Needle cylinder support changing assembly line

Abstract

The invention provides a needle cylinder support changing assembly line which is used for changing a needle cylinder mounted in a first-size tray into a second-size tray and comprises a base, a discharging module, a conveying assembly, a feeding module, a conveying device and a lifting device. The unloading module is connected with the base; the conveying assembly is installed on the base and connected with the discharging module. The feeding module is attached to the conveying assembly and installed on the base. The conveying device is connected with the base, and a height difference exists between the conveying device and the base; the lifting device is mounted on the conveying device; the discharging module can move the needle cylinders in the tray of the first size to the conveying assembly. The conveying device can convey a second size tray; the lifting device can lift or lower the second size tray; the feeding module can place the needle cylinders in the conveying assembly on the second size tray. The technical problems that time and labor are wasted in an existing manual support changing mode, the needle cylinders are prone to being inconsistent in placing direction, and the production efficiency is seriously affected are solved.

Description

Technical Field

[0001] The invention relates to the technical field of assembly lines, and in particular to a syringe holder changing assembly line. Background Art

[0002] During the production process of syringes, different production stages may require the use of trays of different sizes. Therefore, the syringes need to be removed from the original trays and placed in trays of new sizes. However, there are a series of problems with the current method of manually changing trays. First, this method is time-consuming and labor-intensive, increasing production costs. Second, manual operation can easily lead to inconsistent placement directions of syringes, which may cause problems in subsequent production links and affect product quality and production efficiency.

[0003] The existing problem is that the current manual replacement method is not only time-consuming and labor-intensive, but also easily leads to inconsistent syringe placement directions, seriously affecting production efficiency. Summary of the invention

[0004] The present invention solves the technical problem that the current manual replacement method is not only time-consuming and labor-intensive, but also easily leads to inconsistent placement of syringes, which seriously affects production efficiency. Through the joint cooperation of the unloading module, the transmission component, the lifting device and the loading module, the automatic replacement of syringes is realized, which effectively reduces production costs and improves production efficiency and product quality.

[0005] In order to solve the above problems, the present invention provides a syringe tray replacement assembly line, which is used to replace the syringes loaded in the first size tray to the second size tray, and the assembly line includes: a base and a unloading module, the unloading module is connected to the base; a conveying assembly, the conveying assembly is installed on the base and connected to the unloading module; a loading module, the loading module is installed on the base close to the conveying assembly; a conveying device and a lifting device, the conveying device is connected to the base, and there is a height difference between the conveying device and the base; the lifting device is installed on the conveying device; wherein the unloading module can move the syringe in the first size tray to the conveying assembly; the conveying device can convey the second size tray; the lifting device can raise or lower the second size tray; the loading module can place the syringe in the conveying assembly on the second size tray.

[0006] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: the automated assembly line can realize the rapid transfer and placement of syringes, reducing the manual operation time, thereby improving production efficiency. In addition, through mechanized operation, it can ensure that the syringes are placed in the same direction during the tray replacement process, avoiding the problem of inaccurate placement caused by human factors, which helps to improve product quality. The automated assembly line can reduce manual operations, effectively reduce labor costs, and indirectly reduce production costs.

[0007] In a possible design, the conveying assembly includes a syringe conveyor belt and a spacing adjuster, wherein the syringe conveyor belt is connected to the spacing adjuster; wherein the syringe conveyor belt can transport syringes to the spacing adjuster, and the spacing adjuster can adjust the spacing between syringes.

[0008] Compared with the existing technology, the technical effect achieved by adopting this technical solution is: by using a syringe conveyor belt to transport syringes, it can ensure that the syringes maintain the original installation interval during the transmission process, which is conducive to the subsequent movement and loading of syringes; and the use of a syringe conveyor belt can reduce the collision and friction of the syringes during the transmission process, which helps to improve the stability and reliability of the production line. The spacing between the syringes is adjusted by the spacing adjuster, so that the syringes can flexibly adapt to pallets of different specifications and sizes, improving the versatility and applicability of the production line.

[0009] In one possible design, the loading module includes: a loading conveyor, which is installed between the transmission component and the conveying device; a first robotic arm and a second robotic arm, which are installed on a base and close to the conveying device; wherein the first robotic arm is capable of moving a second-size pallet to the loading conveyor; and the second robotic arm is capable of moving a second-size pallet in the loading conveyor to the conveying device.

[0010] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the second-size pallet is moved from the conveying device to the loading conveyor by the first mechanical arm, and then the second-size pallet is moved to the conveying device by the second mechanical arm, realizing the automatic loading and unloading operation of the second-size pallet during the syringe tray replacement process, reducing manual intervention and improving production efficiency. The mechanical arm can accurately control the movement and placement of the pallet, avoiding possible errors in manual operation, and improving the accuracy and stability of the operation. The automated mechanical arm realizes fast and accurate pallet movement and placement, which helps to improve production efficiency, shorten production cycle, and increase production capacity.

[0011] Further, in one example, the loading module also includes a loading robot arm, which is installed on the base and close to the conveying assembly; wherein the loading robot arm is capable of moving the syringe in the conveying assembly to a second size tray of the loading conveyor.

[0012] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the loading robot arm moves the syringe in the conveying assembly to the second-size tray of the loading conveyor, realizing the fully automated operation of the loading process, further reducing manual intervention and improving production efficiency. The loading robot arm can accurately control the movement and placement of the syringe to ensure that the syringe is accurately placed in the second-size tray, avoiding errors that may occur in manual operation and improving the accuracy and consistency of the operation. At the same time, the loading robot arm can adapt to syringes and trays of different specifications and sizes, enhancing the flexibility and applicability of the production line and improving the versatility of the production line.

[0013] In one possible design, the conveying device includes a first conveyor belt and a second conveyor belt; wherein the first conveyor belt is capable of conveying an empty second-size pallet, and the first robotic arm is capable of grabbing the second-size pallet on the first conveyor belt; the second conveyor belt is capable of conveying a fully loaded second-size pallet, and the second robotic arm is capable of placing a fully loaded second-size pallet on the second conveyor belt.

[0014] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: through the design of the first conveyor belt and the second conveyor belt, the empty and fully loaded second-size pallets can be transported in stages, thereby improving the flexibility and efficiency of the production line. The first robotic arm can grab the empty second-size pallet, and the second robotic arm can place the fully loaded second-size pallet on the second conveyor belt, thereby realizing the automated grabbing and placing operation of the pallet and improving work efficiency. Through staged transportation and automated operation, the stability and reliability of the production line are improved, and product quality is guaranteed.

[0015] In a possible design, the lifting device includes a spline mounted on the conveying device; wherein the spline moves in a direction approaching or away from the conveying device, thereby enabling the second-size pallet to be raised or lowered.

[0016] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: by moving the inserting teeth in the direction close to or away from the conveying device, the height of the second-size pallet can be flexibly adjusted, which can facilitate the first robot arm or the second robot arm to pick up the second-size pallet. When the second-size pallets are transported to the lifting device in a stacked manner, the inserting teeth can raise the stacked second-size pallets, so that the height of the first robot arm to pick up the second-size pallet each time is consistent, thereby increasing the working efficiency of the first robot arm.

[0017] Furthermore, in one example, the lifting device also includes an elastic limiting column, which is arranged at the bottom of the inserting tooth; wherein, when the second size pallet on the conveying device moves to the inserting tooth, the elastic limiting column can limit the movement of the second size pallet.

[0018] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the elastic limit column can limit the movement of the second-size pallet when it moves to the inserting teeth, preventing the pallet from exceeding the predetermined range, improving the safety of the operation process, and reducing the risk of accidents. Through the setting of the elastic limit column, the position of the second-size pallet can be accurately controlled to ensure that the pallet stops at the correct position during the lifting process, which is conducive to the smooth progress of subsequent operations. In addition, the role of the elastic limit column can reduce the shaking and instability factors when the pallet moves, and improve the stability and reliability of the production line.

[0019] In one possible design, the unloading module includes: a unloading conveyor belt, which is connected to the conveying assembly; a first unloading robot arm and a second unloading robot arm, wherein the first unloading robot arm can move a fully loaded first-size pallet to the unloading conveyor belt, and the second unloading robot arm can remove an empty first-size pallet from the unloading conveyor belt; a material transferring robot arm, which is installed on a base; wherein the unloading conveyor belt can drive the first-size pallet, and the material transferring robot arm can move the syringe in the first-size pallet on the unloading conveyor belt to the conveying assembly.

[0020] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the first unloading robot arm moves the fully loaded first-size pallet to the unloading conveyor belt, and the second unloading robot arm removes the empty first-size pallet from the unloading conveyor belt, thereby realizing the automated operation of the unloading process, reducing manual intervention, and improving production efficiency. The material transfer robot arm can move the syringes in the first-size pallet on the unloading conveyor belt to the transfer assembly, thereby realizing efficient material transfer of the syringes, reducing operation time, and improving production efficiency. In addition, the robot arm can accurately control the movement and placement of the pallet and the syringe, avoiding errors that may occur in manual operation, and improving the accuracy and stability of the operation. Automated unloading operations and efficient material transfer reduce manual intervention and labor costs, while also reducing the impact of human factors on the production process and improving the stability of the production line.

[0021] Further, in one example, the second unloading robot arm includes: a rotating base; a first movable arm, the first movable arm is connected to the rotating base, and the first movable arm can rotate relative to the rotating base; a second movable arm, one end of the second movable arm is movably connected to the first movable arm; an adsorption device, the adsorption device is movably connected to the other end of the second movable arm; wherein the adsorption device can adsorb a first-size pallet, and the first movable arm, the second movable arm and the rotating base cooperate to rotate, so as to move the first-size pallet to the target position.

[0022] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the setting of the first movable arm and the second movable arm enables the robot arm to realize multi-level movable rotation, improves the flexibility and operability of the robot arm, and is conducive to accurately controlling the movement of the pallet. The adsorption device can adsorb the pallet of the first size to ensure that the pallet will not fall or shift during the movement, thereby improving the stability and safety of the movement. In addition, the coordinated setting of the multi-level movable rotation and the adsorption device enables the robot arm to efficiently move the pallet, reduces the operation time, improves the operation efficiency, and is conducive to improving the overall efficiency of the production line.

[0023] Furthermore, in one example, a visual camera device is installed at the bottom of the adsorption device; wherein the visual camera device is used to monitor the placement position of the first-sized pallets when the second unloading robot arm moves to stack the first-sized pallets.

[0024] Compared with the prior art, the technical effect achieved by adopting this technical solution is as follows: the visual camera device can monitor the placement position of the first-size pallet in real time, ensuring that the position of the pallet is accurate when the first unloading robot arm moves the stacked pallet, thereby avoiding erroneous operations caused by improper placement. By monitoring the position of the pallet through the visual camera device, the precision and accuracy of the operation can be improved, ensuring that the pallet is in the correct position during the movement and stacking process, which is conducive to ensuring the smooth progress of the production process. Based on the monitoring results of the visual camera device, the automatic adjustment of the robot arm can be realized, so that the placement position of the pallet can be corrected in time, thereby improving the degree of automation and efficiency of the operation. By monitoring the position of the pallet in real time, erroneous operations and production line interruptions caused by improper placement of the pallet can be avoided, thereby improving the stability and reliability of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic diagram of a syringe holder replacement assembly line provided by an embodiment of the present invention Figure 1 ; Figure 2 A schematic diagram of a syringe holder replacement assembly line provided by an embodiment of the present invention Figure 2 ; Figure 3 A schematic diagram of a syringe holder replacement assembly line provided by an embodiment of the present invention Figure 3 ; Figure 4 for Figure 3 A magnified image of area A; Figure 5 A schematic diagram of the structure of a second unloading mechanical arm provided in an embodiment of the present invention; Figure 6 A schematic diagram of a syringe holder replacement assembly line provided by an embodiment of the present invention Figure 4 .

[0026] Description of reference numerals: 10-base; 20-unloading module; 21-unloading conveyor belt; 22-first unloading robot arm; 23-second unloading robot arm; 231-rotating base; 232-first movable arm; 233-second movable arm; 234-adsorption device; 24-material transfer robot arm; 30-transmission assembly; 31-syringe conveyor belt; 32-distance adjuster; 40-loading module; 41-loading conveyor; 42-first robot arm; 43-second robot arm; 44-loading robot arm; 50-conveyor device; 51-first conveyor belt; 52-second conveyor belt; 60-lifting device; 61-gear insertion; 62-elastic limit column. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] See also Figures 1 to 6 , this embodiment provides a syringe tray replacement assembly line, which is used to replace the syringes loaded in the first size tray to the second size tray, and the assembly line includes a base 10, a discharge module 20, a transmission component 30, a loading module 40, a conveying device 50 and a lifting device 60; the discharge module 20 is connected to the base 10; the transmission component 30 is installed on the base 10 and connected to the discharge module 20; the loading module 40 is installed on the base 10 close to the transmission component 30; the conveying device 50 is connected to the base 10, and there is a height difference between the conveying device 50 and the base 10; the lifting device 60 is installed on the conveying device 50; wherein the discharge module 20 can move the syringe in the first size tray to the transmission component 30; the conveying device 50 can convey the second size tray; the lifting device 60 can raise or lower the second size tray; the loading module 40 can place the syringe in the transmission component 30 on the second size tray.

[0029] Specifically, in this embodiment, the size of the first size pallet is larger than that of the second size pallet, the first size pallet is a large size pallet, and the second size pallet is a small size pallet; wherein, the first size pallet has two specifications, the first type can hold seven rows of eighteen syringes per row; the second type can hold six rows of eighteen syringes per row. The second size pallet also has two specifications, the first type can hold one row of eighteen syringes per row, and the second type can hold one row of twenty syringes per row. The unloading module 20 can remove the syringes from the first size pallet and move it to the conveying assembly 30. The conveying device 50 can convey an empty second size pallet to the base 10, and convey a fully loaded second size pallet from the base 10 to the next production link. The conveying device 50 is connected to the base 10, and the height of the base 10 is higher than the conveying device 50. Therefore, when the stacked second-size pallets are sent to the base 10 by the conveying device 50, the lifting device 60 rises a little bit each time the loading module 40 takes a second-size pallet, so that the loading module 40 can take the second-size pallet at the same position every time, thereby increasing the working efficiency of the assembly line. At the same time, the loading module 40 can take the syringe from the conveying assembly 30 and place it in the second-size pallet.

[0030] In one embodiment of the present invention, the conveying assembly 30 includes a syringe conveyor belt 31 and a spacing adjuster 32, and the syringe conveyor belt 31 is connected to the spacing adjuster 32; wherein the syringe conveyor belt 31 can convey the syringes to the spacing adjuster 32, and the spacing adjuster 32 can adjust the spacing between the syringes.

[0031] Specifically, in this embodiment, the spacing between the syringe placement positions in the first size tray and the second size tray is different. After the spacing adjuster 32 takes the syringe from the syringe conveyor belt 31, it can adjust the spacing between the syringes to meet the spacing specifications of the second size tray. The setting of the spacing adjuster 32 can increase the flexibility of the assembly line, so that it can handle more syringes or trays of different specifications. Among them, several syringe installation positions are installed on the spacing adjuster 32. By adjusting the spacing between each syringe installation position, the spacing between the syringes can be adjusted.

[0032] In one embodiment of the present invention, the loading module 40 includes: a loading conveyor 41, which is installed between the conveying component 30 and the conveying device 50; a first robotic arm 42 and a second robotic arm 43, which are installed on the base 10 and close to the conveying device 50; wherein the first robotic arm 42 is capable of moving a second-size pallet to the loading conveyor 41; and the second robotic arm 43 is capable of moving a second-size pallet in the loading conveyor 41 to the conveying device 50.

[0033] Specifically, in this embodiment, the loading conveyor 41 is a loading conveyor belt with multiple installation positions, and the first mechanical arm 42 can move the empty second-size pallet delivered by the conveying device 50 to the installation position of the loading conveyor 41. The second mechanical arm 43 can move the fully loaded second-size pallet in the loading conveyor 41 to the conveying device 50, and the conveying device 50 transports it to the next production process.

[0034] In one embodiment of the present invention, the loading module 40 also includes a loading robot arm 44, which is installed on the base 10 and close to the conveying component 30; wherein the loading robot arm 44 can move the syringe in the conveying component 30 to the second size tray of the loading conveyor 41.

[0035] Specifically, in this embodiment, the loading robot arm 44 is close to the spacing adjuster 32, and the loading robot arm 44 can directly grab the syringe from the spacing adjuster 32 and place it in the second size tray on the loading conveyor 41. The cooperation between the loading robot arm 44 and the spacing adjuster 32 can directly move a row of syringes that meet the spacing specifications of the second size tray to the second size tray, effectively increasing the loading efficiency and ensuring the arrangement stability of the products.

[0036] In one embodiment of the present invention, the conveying device 50 includes a first conveyor belt 51 and a second conveyor belt 52; wherein the first conveyor belt 51 is capable of conveying an empty second-size pallet, and the first robotic arm 42 is capable of grabbing the second-size pallet on the first conveyor belt 51; the second conveyor belt 52 is capable of conveying a fully loaded second-size pallet, and the second robotic arm 43 is capable of placing a fully loaded second-size pallet on the second conveyor belt 52.

[0037] Specifically, in this embodiment, the first conveyor belt 51 mainly conveys the stacked empty second-size pallets to the base 10 for holding the syringes in the conveying assembly 30; the first robot arm 42 can grab the empty second-size pallets on the first conveyor belt 51 to the loading conveyor 41. The second conveyor belt 52 mainly conveys the stacked fully loaded second-size pallets to the next production step; the second robot arm 43 can move the fully loaded second-size pallets in the loading conveyor 41 to the second conveyor belt 52 for stacking.

[0038] In one embodiment of the present invention, the lifting device 60 includes a toothing 61 installed on the conveying device 50; wherein the toothing 61 moves in a direction approaching or away from the conveying device 50, so as to raise or lower the second size pallet.

[0039] Specifically, in this embodiment, the inserting teeth 61 are arranged at the bottom of the first conveyor belt 51 and the second conveyor belt 52, and positioning plates are arranged on both sides of the inserting teeth 61, and the positioning plates are fixed to the first conveyor belt 51 and the second conveyor belt 52. Through the cooperation between the inserting teeth 61 and the positioning plates, the inserting teeth 61 can drive the second size pallet to rise or fall. The inserting teeth 61 specifically include three protruding force-bearing convex teeth, and the three force-bearing convex teeth work together to enable the pallet to rise or fall stably.

[0040] In one embodiment of the present invention, the lifting device 60 also includes an elastic limiting column 62, which is arranged at the bottom of the inserting tooth 61; wherein, when the second size pallet on the conveying device 50 moves to the inserting tooth 61, the elastic limiting column 62 can limit the movement of the second size pallet.

[0041] Specifically, in this embodiment, an elastic limiting column 62 is provided at the bottom of the inserting tooth 61, wherein two elastic limiting columns 62 are provided on each force-bearing convex tooth. During the movement of the second-sized pallet toward the inserting tooth 61, the elastic limiting column 62 will be compressed and will not have a limiting effect on the second-sized pallet. When the second-sized pallet moves to the specified position of the inserting tooth 61, the elastic limiting column 62 will pop out to limit the second-sized pallet, thereby preventing the displacement of the second-sized pallet due to the retreat of the first conveyor belt 51.

[0042] In one embodiment of the present invention, the unloading module 20 includes a unloading conveyor belt 21, a first unloading robot arm 22, a second unloading robot arm 23 and a material transferring robot arm 24; the unloading conveyor belt 21 is connected to the conveying assembly 30; the first unloading robot arm 22 can move a fully loaded first-size pallet to the unloading conveyor belt 21, and the second unloading robot arm 23 can remove an empty first-size pallet from the unloading conveyor belt; the material transferring robot arm 24 is installed on the base 10; wherein, the unloading conveyor belt 21 can drive the first-size pallet, and the material transferring robot arm 24 can move the syringe in the first-size pallet on the unloading conveyor belt 21 to the conveying assembly 30.

[0043] Specifically, in this embodiment, a fully loaded platform is provided next to the first unloading robot arm 22, and the fully loaded platform is used to store fully loaded pallets of the first size; an unloaded platform is provided next to the second unloading robot arm 23, and the unloaded platform is used to store and stack unloaded pallets of the first size. The first unloading robot arm 22 can move fully loaded pallets of the first size on the fully loaded platform to the unloading conveyor belt 21, and the second robot arm 43 can move unloaded pallets of the first size on the unloading conveyor belt 21 to the unloaded platform and stack them to save space. The material transfer robot arm 24 can move the syringes in the first size pallets on the unloading conveyor belt 21 to the syringe conveyor belt 31.

[0044] In one embodiment of the present invention, the second unloading robot arm 23 includes a rotating base 231, a first movable arm 232, a second movable arm 233 and an adsorption device 234; the first movable arm 232 is connected to the rotating base 231, and the first movable arm 232 can rotate relative to the rotating base 231; one end of the second movable arm 233 is movably connected to the first movable arm 232; the adsorption device 234 is movably connected to the other end of the second movable arm 233; wherein the adsorption device 234 can adsorb a first-size pallet, and the first movable arm 232, the second movable arm 233 and the rotating base 231 cooperate to rotate, so as to move the first-size pallet to the target position.

[0045] Specifically, in this embodiment, the rotation between the first movable arm 232 and the second movable arm 233 can make the adsorption device 234 approach or move away from the rotating base 231, and the rotating base 231 can drive the adsorption device 234 to move in the direction of approaching or moving away from the unloading conveyor belt 21. The rotating base 231, the first movable arm 232 and the second movable arm 233 rotate in coordination to raise or lower the adsorption device 234.

[0046] In one embodiment of the present invention, a visual camera device is installed at the bottom of the adsorption device 234; wherein the visual camera device is used to monitor the placement position of the first-sized pallets when the second unloading robot arm 23 moves to stack the first-sized pallets.

[0047] Specifically, in this embodiment, the visual camera device is specifically a visual camera. When the second unloading robot arm 23 stacks the empty first-size pallets, the visual camera can detect the specific position of the current first-size pallets to ensure accurate stacking. The visual camera device determines the position of a corner of the pallet by photographing a single pallet, and then determines the angle by the long side of the pallet to achieve the positioning of the single pallet, and determines the front and back of the product by detecting the distance from the notch to the edge of the first row of the pallet, thereby achieving accurate stacking of the pallets. A visual camera device is also installed in the first unloading robot arm 22 to determine the position of the first-size pallet.

[0048] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A syringe tray replacement production line, used to replace syringes loaded in a first size tray to a second size tray, characterized in that: The pipeline comprises: A base (10) and a discharge module (20), wherein the discharge module (20) is connected to the base (10); A conveying assembly (30), the conveying assembly (30) being mounted on the base (10) and connected to the unloading module (20); A loading module (40), the loading module (40) being mounted on the base (10) close to the conveying assembly (30); A conveying device (50) and a lifting device (60), wherein the conveying device (50) is connected to the base (10), and there is a height difference between the conveying device (50) and the base (10); and the lifting device (60) is installed on the conveying device (50); The unloading module (20) is capable of moving the syringe in the first-size tray to the conveying assembly (30); the conveying device (50) is capable of conveying the second-size tray; the lifting device (60) is capable of raising or lowering the second-size tray; and the loading module (40) is capable of placing the syringe in the conveying assembly (30) on the second-size tray.

2. The syringe holder replacement assembly line according to claim 1, characterized in that: The conveying assembly (30) comprises a syringe conveyor belt (31) and a spacing adjuster (32), wherein the syringe conveyor belt (31) is connected to the spacing adjuster (32); The syringe conveyor belt (31) is capable of conveying the syringes to the spacing adjuster (32), and the spacing adjuster (32) is capable of adjusting the spacing between the syringes.

3. The syringe holder replacement assembly line according to claim 1, characterized in that: The loading module (40) comprises: A loading conveyor (41), the loading conveyor (41) being installed between the conveying assembly (30) and the conveying device (50); A first robotic arm (42) and a second robotic arm (43), wherein the first robotic arm (42) and the second robotic arm (43) are mounted on the base (10) and are close to the conveying device (50); The first robotic arm (42) is capable of moving the second-sized pallet to the loading conveyor (41); and the second robotic arm (43) is capable of moving the second-sized pallet in the loading conveyor (41) to the conveying device (50).

4. The syringe holder replacement assembly line according to claim 3, characterized in that: The loading module (40) further comprises a loading robot arm (44), wherein the loading robot arm (44) is mounted on the base (10) and is close to the conveying assembly (30); The loading robot arm (44) is capable of moving the syringe in the conveying assembly (30) into the second-size tray of the loading conveyor (41).

5. The syringe holder replacement assembly line according to claim 3, characterized in that: The conveying device (50) comprises a first conveying belt (51) and a second conveying belt (52); The first conveyor belt (51) is capable of conveying an empty pallet of the second size, and the first robotic arm (42) is capable of grabbing the pallet of the second size on the first conveyor belt (51); the second conveyor belt (52) is capable of conveying a fully loaded pallet of the second size, and the second robotic arm (43) is capable of placing a fully loaded pallet of the second size on the second conveyor belt (52).

6. The syringe holder replacement assembly line according to claim 1, characterized in that: The lifting device (60) comprises a toothing (61), and the toothing (61) is mounted on the conveying device (50); The inserting teeth (61) move in a direction approaching or moving away from the conveying device (50), thereby enabling the second-size pallet to be raised or lowered.

7. The syringe holder replacement assembly line according to claim 6, characterized in that: The lifting device (60) further comprises an elastic limiting column (62), wherein the elastic limiting column (62) is arranged at the bottom of the inserting tooth (61); Wherein, when the second-size pallet on the conveying device (50) moves to the inserting teeth (61), the elastic limiting column (62) can limit the movement of the second-size pallet.

8. The syringe holder replacement assembly line according to any one of claims 1 to 7, characterized in that: The unloading module (20) comprises: a discharge conveyor belt (21), the discharge conveyor belt (21) being connected to the conveying assembly (30); a first unloading mechanical arm (22) and a second unloading mechanical arm (23), wherein the first unloading mechanical arm (22) is capable of moving a fully loaded pallet of the first size to the unloading conveyor belt (21), and the second unloading mechanical arm (23) is capable of removing an empty pallet of the first size from the unloading conveyor belt; A material transfer robot arm (24), the material transfer robot arm (24) being mounted on the base (10); The unloading conveyor belt (21) is capable of driving the first-size tray, and the material transfer robot arm (24) is capable of moving the syringes in the first-size tray on the unloading conveyor belt (21) into the transfer assembly (30).

9. The syringe holder replacement assembly line according to claim 8, characterized in that: The second unloading mechanical arm (23) comprises: Rotate the base (231); a first movable arm (232), the first movable arm (232) being connected to the rotating base (231), and the first movable arm (232) being capable of rotating relative to the rotating base (231); A second movable arm (233), one end of the second movable arm (233) being movably connected to the first movable arm (232); An adsorption device (234), the adsorption device (234) being movably connected to the other end of the second movable arm (233); The adsorption device (234) is capable of adsorbing the first-sized pallet, and the first movable arm (232), the second movable arm (233) and the rotating base (231) rotate in coordination with each other, thereby being able to move the first-sized pallet to a target position.

10. The syringe holder replacement assembly line according to claim 9, characterized in that: A visual camera device is installed at the bottom of the adsorption device (234); The visual camera device is used to monitor the placement position of the pallets of the first size when the second unloading robot arm (23) moves to stack the pallets of the first size.

Images