).
- 9. the medicine bottle flow system as described in claim 6 or 8 is any, it is characterized in that: the second conveyer (1) includes pair Claim the first chain (101) and the second chain (102) of setting, is mutually coped on first chain (101) and the second chain (102) Side is connected with several bottle holder (103), and the bottle holder (103) includes the cylindrical case (1031) of top opening lower end sealing, institute It states and is provided with positioning column (104) in the middle part of bottle holder (103).
- 10. the medicine bottle flow system as described in claim 6 to 8 is any, it is characterized in that: the station (91) of the flask machine (9) On be placed with fire complete medicine bottle (10)；The side of the flask machine (9) is provided with video camera (11), the video camera (11) Side is equipped with first manipulator (8).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067006.5A CN109332198B (en) | 2018-09-13 | 2018-09-13 | Medicine bottle circulation method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811067006.5A CN109332198B (en) | 2018-09-13 | 2018-09-13 | Medicine bottle circulation method and system |
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| CN109332198A true CN109332198A (en) | 2019-02-15 |
| CN109332198B CN109332198B (en) | 2021-04-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111842183A (en) * | 2020-07-27 | 2020-10-30 | 深圳市维图视技术有限公司 | Bottle body detection device and bottle body detection method |
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| CN206883661U (en) * | 2017-07-03 | 2018-01-16 | 苏州弗迈特精密机械有限公司 | A kind of robot manipulator structure for automobile component gripping |
| CN207059148U (en) * | 2017-07-21 | 2018-03-02 | 昆山艾博机器人股份有限公司 | One kind automation variable pitch device |
| CN107626874A (en) * | 2017-10-31 | 2018-01-26 | 陈建万 | A kind of clamping manipulator mechanism |
| CN108423408A (en) * | 2018-04-18 | 2018-08-21 | 重庆环视高科技有限公司 | A kind of medicine bottle flow system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111842183A (en) * | 2020-07-27 | 2020-10-30 | 深圳市维图视技术有限公司 | Bottle body detection device and bottle body detection method |
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