CN209207547U - A kind of dyestripping fixture and multi-axis robot - Google Patents
A kind of dyestripping fixture and multi-axis robot Download PDFInfo
- Publication number
- CN209207547U CN209207547U CN201821939598.0U CN201821939598U CN209207547U CN 209207547 U CN209207547 U CN 209207547U CN 201821939598 U CN201821939598 U CN 201821939598U CN 209207547 U CN209207547 U CN 209207547U
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- clamp plate
- upper clamp
- lining paper
- axis robot
- connecting plate
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- 230000009471 action Effects 0.000 claims abstract description 16
- 230000003028 elevating effect Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000011017 operating method Methods 0.000 abstract description 3
- 239000012528 membrane Substances 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 239000000945 filler Substances 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012856 packing Methods 0.000 description 2
- 239000010893 paper waste Substances 0.000 description 2
- 101000684887 Homo sapiens Scavenger receptor class A member 5 Proteins 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 102000004940 SCARA5 Human genes 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of dyestripping fixture and multi-axis robots, the dyestripping fixture includes connecting plate, action clips and suction lining paper disk, it is respectively equipped with action clips on connecting plate and inhales lining paper disk, the action clips and suction lining paper disk all pass through connecting plate and are connected with drive shaft, the drive shaft is able to carry out horizontal rotation, and it can in axial direction carry out elevating movement, the action clips include executive component, lower clamp plate, upper clamp plate connecting plate and upper clamp plate, the lower clamp plate is mounted on executive component, the upper clamp plate is mounted on the side of executive component by upper clamp plate connecting plate, the lower clamp plate and upper clamp plate form a clamp structure.The dyestripping fixture had not only reduced hardware cost and the flow-disturbing to laminar winds, but also can improve the purpose of the speed of service, and its operating method is also fairly simple.
Description
Technical field
The utility model relates to drugs packaging field more particularly to a kind of dyestripping fixtures and multi-axis robot.
Background technique
In the prior art, such as the inner packing of tearing open of pre-encapsulated injector bottle placer device sets and is generally divided into preheating, tears outer membrane
Paper removes three independent stations of internal lining paper or tears outer membrane paper, removes two independent stations of internal lining paper, after the completion of tearing interior packet open, in advance
Encapsulated injector pallet is transferred to transferring platform by mechanical arm and send into filling and stopper-adding station in pre- encapsulating bottle placer, with into
Enter the process of next step.
Currently, the pre- encapsulating of robot tears inner membrance and removes liner using six shaft mechanical people to realize.Such as Publication No.
The patent of CN205441106U, which discloses a kind of pre-encapsulated injector bottle placer, tears inner packing open and sets, and it uses six-joint robots
Switch the position of three fixtures by manipulator to realize the operation torn outer membrane paper, remove internal lining paper, transfer tray, still, is tearing
Outer membrane paper is gone in the operation of internal lining paper, and six shaft mechanical people have that cost height and mechanical arm are larger, and operating method is more multiple
It is miscellaneous, and it is larger to the flow-disturbing of laminar winds during exercise, is generally difficult to realization and runs at high speed, influences working efficiency.
Utility model content
(1) technical problems to be solved
Based on this, the utility model is improved for existing fixture, proposes a kind of dyestripping fixture and multiaxis machine
Device people, by the redesign to fixture, so that the multi-axis robot of such as four axis robots etc is also able to achieve pre- encapsulating
It tears inner membrance and liner is gone to act, not only reduced costs to reach, but also the purpose of the speed of service can be improved, operating method also compares
It is relatively simple.
(2) technical solution
In order to solve the above technical problems, the dyestripping fixture includes connection the utility model proposes a kind of dyestripping fixture
Plate, action clips and suction lining paper disk are respectively equipped with action clips on connecting plate and inhale lining paper disk, and the action clips and suction serve as a contrast
Paper disc all passes through connecting plate and is connected with drive shaft, and the drive shaft is able to carry out horizontal rotation, and can in axial direction carry out
Elevating movement, the action clips include executive component, lower clamp plate, upper clamp plate connecting plate and upper clamp plate, the lower clamp plate peace
On executive component, the upper clamp plate is mounted on the side of executive component by upper clamp plate connecting plate, the lower clamp plate with it is upper
Clamping plate forms a clamp structure.
Further, the action clips further include elastic slice, and the elastic slice is mounted on the lower section of lower clamp plate, the lower clamp plate
It is equipped with a notch with the rear portion of the upper clamp plate connecting plate corresponding position, the action clips are specially air-actuated jaw, described
Executive component is specifically pneumatic apparatus.
Further, the suction lining paper disk includes suction cup carrier, sucker and pneumatic joint, is equipped with gas inside the suction cup carrier
Road is communicated with sucker, pneumatic joint respectively, and the pneumatic joint is connect by vacuum pipe with vacuum system.
Further, the number for inhaling the sucker on lining paper disk is multiple.
Further, the multi-axis robot includes dyestripping fixture according to any one of claims 1-4.
Further, the multi-axis robot is specially tetra- axis robot of SCARA.
Further, the multi-axis robot has the mechanical arm of three sections or more, and the mechanical arm of final section, which connects, to be driven
Moving axis, and the mechanical arm of the final section is able to drive drive shaft and is horizontally moved.
(3) beneficial effect
The utility model is compared with the prior art, and the beneficial effects of the utility model include:
1) the dyestripping fixture of the utility model can use what tetra- axis robot of SCARA can complete to complete six-joint robot
Function saves cost；
2) speed of service of the utility model multi-axis robot is improved much higher than the speed of service of six-joint robot simultaneously
The efficiency of dyestripping is able to satisfy the requirement of high speed fluid filler；
3) structure of six axis multi-axis robot below (such as four axis robots) is simpler with respect to the mechanism of six-joint robot,
So that the mechanical arm of robot is opposite with respect to the mechanical arm of six-joint robot to want small, and operation is more simple, can have at runtime
Effect reduces the flow-disturbing to laminar winds, reduces the risk of pharmaceutical production.
Detailed description of the invention
Can be more clearly understood the feature and advantage of the utility model by reference to attached drawing, attached drawing be schematically without
It is interpreted as carrying out any restrictions to the utility model, in the accompanying drawings:
Fig. 1 is four axis robot dyestripping fixture side view of the utility model；
Fig. 2 is four axis robot dyestripping fixture top view of the utility model；
Fig. 3 is four axis robot dyestripping fixture axonometric drawing of the utility model；
Fig. 4 is the cylinder collet enlarged drawing of the utility model air-actuated jaw；
Fig. 5 carries off side schematic diagram for the utility model dyestripping fixture；
Fig. 6 is the work side view of four axis robot dyestripping fixture of the utility model；
Fig. 7 is the work top view of four axis robot dyestripping fixture of the utility model.
Description of symbols:
1. four axis robot connecting flanges, 2. connecting plates, 3. air-actuated jaws, 31. pneumatic apparatus, 32. lower clamp plates,
33. upper clamp plate connecting plate, 34. upper clamp plates, 35. elastic slices, 36. notches, 4. inhale lining paper disk, 41. suction cup carriers, 42. suckers, 43. gas
Dynamic connector, 5. 4 axis robots, 6. dyestripping fixtures, 7. nest boxes.
Specific embodiment
To keep the above objects, features, and advantages of the utility model more obvious and easy to understand, with reference to the accompanying drawing to this
The specific embodiment of utility model is described in detail.Many details are explained in the following description in order to abundant
Understand the utility model.But the utility model can be implemented with being much different from other way described herein, this field
Technical staff can do similar improvement without prejudice to the utility model connotation, therefore the utility model is not by following public affairs
The limitation for the specific implementation opened.
The utility model connects four axis robot connection methods used as the SCARA flapping articulation manipulator of four axis robots
Orchid 1 (specific in kind reference can be made to Fig. 6-7), to be connect by four axis robot connecting flanges 1 with connecting plate 2, to drive dyestripping
Fixture 6 works.
As shown in Figure 1-3, the tetra- axis robot dyestripping fixture of SCARA utilizes the driving on four axis robot arms
Axis can only rotate horizontally, the characteristic that cannot be overturn, and be equipped with air-actuated jaw 3 at the both ends of dyestripping fixture 6 and inhale lining paper disk 4, and lead to
It crosses connecting plate 2 to be connected with four axis robot connecting flanges 1, to be driven by the drive shaft of four axis robots to be moved.Institute
The air-actuated jaw 3 stated includes pneumatic apparatus 31, lower clamp plate 32, upper clamp plate connecting plate 33, upper clamp plate 34 and elastic slice 35, is worth
One is mentioned that, it is practical new that the utility model only elaborates this by taking four relatively broad axis robot SCARA as an example herein
The technical solution of type, four axis robots can certainly be multi-axis robot, including as five axis and six-joint robot are ok
Using the dyestripping fixture, as long as the mechanical arm of robot may be implemented that dyestripping fixture 6 is driven to be torn inner membrance accordingly and/or gone
Liner movement.
As shown in the cylinder collet enlarged drawing of the air-actuated jaw of Fig. 3-4, lower clamp plate 32 is mounted on pneumatic apparatus 31,
And a notch 36 is equipped with the rear portion of 33 corresponding position of upper clamp plate connecting plate；Upper clamp plate 34 is installed by upper clamp plate connecting plate 33
In the side of pneumatic apparatus 31；Elastic slice 35 is mounted on the lower section of lower clamp plate 32, and forms one in front end with upper clamp plate 34
Elastic clip.It should be noted that its elastic slice 35 is not to carry off film and the necessary component of dyestripping operation.
The suction lining paper disk 4 includes suction cup carrier 41, sucker 42 and pneumatic joint 43, is equipped with air flue inside suction cup carrier 41,
Respectively with sucker 42, pneumatic joint 43 communicated, and pneumatic joint 43 is connect by vacuum pipe with vacuum system, to control sucker
42 inhale/blow the work of internal lining paper.
It should be pointed out that multiple suckers 42 can be equipped on the suction lining paper disk 4, to facilitate batch working.In addition, its
Air-actuated jaw 3 can also specifically be substituted with electric fixture or hydraulic operated fixture.
If carrying off for Fig. 5 is actually that dyestripping operates the figure finished, when dyestripping starts, lower folder shown in the schematic diagram of side
Plate 32 and upper clamp plate 34 form one side that an elastic clip clamps the nest box fixed, and tetra- axis robot band of SCARA is taken offence at this time
Dynamic fixture 3 is moved and (is moved along dyestripping direction) along the arrow direction of Fig. 5, and the film sealed above nest box is carried off directly.At the end of carrying off film,
The subsequent notch 36 of lower clamp plate 32 just be stopped at the edge of nest box fillet, guarantees that upper clamp plate 34 is just pressed from both sides with lower clamp plate 32
The film firmly sealed above nest box, to guarantee that nest box will not be clipped to.Then, four axis robots drive air-actuated jaw 3 diagonally square to nest box
It to upwards forward tearing up film, and is sent to above waste paper collection port, pneumatic apparatus 31 drives upper clamp plate 34 and lower clamp plate 32
It opens, finally film is thrown into waste-basket.
When suction internal lining paper starts, four axis robot dyestripping fixtures 6 rotate a certain angle, and are placed exactly in suction lining paper disk 4
Above nest box, the drive shaft decline of tetra- axis robot arm of SCARA connection, when sucker 42 is pressed on the internal lining paper of nest box,
Vacuum is opened, and sucker 42 draws internal lining paper.Then tetra- axis robot of SCARA moves internal lining paper to waste paper collection port, very
Vacant duct is passed through compressed air, and internal lining paper is blown into waste-basket.
As shown in fig. 6-7, four axis robots (SCARA) 5 can carry out above-mentioned tear to nest box 7 by dyestripping fixture 6
Membrane operations and internal lining paper is gone to operate, the dotted portion in Fig. 7 indicates the internal lining paper for needing to remove, and is located at the inside (film of film
Size and nest box it is in the same size), multiple medicine bottles being covered with below internal lining paper in Fig. 5, and four axis robots can be passed through
Mechanical arm drive drive shaft, to drive the drive shaft and dyestripping fixture 6 to be horizontally moved and/or rotate horizontally and up and down
It is mobile, it should be pointed out that the drive shaft itself is able to carry out horizontal rotation (referring to the anticlockwise arrow of Fig. 7),
And can be carried out along its axial direction elevating movement (go to need when internal lining paper dyestripping fixture 6 rotate horizontally and on move down
It is dynamic).In addition, four axis robots include three section mechanical arms, first segment, the second section, third section mechanical arm are sequentially connected, so that machine
Device people has Three Degree Of Freedom, in addition, the mechanical arm of third section i.e. final section connects drive shaft, drive shaft passes through four axis machines
Device people connecting flange 1 and connecting plate 2 connect dyestripping fixture 6, finally to drive dyestripping fixture 6 to be horizontally moved and/or level
It rotates and moves up and down.And since the speed of service of SCARA is much higher than the speed of service of six-joint robot, dyestripping is improved
Efficiency is able to satisfy the requirement of high speed fluid filler；Furthermore the structure of four axis robot SCARA wants letter with respect to the mechanism of six-joint robot
It is single, so that four axis robot SCARA mechanical arms are opposite with respect to the mechanical arm of six-joint robot to want small, can effectively reduce at runtime
To the flow-disturbing of laminar winds, the risk of pharmaceutical production is reduced, and this dyestripping fixture 6 is particularly suitable for four axis robot SCARA5 and carries out
Dyestripping works and internal lining paper is gone to work, and its is easy to operate.
It is noted that be referred to as " being fixed on " another element when element, it can directly on the other element or
There may also be elements placed in the middle by person.When an element is considered as " connection " another element, it can be directly to
Another element may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein are led with the technology for belonging to the utility model
The normally understood meaning of the technical staff in domain is identical.Terminology used in the description of the utility model herein only be
The purpose of description specific embodiment, it is not intended that in limitation the utility model.Each technical characteristic of embodiment described above
It can be combined arbitrarily, for simplicity of description, not to all possible combination of each technical characteristic in above-described embodiment
It is all described, as long as being all considered to be the model of this specification record however, there is no contradiction in the combination of these technical features
It encloses.
Although being described in conjunction with the accompanying the embodiments of the present invention, those skilled in the art can not departed from
Various modifications and variations are made in the case where the spirit and scope of the utility model, such modifications and variations are each fallen within by appended
Within claim limited range.
Claims (7)
1. a kind of dyestripping fixture, which is characterized in that the dyestripping fixture includes connecting plate, action clips and inhales lining paper disk, even
It is respectively equipped with action clips on fishplate bar and inhales lining paper disk, the action clips and suction lining paper disk all pass through connecting plate and drive shaft phase
Even, the drive shaft is able to carry out horizontal rotation, and can in axial direction carry out elevating movement, and the action clips include holding
Units, lower clamp plate, upper clamp plate connecting plate and upper clamp plate, the lower clamp plate are mounted on executive component, and the upper clamp plate is logical
The side that upper clamp plate connecting plate is mounted on executive component is crossed, the lower clamp plate and upper clamp plate form a clamp structure.
2. dyestripping fixture according to claim 1, which is characterized in that the action clips further include elastic slice, the elastic slice
It is mounted on the lower section of lower clamp plate, the rear portion of the lower clamp plate and the upper clamp plate connecting plate corresponding position is equipped with a notch, institute
Stating action clips is specially air-actuated jaw, and the executive component is specifically pneumatic apparatus.
3. dyestripping fixture according to claim 1, which is characterized in that the suction lining paper disk include suction cup carrier, sucker and
Pneumatic joint, the suction cup carrier inside are equipped with air flue, communicate respectively with sucker, pneumatic joint, the pneumatic joint passes through vacuum
Pipeline is connect with vacuum system.
4. dyestripping fixture according to claim 3, which is characterized in that the number for inhaling the sucker on lining paper disk is more
It is a.
5. a kind of multi-axis robot, which is characterized in that the multi-axis robot includes according to any one of claims 1-4 tears
Film fixture.
6. multi-axis robot according to claim 5, which is characterized in that the multi-axis robot is specially tetra- axis of SCARA
Robot.
7. multi-axis robot according to claim 5, which is characterized in that the multi-axis robot has the machine of three sections or more
Tool arm, the mechanical arm of final section connects drive shaft, and the mechanical arm of the final section is able to drive drive shaft and carries out water
Translation is dynamic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821939598.0U CN209207547U (en) | 2018-11-23 | 2018-11-23 | A kind of dyestripping fixture and multi-axis robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821939598.0U CN209207547U (en) | 2018-11-23 | 2018-11-23 | A kind of dyestripping fixture and multi-axis robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209207547U true CN209207547U (en) | 2019-08-06 |
Family
ID=67460947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821939598.0U Active CN209207547U (en) | 2018-11-23 | 2018-11-23 | A kind of dyestripping fixture and multi-axis robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209207547U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262644A (en) * | 2018-11-23 | 2019-01-25 | 楚天科技股份有限公司 | A kind of dyestripping fixture, multi-axis robot and its control method |
| CN112591193A (en) * | 2020-12-07 | 2021-04-02 | 深圳市道和实业有限公司 | Automatic film pasting equipment for electronic element of mobile phone |
| CN115447865A (en) * | 2022-09-02 | 2022-12-09 | 莫纳(武汉)生物科技有限公司 | Automatic film tearing device |
-
2018
- 2018-11-23 CN CN201821939598.0U patent/CN209207547U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262644A (en) * | 2018-11-23 | 2019-01-25 | 楚天科技股份有限公司 | A kind of dyestripping fixture, multi-axis robot and its control method |
| CN112591193A (en) * | 2020-12-07 | 2021-04-02 | 深圳市道和实业有限公司 | Automatic film pasting equipment for electronic element of mobile phone |
| CN115447865A (en) * | 2022-09-02 | 2022-12-09 | 莫纳(武汉)生物科技有限公司 | Automatic film tearing device |
| CN115447865B (en) * | 2022-09-02 | 2023-09-22 | 莫纳(武汉)生物科技有限公司 | Automatic dyestripping device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Changsha Pharmaceutical Equipment Industrial Technology Research Institute Co.,Ltd. Assignor: TRUKING TECHNOLOGY Ltd. Contract record no.: X2023980051833 Denomination of utility model: A film tearing fixture and multi axis robot Granted publication date: 20190806 License type: Common License Record date: 20231213 |
|
| EE01 | Entry into force of recordation of patent licensing contract |