CN209651237U - Case supporting device, case moving system and pharmaceutical production equipment - Google Patents

Abstract

The disclosure relates to a box supporting device, a box body moving system and pharmaceutical production equipment. The supporting box device (100) is used to support the box body (300), including: a base (110); multiple groups of claws (120), which are swingably arranged on the base (110); and claw driving a mechanism (130), configured to drive the plurality of sets of claws (120) to swing relative to the base (110), so that at least the four corners of the box (300) The supporting effect of the box body (300) is realized. The present disclosure supports at least the four corners of the box by multiple sets of claws to realize the supporting function of the box, which can correspondingly reduce or avoid the space occupation under the box, and this part of the space can be designed as the movement of the box according to the process requirements. Space or other functions, thus improving process adaptability.

Description

Case supporting device, case moving system and pharmaceutical production equipment

technical field

The present disclosure relates to the field of food and drug production or packaging, and in particular to a box supporting device, a box moving system, and drug production equipment.

Background technique

In the food and drug production or packaging industry, it is often necessary to transfer drug containers between processes. For example, bottles containing medicines are conveyed as a whole through boxes, and before entering the next process, the bottles are removed from the boxes and conveyed separately.

In the existing process, when it is necessary to perform operations such as picking up bottles, moving boxes, and stacking boxes, the boxes need to be kept. The current box maintenance method is mainly based on the bottom support method, that is, the bottom support is used to maintain the stability of the box, so as to perform related operations on the box. However, the box holding mechanism adopting this box holding method needs to occupy a large space under the box, so that the delivery of the box, bottle taking and other mechanisms need to avoid interference with the box holding mechanism, thereby increasing the overall space occupation , which restricts the process realization.

Utility model content

In view of this, the embodiments of the present disclosure provide a box supporting device, a box moving system, and pharmaceutical production equipment, which can improve process adaptability.

In one aspect of the present disclosure, there is provided a box supporting device for supporting a box, including:

base;

Multiple sets of claws are swingably arranged on the base; and

The claw driving mechanism is used to drive the multiple sets of claws to swing relative to the base, so as to support the box by supporting at least the four corners of the box by the multiple sets of claws effect.

Further, the projection points of the swing axes of the multiple groups of claws on the horizontal plane are located at the four corners of the rectangle.

Further, it also includes: a rotating shaft and a rotating sleeve, the claw is fixedly connected with the rotating sleeve, the rotating shaft is vertically arranged on the base, the rotating sleeve is sleeved on the rotating shaft, and can Swing a preset angle based on the axis of the rotating shaft.

Further, the claw driving mechanism includes: a support and a swing actuator, the support is vertically arranged on the base, one end of the swing actuator is hinged to the support, and the other end is connected to the support. The claw is hinged, and the swing actuator is configured to perform a telescopic movement to drive the swing of the claw around the axis of the rotating shaft.

Further, a locking mechanism is also included for locking the angle position of the claw relative to the base.

Further, the locking mechanism includes: a locking sliding seat and a locking actuator, the locking sliding seat is arranged on the claw, the locking actuator is connected with the locking sliding seat, and is used to After the claw swings to a preset position, the locking sliding seat is driven to lock and limit the rotation of the rotating shaft and the rotating sleeve.

Further, the part of the claw for contacting the box is configured to match the outer contour of the side of the box near the bottom surface.

In one aspect of the present disclosure, a box moving system is provided, comprising:

The case handling platform has at least two case removal devices and can circulate among at least three case handling stations; and

The aforementioned box supporting device is arranged at each of the box processing stations, and is used to support the boxes of the box processing stations where it is located.

Further, the box handling platform also includes:

a vertical drive mechanism, used to drive the at least two box removing devices to move vertically; and

The horizontal driving mechanism is used to drive the at least two box removing devices to move in the horizontal direction.

Further, the horizontal driving mechanism includes: a base, a sliding seat, a slideway and a first power source, and the at least two box removal devices are arranged on the sliding seat through the vertical driving mechanism, and the sliding seat The slideway is arranged on the base, and the first power source is connected to the slide seat for driving the slide seat to move relative to the base along the extending direction of the slideway.

Further, the at least three box processing stations are arranged at intervals along the extending direction of the slideway.

Further, the vertical drive mechanism includes: a support platform and a second power source, the at least two box removal devices are arranged above the support platform, and the second power source is arranged between the support platform and the Between the horizontal driving mechanism, it is used to drive the supporting platform to perform vertical lifting movement relative to the horizontal driving mechanism.

Further, the vertical drive mechanism further includes: a guide mechanism provided between the support platform and the horizontal drive mechanism, for guiding the support platform to move in the vertical direction.

Further, the setting heights of the multiple sets of jaws of the box holding device are within the range of movement of the support platform in the vertical direction.

Further, the box removal device includes:

a side fixing mechanism, configured to apply a compressive force to the side of the box in at least a direction including a vertical downward direction; and

The bottom supporting mechanism is used for partially supporting the bottom of the box.

Further, the side fixing mechanism includes a pair of clamping plates respectively arranged on both sides of the box body, and the pair of clamping plates can move toward the direction close to the box body to compress the box body side.

Further, the side fixing mechanism further includes a first power mechanism for driving the clamping plate to perform a clamping action or a loosening action.

Further, the bottom support mechanism includes: a support boss for supporting the bottom central area of the box and/or a bottom edge for supporting at least two opposite sides of the box. The support ribs for the support of the area.

In one aspect of the present disclosure, there is provided a pharmaceutical production equipment, including: the aforementioned box moving system, the box is a sorting box or an empty sorting box for containing pharmaceutical raw materials, semi-finished products or finished products.

Therefore, according to the embodiments of the present disclosure, at least the four corners of the box are supported by multiple sets of claws to realize the supporting function of the box, which can correspondingly reduce or avoid the occupation of the space under the box, and this part of the space can be adjusted according to the needs of the process. It is designed as a space for box movement or other functions, thereby improving process adaptability.

Description of drawings

The accompanying drawings, which constitute a part of this specification, illustrate the embodiments of the disclosure and together with the description serve to explain the principles of the disclosure.

The present disclosure can be more clearly understood from the following detailed description with reference to the accompanying drawings, in which:

Fig. 1 is a partial structural schematic diagram of some embodiments of a box supporting device according to the present disclosure;

Fig. 2 and Fig. 3 are respectively the schematic diagrams of different positions of the embodiment of Fig. 1 in the top view angle;

Figure 4(a) and Figure 4(b) are schematic diagrams of some embodiments of the box holder device of the present disclosure in different working states;

FIG. 5 and FIG. 6 are structural schematic diagrams of the box handling platform in different viewing angles according to some embodiments of the box moving system of the present disclosure;

Figure 7(a)-7(d) is a schematic diagram of multiple working state changes of the box body handling platform in the embodiment of Figure 6;

Fig. 8 is a schematic diagram of the working state of some embodiments of the box moving system of the present disclosure.

It should be understood that the sizes of the various parts shown in the drawings are not drawn according to the actual scale relationship. In addition, the same or similar reference numerals denote the same or similar components.

Detailed ways

Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is illustrative only, and in no way restricts the disclosure, its application or uses. The present disclosure can be implemented in many different forms and is not limited to the embodiments described here. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that unless specifically stated otherwise, the relative arrangement of components and steps set forth in these embodiments should be construed as illustrative only and not as limiting.

"First", "second" and similar words used in the present disclosure do not indicate any order, quantity or importance, but are only used to distinguish different parts. Words like "comprising" or "comprising" mean that the elements preceding the word cover the elements listed after the word, and do not exclude the possibility of also covering other elements. "Up", "Down", "Left", "Right" and so on are only used to indicate the relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

In the present disclosure, when it is described that a specific device is located between a first device and a second device, there may or may not be an intervening device between the specific device and the first device or the second device. When it is described that a specific device is connected to other devices, the specific device may be directly connected to the other device without an intervening device, or may not be directly connected to the other device but has an intervening device.

All terms (including technical terms or scientific terms) used in the present disclosure have the same meaning as understood by one of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general-purpose dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in idealized or extremely formalized meanings, unless explicitly stated herein Defined like this.

Techniques, methods and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods and devices should be considered part of the description.

As shown in FIG. 1 , it is a partial structural schematic diagram of some embodiments of a box supporting device according to the present disclosure. Referring to FIGS. 2-8 , the box supporting device 100 of this embodiment is used to support a box body 300 , and the box supporting device 100 includes: a base 110 , multiple sets of jaws 120 and a jaw driving mechanism 130 . Multiple sets of claws 120 are swingably disposed on the base 110 . For multiple groups of claws 120 , each claw 120 can be set on an independent base 110 , or can be set on the same base 110 together.

The claw driving mechanism 130 can drive the plurality of sets of claws 120 to swing relative to the base 110 , so as to support at least the four corners of the box body 300 by the multiple sets of claws 120 to realize the support of the box body 300 . 300 supporting role. This claw utilizes the space on the side of the box body 300 to support the box body 300 at least in the manner of supporting the four corners of the box body 300, thus eliminating the space occupied by the existing box body holding mechanism at the bottom of the box body 300 , so that this part of the space can be used to perform other functions according to the needs of the process, such as driving the movement of the box, etc., thereby improving the process adaptability.

Referring to FIG. 1 , in some embodiments, the box supporting device 100 may further include a rotating shaft 141 and a rotating sleeve 142 . The claw 120 is fixedly connected with the rotating sleeve 142 , and the rotating shaft 141 is vertically arranged on the base 110 . The rotating sleeve 142 is sleeved on the rotating shaft 141 and can swing at a preset angle based on the axis of the rotating shaft 141 . Here, the rotating shaft 141 can be fixed to the base 110 while the rotating sleeve 142 rotates relative to the rotating shaft 141 , or it can be fixed to the rotating sleeve 142 while rotating relative to the base 110 .

In FIG. 1 , the claw driving mechanism 130 may specifically include a support 131 and a swing actuator 132 . The support 131 can be vertically arranged on the base 110 , and one end of the swing actuator 132 is hinged to the support 131 , and the other end is hinged to the claw 120 . The swing actuator 132 can be configured to perform a telescopic movement to drive the claw 120 to swing around the axis of the rotating shaft 141 . The claw driving mechanism 130 can optionally adopt an air cylinder, a hydraulic cylinder, or a linear motor.

2 and 3, through the drive of the claw driving mechanism 130, the claw 120 can be switched from the state of protruding to the left to protruding downward, or from protruding downward to the left. side extended state. A kind of among Fig. 2 and Fig. 3 can be used as supporting state, and another kind of then is retracted state accordingly.

In Fig. 1-Fig. 3, the outline of the jaw 120 is shown in a simple way. In actual use, the position on the jaw 120 that is in contact with the box body 300 can be arranged to be in contact with the box body 300. The outer contour of the 300 side adjacent to the bottom surface matches. For example, for a sorting box, the outer wall of the box is provided with a plurality of rectangular concave squares near the corners, and a rectangular profile can be set at the end of the claw 120 so that it can be inserted into the side of the box after swinging. In the rectangular concave grid, this not only realizes the supporting function, but also realizes the positioning function in the horizontal direction by using the embedded matching structure.

Referring to Fig. 4(a), before the box body 300 is moved to the working area of the box supporting device 100, the jaw 120 can be driven to a position avoiding the box body 300 by the jaw driving mechanism 130, so as to avoid interference with the box body 300 . After the box body 300 moves to the working area of the box supporting device 100 , the claws 120 can be driven to a position where four corners are supported on the box body 300 by the claw driving mechanism 130 .

For a box with a conventional shape, it is preferable that the projection points of the swing axes of the plurality of claws 120 on the horizontal plane be located at the four corners of the rectangle. In this way, multiple sets of claws 120 can form a support function suitable for the box body. In some other embodiments, the multiple sets of claws 120 are not limited to only supporting the four corners of the box body 300 , and may also include ways to support the sides or part of the bottom of the box body as required.

In addition, the support of the claw 120 to the box body 300 is preferably at the outer corner of the box body 300 near the bottom, so as to be lower than the center of gravity of the box body and its contents as much as possible, so as to increase the reliability and safety of the support. In other embodiments, the claw 120 may also support the middle or upper part of the outer corner of the box.

In order to make the support of the claws on the box more stable and reliable, referring to FIG. 1 , in some embodiments, the box holder device 100 may further include a locking mechanism 150 for locking the claws 120 relative to the base. The angular position of 110 is locked. In other words, the locking mechanism 150 can be used to lock the position of the claw 120 , so as to avoid the problem of changing the angular position by itself when an external force is applied, causing the box to drop or interfere with the movement of the box.

In FIG. 1 , the locking mechanism 150 may include a locking sliding seat 151 and a locking actuator 153 . The locking sliding seat 151 is disposed on the claw 120 , and the locking actuator 153 is connected to the locking sliding seat 151 . The locking actuator 153 can drive the locking sliding seat 151 to lock and limit the rotation of the rotating shaft 141 and the rotating sleeve 142 after the claw 120 swings to a preset position. The locking actuator 153 can optionally adopt an air cylinder, a hydraulic cylinder, or a linear motor.

Taking the locking cylinder as an example for the locking actuator 153, the cylinder body of the locking cylinder can be fixed on the locking sliding seat 151 or on the claw 120, and the cylinder rod of the locking cylinder is connected with the locking slide by the locking claw 152. Seat 151 is connected. When the cylinder rod is extended or retracted, the locking claw 152 can drive the locking sliding seat 151 to switch between the position of the locking shaft 141 and the position of the unlocking shaft 141 . For the structure in which the rotating shaft 141 is rotatable relative to the rotating sleeve 142 , the locking sliding seat 151 can increase the frictional force by pressing against the side wall of the rotating shaft 141 , so as to achieve a locking effect.

As shown in FIG. 8 , it is a schematic view of the working state of some embodiments of the box moving system of the present disclosure. In this embodiment, the box moving system includes: a box handling platform 200 and an embodiment of the aforementioned box supporting device 100 . Wherein, the box conveying platform 200 has at least two box picking devices, and can circulate among at least three box processing stations A, B, and C. The box supporting device 100 is provided at each of the box processing stations A, B, and C, and is used to support the box body 300 of the box processing stations A, B, and C where it is located.

The box handling platform 200 can simultaneously transport at least two boxes 300 and circulate among at least three box processing stations. Compared with the existing way of separate processing along a plurality of box body processing stations, the box body handling platform 200 of this embodiment can enable at least two box body handling stations to simultaneously carry the box body 300 of the box body handling platform 200 Corresponding processing is performed, so the operation efficiency of the box body 300 is improved to a certain extent.

In order to make the case run smoothly between the case processing stations, in addition to the case removal device, the case handling platform 200 may also include: a vertical shaft for driving the at least two case removal devices to move in the vertical direction. A direct drive mechanism and a horizontal drive mechanism for driving the at least two box removing devices to move in the horizontal direction.

Referring to FIG. 5 and FIG. 6 , in some embodiments, the horizontal driving mechanism may include: a base 210 , a sliding seat 220 , a slideway 211 and a first power source. At least two box removing devices are arranged on the sliding seat 220 through the vertical driving mechanism. In FIG. 6 , each box removing device may specifically include: a side fixing mechanism 260 and a bottom supporting mechanism. The side fixing mechanism 260 can apply a pressing force on the side of the box body 300 along at least a vertical downward direction. The bottom supporting mechanism is used to partially support the bottom of the box body 300 . In this way, the box body 300 can be fixed relatively stably under the side pressing limit action of the side fixing mechanism 260 and the fixing action of the bottom support mechanism, so that when the box taking device is displaced horizontally or vertically, it can be kept The stability of the box body 300 ensures that the contents inside the box body 300 remain stable when the box body moves, preventing the contents from being dumped. In some other embodiments, the box removing device may also not include the side fixing mechanism 260 or the bottom supporting mechanism for partially supporting the bottom of the box body may be omitted.

In FIG. 6 , the side fixing mechanism 260 may include a pair of clamping plates respectively disposed on both sides of the box body 300 . The pair of clamping plates can move towards the direction close to the box body 300 to compress the sides of the box body 300 . In this way, the clamping plate can press the side plate of the box body 300 downward on the support platform 250 , so that the box body 300 cannot slide on the support platform 250 under relatively large frictional force. In addition, the clamping plate can also limit the position of the box body 300 on both sides of the box body 300 . The side fixing mechanism 260 may also include a first power mechanism for driving the clamping plate to perform a clamping action or a loosening action.

The bottom support mechanism may include a support boss 272 for supporting the bottom central area of the box body 300 and/or for supporting the bottom edge area corresponding to at least two opposite sides of the box body 300 The supporting ribs 271 are supported. For a box with a heavy content, the bottom of the box tends to be deformed under the extrusion of the content, so that the content is easy to fall during the movement, and the support boss 272 and/or the support rib 271 can Support the bottom of the box. According to the deformation condition of the bottom of the box, the supporting boss 272 can improve the large sinking deformation of the central area of the bottom of the box by supporting the central area of the bottom of the box, and the supporting convex strip 271 can improve the deformation of the central area of the bottom of the box by supporting the bottom of the box. Support to improve the torsional deformation of the bottom of the box relative to the plane.

Cooperating with the side fixing mechanism 260, the bottom supporting mechanism can not only realize the support of the bottom of the box, improve the deformation of the bottom, but also realize more stable fixing of the box. This supports higher operating speeds of the cabinet and ensures the stability of the contents inside the cabinet.

In FIGS. 5 and 6 , the sliding seat 220 is disposed on the base 210 through the slideway 211 . The first power source is connected to the sliding seat 220 and is used to drive the sliding seat 220 to move relative to the base 210 along the extending direction of the slideway 211 . The first power source can optionally adopt a matching structure of a belt, a chain or a ball screw transmission mechanism and a motor. Driven by the first power source, the sliding seat 220 can slide along the slideway 211, so that the case removal device can move from the previous case processing station to another case processing station under the drive of the sliding seat 220. In FIG. 8 , preferably at least three box processing stations A, B, C are arranged at intervals along the extending direction of the slideway 211 .

Referring to FIG. 5 , in some embodiments, the vertical driving mechanism may include: a support table 250 and a second power source 240 . At least two box removing devices are arranged above the supporting platform 250 . The second power source 240 is disposed between the supporting platform 250 and the horizontal driving mechanism, and is used to drive the supporting platform 250 to perform a vertical lifting movement relative to the horizontal driving mechanism. The second power source 240 can be an air cylinder or a hydraulic cylinder, or a matching structure of a motor and a pulley, a chain or a ball screw transmission mechanism. By driving the support platform 250 to move, the box removal device can be lifted up and down with the support platform 250 .

In FIG. 5 , the vertical driving mechanism may further include a guide mechanism 230 disposed between the supporting platform 250 and the horizontal driving mechanism, for guiding the supporting platform 250 to move vertically. The guide mechanism 230 can guide the lifting of the support platform 250 , so that the box body 300 fixed by the box unloading device rises or falls along with the support platform 250 .

In order to make the case supporting device of each case processing station cooperate with the case carrying platform 200, the setting height of the multiple sets of claws 120 of the case supporting device 100 is preferably within the range of movement of the support table 250 in the vertical direction. .

As shown in FIG. 7(a)-7(d), it is a schematic diagram of multiple working state changes of the box transport platform in the embodiment of FIG. 6 . For example, the box handling platform has two box picking devices, which can take two boxes at the same time. The box handling platform has three box handling stations along the horizontal direction. In Fig. 7(a), the box body handling platform is at the first and second box body processing stations, and the box removal device is at a low position. The sliding seat 220 is driven to move to the right by controlling the first power source, that is, Fig. 7(b). At this moment, the box body handling platform is in the second and third box body processing stations, and the box removal device is at a low position. Then, by controlling the second power source 240 to drive the support platform 250 to perform the lifting action, that is, FIG. 7( c ). At this time, the box handling platform is in the second and third box processing stations, and the box removal device is at a high position. Next, the sliding seat 220 is driven to move to the left by controlling the first power source, that is, FIG. 7( d ). At this moment, the box body handling platform is in the first and second box body processing stations, and the box removal device is in a high position. Then, by controlling the second power source 240 to drive the supporting platform 250 to perform a descending action, that is, return to FIG. 7( a ). In this way, a cycle operation is completed between the three case processing stations.

The various embodiments of the above-mentioned box moving system can be applied to various kinds of boxes that need to be moved and perform box processing operations. Therefore, the present disclosure also provides a pharmaceutical production equipment, including: the aforementioned embodiment of the box moving system, the box 300 is a sorting box or an empty sorting box for containing pharmaceutical raw materials, semi-finished products or finished products.

Referring to Fig. 8, take the processing of sorting boxes for bottled materials as an example. The three box processing stations from bottom to top in Fig. 8 are A, B and C respectively. Box processing stations A, B and C are stacking station, loading and unloading station and unstacking station respectively. The stacking station can realize the stacking of sorting boxes in the process of packing or the stacking of empty sorting boxes in the process of unpacking. The loading and unloading station can realize the loading of materials in the sorting box during the packing process or the unloading of the materials in the sorting box during the unpacking process. The unstacking station can realize the unstacking of the sorting boxes during the packing process or the unstacking of the empty sorting boxes during the unpacking process.

When the system is turned on, the box body handling platform 200 stays at the loading and unloading station and the stacking station. The box body handling platform 200 descends vertically to the lower position, and after the box body 300 (with bottle material 310 inside) is unstacked by the unstacking station on the pallet device 100, the box body handling platform 200 is moved to the unstacking station and loaded and unloaded. Station.

After the box body handling platform 200 is translated to the unstacking station and the loading and unloading station, the box body handling platform 200 rises vertically to the middle position again. Fixed and supported.

After the box body is fixed by the box body transport platform 200, the box support device 100 releases the supporting and restricting effect on the box body. Then, the box body transfer platform 200 vertically rises to the upper position, and at this moment, the box body of the loading and unloading station and the unstacking station has broken away from the box holder device 100 .

After the box body is separated from the box supporting device 100, the box body transfer platform 200 starts to translate to the loading and unloading station and the stacking station. After moving to the loading and unloading station and stacking station, the box body handling platform 200 is vertically lowered to the middle position, and the box body is placed on the pallet device 100 of the loading and unloading station and the palletizing station smoothly, and the pallet is The device 100 supports, and at the same time releases the fixing and supporting effect of the box body handling platform 200 on the box body.

The box carrying platform 200 then vertically descends to the lower position, thereby completing a working cycle.

So far, the embodiments of the present disclosure have been described in detail. Certain details known in the art have not been described in order to avoid obscuring the concept of the present disclosure. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art should understand that the above examples are for illustration only, rather than limiting the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be equivalently replaced without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims (19)

1. a kind of tote device (100) is used for support cabinet (300) characterized by comprising

Pedestal (110)；

Multiple groups claw (120) is swingably arranged on the pedestal (110)；With

Claw driving mechanism (130), for driving the multiple groups claw (120) to swing relative to the pedestal (110), to pass through The multiple groups claw (120) at least realizes the support work to the cabinet (300) to the support of the quadrangle of the cabinet (300) With.

2. tote device (100) according to claim 1, which is characterized in that the axis of oscillation of the multiple groups claw (120) It is located at four angle points of rectangle in the subpoint of horizontal plane.

3. tote device (100) according to claim 1, which is characterized in that further include: shaft (141) and rotary sleeve (142), the claw (120) is fixedly connected with the rotary sleeve (142), and the shaft (141) is vertically situated at the base On seat (110), the rotary sleeve (142) is set on the shaft (141), and can be based on the axis of the shaft (141) Swing predetermined angle.

4. tote device (100) according to claim 3, which is characterized in that the claw driving mechanism (130) includes: Support (131) and oscillation actuating mechanism (132), the support (131) are vertically situated on the pedestal (110), the pendulum Hingedly, hingedly, the swing is held for the other end and the claw (120) for the one end and the support (131) of dynamic executing agency (132) Row mechanism (132) is configured as executing stretching motion, to drive the claw (120) around the pendulum of the axis of the shaft (141) It is dynamic.

5. tote device (100) according to claim 3, which is characterized in that further include retaining mechanism (150), for pair The claw (120) is locked relative to the angle position of the pedestal (110).

6. tote device (100) according to claim 5, which is characterized in that the retaining mechanism (150) includes: locking Sliding seat (151) and locking executing agency (153), the locking sliding seat (151) is arranged on the claw (120), described Locking executing agency (153) is connect with the locking sliding seat (151), for swinging to predeterminated position in the claw (120) Locking sliding seat (151) is driven to carry out locking limit to the rotation of the shaft (141) and the rotary sleeve (142) afterwards.

7. tote device (100) according to claim 1, which is characterized in that on the claw (120) for the case The outer profile that the position of body (300) contact is configured as closing on bottom surface with the cabinet (300) side matches.

8. a kind of cabinet mobile system characterized by comprising

Cabinet carrying platform (200) has at least two to take case apparatus, and can at least three cabinets handle station (A, B, C circular flow between)；With

Any tote device (100) of claim 1~7, setting are used in each cabinet processing station (A, B, C) Support is carried out in the cabinet (300) of cabinet processing station (A, B, C) to place.

9. cabinet mobile system according to claim 8, which is characterized in that the cabinet carrying platform (200) further include:

Upright driving mechanism, for driving described at least two to take case apparatus vertically moving；With

Horizontal drive mechanism, for driving described at least two case apparatus is taken to move in the horizontal direction.

10. cabinet mobile system according to claim 9, which is characterized in that the horizontal drive mechanism includes: pedestal (210), sliding seat (220), slideway (211) and the first power source, described at least two take case apparatus to pass through the vertical driving Mechanism is arranged on the sliding seat (220), and the sliding seat (220) is arranged by the slideway (211) in the pedestal (210) on, first power source is connect with the sliding seat (220), for driving the sliding seat (220) along the slideway (211) extending direction is moved relative to the pedestal (210).

11. cabinet mobile system according to claim 10, which is characterized in that at least three cabinet handles station (A, B, C) is arranged along the extending direction interval of the slideway (211).

12. cabinet mobile system according to claim 9, which is characterized in that the upright driving mechanism includes: supporting table (250) and the second power source (240), described at least two take case apparatus setting in the top of the supporting table (250), described the Two power sources (240) are arranged between the supporting table (250) and the horizontal drive mechanism, for driving the supporting table (250) elevating movement of vertical direction is executed relative to the horizontal drive mechanism.

13. cabinet mobile system according to claim 12, which is characterized in that the upright driving mechanism further include: In The guiding mechanism (230) being arranged between the supporting table (250) and the horizontal drive mechanism, for guiding the supporting table (250) vertically moving.

14. cabinet mobile system according to claim 12, which is characterized in that the multiple groups card of the tote device (100) The setting height of pawl (120) is in the supporting table (250) in the motion range of vertical direction.

15. cabinet mobile system according to claim 8, which is characterized in that described to take the case apparatus to include:

Side fixed mechanism (260) applies for the side to the cabinet (300) along including at least vertically downward direction Pressing force；With

Bottom supporting mechanism carries out local support for the bottom to the cabinet (300).

16. cabinet mobile system according to claim 15, which is characterized in that the side fixed mechanism (260) includes It is separately positioned on the pairs of clamping plate of the cabinet (300) two sides, the pairs of clamping plate can be to close to the cabinet (300) Direction movement compress the sides of the cabinet (300).

17. cabinet mobile system according to claim 16, which is characterized in that the side fixed mechanism (260) is also wrapped Include the first power mechanism for driving clamping plate to execute pinching action or release movement.

18. cabinet mobile system according to claim 15, which is characterized in that the bottom supporting mechanism includes: to be used for The support rim (272) that be supported to the bottom center region of the cabinet (300) and/or for the cabinet (300) At least two opposite sides corresponding to the support raised line (271) that is supported of bottom edge region.

19. a kind of pharmaceutical production equipment characterized by comprising any cabinet mobile system of claim 8~18, The cabinet (300) is the finishing box or empty finishing box for installing pharmaceutical raw material, semifinished or finished goods.