CN106966164A - A kind of preliminary filling pin unloading unit - Google Patents

Abstract

The invention discloses a pre-filled needle unloading device, which comprises: a full-box conveyor for transporting a sterilized box containing a whole tray of pre-filled needles to a station to be unloaded; The whole tray conveying device for pre-filled needles; the sterilization box conveying device for placing and taking out the sterilization box of prefilled needles; the grabbing device that can grab and rotate in vertical and horizontal directions; The unloading station, the whole set of pre-filled needles and the sterilization box for taking out the whole set of pre-filled needles are located on the running track of the grabbing device rotating in the vertical direction; After the sterilization box of the pre-filled needles of the whole tray is rotated vertically and horizontally to the delivery device of the whole tray, the needle of the pre-filled needles of the whole tray is facing down; the sterilization box is separated from the pre-filled needles of the whole tray, Grab the empty sterilization box and rotate it vertically to the sterilization box conveying device. The above-mentioned pre-filled needle unloading device does not require human operation in the whole process, which greatly reduces manual labor and improves production efficiency.

Description

A pre-filled needle unloading device

technical field

The invention relates to the technical field of unloading pre-filled needles, in particular to a pre-filled needle unloading device.

Background technique

At present, with the advancement of science and technology, the degree of industrial automation has been continuously improved, and pharmaceutical companies are paying more and more attention to production efficiency. At the same time, as the country’s requirements for pharmaceutical automation are gradually strict, pharmaceutical companies must continue to improve the automation of their own pharmaceutical equipment. Level.

As we all know, a pre-filled needle can also be called a pre-filled needle, which is to pre-fill the medicinal solution into a syringe, and inject it directly with the syringe when used. In the production process of pre-filled needles, some pre-filled needle medicines need to be sterilized in a sterilization cabinet after filling, and then packaged. At present, the filling and transportation of pre-filled needles are usually carried out in units of pallets. Empty pre-filled needles are transported to the filling machine on a plastic pallet for filling and stoppering. When unloading, the needle needs to be turned upside down. When unloading, the whole box of pre-filled needles needs to be pushed out from the sterilization car, and then turned over, and then the whole set of pre-filled needles is taken out of the sterilization box.

Contents of the invention

The object of the present invention is to provide a pre-filled needle unloading device, which can automatically take out the sterilized whole box of pre-filled needles from the sterilization box.

In order to achieve the above object, the present invention provides a pre-filled needle unloading device, including:

The whole box conveyor used to transport the sterilized box containing the sterilized whole tray of prefilled needles to the station to be unloaded;

The whole tray delivery device for placing the sterilized whole tray prefilled needles;

Sterilization box conveying device for placing the sterilization box for taking out the whole tray of prefilled needles;

A grabbing device capable of grabbing and rotating vertically and horizontally; the station to be unloaded, the entire set of pre-filled needles, and the sterilization box for taking out the entire set of pre-filled needles are located on the side of the grabbing device that rotates vertically on the running track;

When the grabbing device grabs the sterilized box containing the sterilized pre-filled needles at the station to be unloaded and then rotates vertically and horizontally to the whole tray conveying device, the whole tray The needle of the pre-filling needle is facing down; separate the sterilization box from the whole set of pre-filling needles, grab the empty sterilization box and rotate it vertically to the sterilization box conveying device.

With respect to the above-mentioned background technology, in the pre-filled needle unloading device provided by the present invention, the whole box conveyor is used to place the sterilization box, and there are sterilized whole trays of pre-filled needles in the sterilization box; the whole box conveyor can The sterilization box is transported to the unloading station, which can be located at the end of the whole box conveyor; the whole tray conveying device is used to place the sterilized whole tray pre-filled needles taken out of the sterilization box; and The sterilization box conveying device is used to place the empty sterilization box, that is, the sterilization box for taking out the whole tray of pre-filled needles; Both of them are located on the running track where the grabbing device rotates in the vertical direction, and the grabbing device can also rotate along the horizontal axis; After the needle-filled sterilization box is rotated vertically and horizontally to the whole tray delivery device, the grabbing device rotates along the horizontal axis so that the needles of the whole tray of pre-filled needles face downward; and the sterilization box is separated from the whole tray. Hold the pre-filled needle, grab the empty sterilization box and rotate it to the sterilization box conveying device in the vertical direction; in this way, the above process does not require manual operation, which greatly reduces manual labor and improves production efficiency.

Preferably, one side of the full box conveyor is further provided with a box pushing and unloading device for transporting the sterilized whole tray of pre-filled needles to the full box conveyor.

Preferably, a sterilizing trolley for sterilizing the entire tray of pre-filled needles is also provided at the rear end of the box pushing and unloading device.

Preferably, the box pushing and unloading device includes a box pushing and unloading support, and the box pushing and unloading support has a workbench flush with the conveyor belt of the full box conveyor; the rear end of the workbench is provided with a box pushing plate The two ends of the pushing box driving device are respectively arranged on the rear end of the pushing box plate and the pushing box unloading bracket; guide shaft between the rear ends of the box unloading bracket.

Preferably, the rear end of the push box unloading bracket is also provided with a flap capable of overlapping with the sterilizing vehicle, and the two ends of the flap piston cylinder are respectively arranged on the bottom surface of the flap and the push box unloading bracket. The rear end side wall, and the flap piston cylinder is arranged obliquely.

Preferably, the sterilizing vehicle includes multiple layers of partitions, and the bottom of the sterilizing vehicle is provided with a lifting portion that enables any layer of the partitions to be flush with the turnover plate.

Preferably, the grabbing device includes a main body and fixed jaws connected to the main body, and also includes a clamping plate arranged between the main body and the fixed jaws and capable of position adjustment, so The clamping plate is connected to the clamping plate driving part.

Preferably, the grabbing device further includes a first motor installed in the main body to control the rotation of the main body in the vertical direction, and to control the horizontal rotation of the fixed jaw and the clamping plate. The second motor rotates synchronously in the same direction, and the lifting structure used to control the lifting of the fixed jaw and the clamping plate in the vertical direction.

Preferably, a lifting portion capable of holding the whole pallet of pre-filled needles to the conveyor belt is provided at the end of the pallet conveying device.

Preferably, the conveying direction of the whole tray conveying device is set in parallel with the conveying direction of the push box unloading device, the conveying direction of the whole box conveyor is collinear with the conveying direction of the sterilized box conveying device, and the The conveying direction of the push box unloading device is perpendicular to the conveying direction of the full box conveyor.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the front view of the pre-filled needle unloading device provided by the embodiment of the present invention;

Fig. 2 is a left view of the pre-filled needle unloading device provided by the embodiment of the present invention;

Fig. 3 is a top view of the pre-filled needle unloading device provided by the embodiment of the present invention;

Fig. 4 is the front view of the whole pallet conveying device in Fig. 1;

Fig. 5 is a top view of the whole pallet conveying device in Fig. 4;

Fig. 6 is a side view of the pallet conveying device in Fig. 4 .

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

Please refer to Figure 1 to Figure 6, Figure 1 is the front view of the pre-filled needle unloading device provided by the embodiment of the present invention; Figure 2 is the left view of the pre-filled needle unloading device provided by the embodiment of the present invention; Figure 3 is the A top view of the pre-filled needle unloading device provided by the embodiment of the invention; FIG. 4 is a front view of the whole pallet conveying device in FIG. 1; FIG. 5 is a top view of the whole pallet conveying device in FIG. 4; FIG. Side view of the pallet conveyor.

A pre-filled needle unloading device provided by the present invention, as shown in accompanying drawings 1 to 6, mainly includes a whole tray conveying device 1, a grabbing device 2, a whole box conveyor 3 and a sterilization box conveying device 9; wherein , the sterilization box 8 located on the whole box conveyor 3 is equipped with the whole tray pre-filled needle 7, the whole tray prefilled needle 7 is sterilized, and the needle head of the whole tray prefilled needle 7 faces upward; the whole box conveyor 3 can be For a horizontal conveyor belt, its specific setting method can refer to the conveying device in the prior art. The sterilization box 8 can be a stainless steel box body, and an opening is provided at one end of the sterilization box 8 for unloading the pre-filled needle 7 of the whole holder.

The entire tray conveying device 1 is used to place the sterilized entire tray of pre-filled needles 7, and the entire tray conveying device 1 can also be a horizontal conveyor belt, and its setting method will not be repeated. The conveying direction of the whole box conveyor 3 can be perpendicular to the conveying direction of the whole tray conveying device 1, as shown in the accompanying drawing 3 of the specification; Similarly, the sterilized case conveying device 9 can also be a horizontal conveying belt, and the conveying direction of the sterilized case conveying device 9 is in line with the conveying direction of the full-case conveyor 3 .

The grabbing device 2 can rotate around the vertical axis and the horizontal direction. Taking the accompanying drawing 3 of the specification as an example, when the grabbing device 2 can rotate around the vertical axis, the rotation track of the grabbing device 2 is an arc, and the unloading The station, the whole tray of pre-filled needles 7 and the sterilization box 8 for taking out the whole tray of pre-filled needles 7 are just located on this arc; When the station is unloaded, it is possible to grab the sterilization box 8 equipped with the pre-filled needle 7 at the station to be unloaded, and then rotate around the vertical axis to the conveying device 1 for the whole tray, which will be equipped with the pre-filled needle 7 The sterilizing box 8 is placed on the whole tray conveying device 1, and then the sterilizing box 8 is lifted up and separated from the whole tray prefilling needle 7, so that the whole tray prefilling needle 7 is placed on the whole tray conveying device 1, and the grabbing device 2 Continue to grab the sterilization box 8 (at this time, there is no pre-filled needle 7 in the sterilization box 8, that is, the empty sterilization box 8), and rotate along the vertical axis, and place the empty sterilization box 8 on the sterilization box 8. The fungus box conveying device 9, so far, the grabbing device 2 completes a cycle of action.

In the above process, when the sterilization box 8 equipped with the pre-filled needle 7 of the whole tray is placed on the delivery device 1 of the whole tray, the grabbing device 2 rotates 180° around the horizontal axis, so that the needle head of the pre-filled needle 7 of the whole tray faces Down. That is, after the grabbing device 2 grabs the sterilization box 8 equipped with the sterilized whole tray pre-filled needle 7 at the station to be unloaded, it rotates vertically and horizontally until the whole tray is transported. After the device 1 is installed, the needle of the pre-filled needle 7 of the whole tray is facing downward; the sterilization box 8 is separated from the pre-filled needle 7 of the whole tray, and the empty sterilization box 8 is grabbed and rotated to the sterilization box delivery device 9 in the vertical direction.

Among them, the grabbing device 2 capable of grabbing and picking and placing can be set up with reference to the robotic hand in the prior art. 2 can also carry out corresponding rising and falling actions. Therefore, the grasping of the grasping device 2 in the present invention should be broadly understood as a series of actions such as movement after grasping, and nesting, which is also mentioned in the independent claims. Recorded actions and processes.

One side of the full box conveyor 3 is also provided with a box pusher unloading device 4 for receiving the sterilizing box 8 with the whole tray of pre-filled needles 7 transported by the full box conveyor 3, as shown in Figure 3 of the specification.

After the grabbing device 2 puts the sterilization box 8 equipped with the whole tray of pre-filled needles 7 upside down on the whole box conveyor 3, the whole box conveyor 3 can transport the sterilization box 8 to the box pushing and unloading device 4, as Temporary storage for subsequent operations.

Of course, further, the present invention can also be provided with a sterilizing vehicle 5 at the rear end of the box pushing and unloading device 4 for transporting the sterilized whole tray of pre-filled needles 7 to the whole box conveyor 3 . The sterilization cart 5 can send the sterilization box 8 equipped with the whole tray of pre-filled needles 7 to the sterilization chamber to complete the sterilization operation of the entire tray of pre-filled needles 7; the sterilization cart 5 should be able to unload the box relative to the box 4 moves for greater flexibility.

For pushing box unloading device 4, it can comprise pushing box unloading support 41, and pushing box unloading support 41 can be frame structure, and pushing box unloading support 41 has workbench, and the conveyer belt of workbench and whole box conveyor 3 is flush, The sterilization box 8 equipped with the whole set of pre-filled needles 7 transported by the whole box conveyor 3 is shown in the accompanying drawing 3 of the specification.

The rear end of workbench is provided with push box plate 42, and the two ends of push box drive unit 46 are respectively located at the rear end of push box plate 42 and box unloading support 41; Push box drive unit 46 can be air cylinder or hydraulic cylinder etc., One end that is fixed on the rear end of the box-pushing unloading bracket 41 in the box-pushing drive device 46 is fixed, and one end that is located at the box-pushing plate 42 can be telescopic, so as to promote the box-pushing plate 42, and then drive the sterilization box 8 to enter the whole box conveyor 3; In order to avoid the movement deviation of pushing box driving device 46, guide shaft 43 can also be set, and guiding shaft 43 is arranged in parallel with pushing away box driving device 46, and guiding shaft 43 is positioned at the rear end of pushing away box plate 42 and box unloading support 41 between.

For the connection between the box-pushing and unloading device 4 and the sterilizing cart 5, the rear end of the box-pushing and unloading support 41 can also be provided with a flap 44, and the flap 44 can rotate. When the flap 44 rotates to the level, the flap 44 is overlapped with the sterilizing cart 5, and the sterilizing box 8 positioned at the temporary storage plate can enter the sterilizing cart 5 through the flap 44; the two ends of the flap piston cylinder 45 are respectively arranged on the bottom surface of the flap 44 and the box unloading bracket 41 The rear end side wall, and the flap piston cylinder 45 is inclined, as shown in Figure 1 of the specification. So set, when not working, the turnover plate 44 can be lifted under the effect of the turnover plate piston cylinder 45, there is no connection between the box loading device 4 and the sterilizing vehicle 5, and the turnover plate 44 is in an inclined state at this moment; When the sterilization box 8 needs to be transported, the flap 44 can be put down by the flap piston cylinder 45. At this time, the flap 44 is in a horizontal state, and the flap 44 is lapped on the edge of the sterilization cart 5 to realize the push box loading device 4 and the overlap of sterilization car 5.

For the sterilizing vehicle 5, as shown in the accompanying drawing 1 of the specification, it may include multi-layer partitions, and the bottom of the sterilizing vehicle 5 is provided with a lifting part 6 that can make any one layer of partitions flush with the flap 44 . That is, the sterilizing cart 5 is arranged on one side of the turnover plate 44 of the box pushing and unloading device 4, the sterilizing cart 5 is a frame stack structure, and a certain distance is reserved between each layer, which can ensure that the sterilizing box 8 is pushed in, The lifting part 6 is arranged below the sterilizing vehicle 5, and the lifting part 6 can carry the sterilizing vehicle 5 for lifting movement to realize layer-by-layer unloading. The lifting part 6 can be a hydraulic elevator, hoist, etc.

For the grasping device 2, it can include a main body 24, which can be regarded as a frame body, and the frame body is connected with the fixed jaw 21, and the fixed jaw 21 and the frame body can realize synchronous rotation along the vertical axis; The plate 22 is located between the main body 24 and the fixed jaw 21, and the clamping plate 22 can adjust the gap between the clamping plate 22 and the fixed jaw 21 under the action of the clamping plate driving part 23; that is, when the clamping plate 22 faces When moving in the direction of the fixed jaw 21, the size of the sterilizing box 8 to be clamped is relatively small, and if the size of the sterilizing box 8 is large, the clamping plate 22 should move in a direction away from the fixed jaw 21, in order to widen the gap between the two. The clamping plate driving part 23 may be a piston cylinder such as an air cylinder.

As mentioned above, the first motor can be used to control the rotation of the main body 24 in the vertical direction, that is, the rotation of the clamping plate 22 and the fixed jaw 21 in the vertical direction is controlled by the first motor; In order to control the rotation of the clamping plate 22 and the fixed jaw 21 in the horizontal direction, both the first motor and the second motor can be located in the main body part 24; Action) can also be realized by the lifting device, and then realize all the functions of the grabbing device 2; it should be noted that the grabbing device 2 can be a six-axis robot in the prior art, that is, it can realize the rotation in the horizontal direction and the vertical direction , can also achieve lifting; of course, the specific setting method of the six-axis robot can refer to the prior art, and will not be described in this article.

At the end of the pallet conveying device 1 is provided a lifting portion 15 capable of supporting the pallet of pre-filled needles 7 to the conveyor belt 14 . That is to say, the grasping device 2 can rotate the sterilization box 8 equipped with the whole set of pre-filled needles 7 and place it on the lifting part 15, and use the grasping device 2 to separate the sterilization box 8 from the whole set of pre-filled needles 7 , and the whole holder pre-filling needle 7 is located at the lifting part 15, then the lifting part 15 descends, and the whole holder pre-filling needle 7 is in contact with the conveyor belt 14, so that the whole holder pre-filling needle 7 is driven by the conveyor belt 14 to move to another place; The fetching device 2 moves the empty sterilizing box 8 to the sterilizing box conveying device 9, and then completes a cycle.

In the pre-filled needle unloading device provided by the present invention, the sterilized whole tray of pre-filled needles 7 is carried by the sterilizing car 5 and placed above the lifting part 6, and the lifting part 6 moves up and down with the sterilizing car 5. When the most sterilized When the uppermost layer of the car 5 was flush with the whole box conveying device 3, the turnover plate drive cylinder 45 of the turnover plate 44 device moved, the turnover plate 44 was taken down, and the box pushing device 43 moved, and the box pushing rod 42 entered the sterilizing car 5, and the The whole box of pre-filled needles 8 is pushed out by the sterilizing vehicle 5. When the whole box of pre-filled needles 8 is transported to the whole box conveying device 3, it is transported out by the whole box conveying device 3, so that when a layer of pre-filled needles is unloaded , the push box lever 42 is driven by the push box driving device 43 to withdraw from the sterilizing car 5, the turnover plate 44 is turned up under the driving of the turning plate driving device 45, and is separated from the sterilizing car 5, and the lifting part 6 takes the sterilizing car 5 up to reach The next leveling layer starts to unload the new leveling layer, so that the whole box of pre-filled needles 8 is unloaded by the sterilizing vehicle 5 layer by layer; At the unloading station, the grabbing device 2 moves to the side of the pre-filling needle of the whole box with the clamping plate 22 and the fixed jaw 21. The needle 8, the clamping plate 22 and the fixed jaw 21 rotate to realize the 180-degree flip of the whole box of pre-filled needles 8, and the clamping plate 22 and the fixed jaw 21 move the whole box of pre-filled needles 8 to the whole pallet conveying device 1 The lifting part 15 of the lifting part 15, the whole box of pre-filled needles 8 is placed on the top of the lifting part 15, the robot 24 pulls out the sterilization box 8 from the pre-filled needle holder 7, and through the rotation of the clamping plate 22 and the fixed jaw 21, the The empty sterilizing box 8 is placed on the sterilizing box conveying device 9, the lifting device 15 of the whole pallet conveying device 1 is retracted, and the whole pallet of pre-filled needles 7 is placed on the conveyor belt 14, and is transported to the subsequent station.

The above processes are all completed automatically. Correspondingly, the pre-filled needle unloading device of the present invention should also be equipped with position detection elements such as a control system and a sensor, so as to stop at the corresponding position; for the setting method of the control system and sensors, you can refer to the existing technology, the present invention will not repeat them.

It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any such relationship between these entities. Actual relationship or sequence.

The pre-filled needle car unloading device provided by the present invention has been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims (10)

1. A pre-filled needle unloading device, characterized in that, comprising: The whole box conveyor (3) used to transport the sterilization box (8) equipped with the sterilized whole tray of pre-filled needles (7) to the station to be unloaded; A whole-tray delivery device (1) for placing the sterilized whole-tray pre-filled needles (7); The sterilization box conveying device (9) for placing the sterilization box (8) for taking out the whole tray of pre-filled needles (7); The grabbing device (2) capable of grabbing and rotating vertically and horizontally; the station to be unloaded, the whole set of pre-filled needles (7) and the sterilization box (8) for taking out the whole set of pre-filled needles (7) Located on the running track of the grabbing device (2) rotating in the vertical direction; When the grabbing device (2) grabs the sterilization box (8) equipped with the sterilized pre-filling needle (7) at the station to be unloaded, it rotates vertically and horizontally to the After describing the whole tray delivery device (1), the needle of the whole tray prefilling needle (7) faces down; separate the sterilization box (8) from the whole tray prefilling needle (7), and grab the empty sterilization box (8) Rotate vertically to the sterilizing box conveyor (9). 2. The pre-filled needle unloading device according to claim 1, characterized in that, one side of the whole box conveyor (3) is also provided with a device for transporting the sterilized whole tray of pre-filled needles (7) To the push box unloading device (4) of the full box conveyor (3). 3. The pre-filled needle unloading device according to claim 2, characterized in that, the rear end of the box-pushing unloading device (4) is also provided with a sterilizer for sterilizing the whole tray of pre-filled needles (7). Bacteria car (5). 4. The pre-filled needle unloading device according to claim 3, characterized in that, the push box unloading device (4) comprises a push box unloading support (41), and the push box unloading support (41) has a The workbench with the conveyor belt of the whole box conveyor (3) flush; the rear end of the workbench is provided with a box-pushing plate (42), and the two ends of the box-pushing drive device (46) are respectively arranged on the box-pushing plate (42) and the rear end of the described push box unloading support (41); also include parallel arrangement with the described push box driving device (46), and be positioned at the described push box plate (42) and the described push box unloading support ( guide shaft (43) between the rear ends of 41). 5. The pre-filled needle unloading device according to claim 4, characterized in that, the rear end of the push box unloading bracket (41) is also provided with a flap ( 44), the two ends of the flap piston cylinder (45) are respectively arranged on the bottom surface of the flap (44) and the rear end side wall of the push box unloading support (41), and the flap piston cylinder (45) Tilt setting. 6. The pre-filled needle unloading device according to claim 5, characterized in that, the sterilizing vehicle (5) includes a multi-layer partition, and the bottom of the sterilizing vehicle (5) is provided with any Layer the lifting part (6) where the dividing plate is flush with the flap (44). 7. The pre-filled needle unloading device according to any one of claims 1 to 6, characterized in that, the grasping device (2) comprises a main body (24) and a fixing device connected to the main body (24). The clamping jaw (21) further includes a clamping plate (22) arranged between the main body (24) and the fixed clamping jaw (21) and capable of position adjustment, and the clamping plate (22) is connected to Clamp plate driver (23). 8. The pre-filled needle unloading device according to claim 7, characterized in that, the grasping device (2) is further arranged in the main body (24) to control the main body (24) A first motor rotating in the vertical direction, a second motor used to control the synchronous rotation of the fixed jaw (21) and the clamping plate (22) in the horizontal direction, and a second motor used to control the fixed jaw (21) ) and the clamping plate (22) lift and lift along the vertical direction. 9. The pre-filled needle unloading device according to claim 8, characterized in that, the end of the whole pallet conveying device (1) is equipped with a device capable of supporting the whole pallet of pre-filled needles (7) to the conveyor belt (14). Lifting Department (15). 10. The pre-filled needle unloading device according to claim 9, characterized in that, the conveying direction of the whole pallet conveying device (1) is set parallel to the conveying direction of the push box unloading device (4), and the whole The conveying direction of the box conveyor (3) is collinear with the conveying direction of the sterilized box conveying device (9), and the conveying direction of the pushing box unloading device (4) is perpendicular to the whole box conveyor (3) the conveying direction.