Prefilled syringe nesting feeder

Abstract

The present invention discloses a prefilled syringe nesting feeding device, comprising a conveying mechanism, a tray grabbing mechanism, a tray positioning mechanism, a material taking mechanism and a feeding mechanism. The conveying mechanism can convey a honeycomb box containing a tray and a plurality of needle tubes to the tray grabbing mechanism. The tray grabbing mechanism is used to transfer the tray and the plurality of needle tubes to the tray positioning mechanism. The material taking mechanism is used to take the plurality of needle tubes out of the tray. The feeding mechanism outputs the plurality of needle tubes from the material taking mechanism. The conveying mechanism conveys the honeycomb box containing the tray and the plurality of needle tubes to the tray grabbing mechanism. The tray grabbing mechanism causes the tray and the plurality of needle tubes to be separated from the honeycomb box. The tray and the plurality of needle tubes are then separated on the tray positioning mechanism through the material taking mechanism. The feeding mechanism then outputs the plurality of needle tubes from the material taking mechanism, thereby avoiding the high material loss caused by manual operation, reducing the chance of contact between personnel and materials, and being suitable for batch automated production of materials.

Description

Technical Field

[0001] The invention relates to the technical field of prefilled syringe packaging equipment, in particular to a prefilled syringe nesting feeding device. Background Art

[0002] The current domestic vaccine and other injection markets have begun to use prefilled syringes as new injection packaging on a large scale, replacing the traditional packaging of separate ampoules and syringes. This prefilled syringe packaging is safe and easy to use, and is gaining more and more attention from the market. Prefilled syringes are advancing towards a larger and larger market. In addition to the existing medical market, the beauty market and the health care market have also begun to use prefilled syringe packaging on a large scale.

[0003] After the prefilled syringes are filled with medicine and sealed with rubber pistons, they are neatly placed on a honeycomb tray, and then the tray containing the syringes is transferred to the honeycomb box for the subsequent packaging process. The syringes arranged on the tray in the honeycomb box can be quickly taken out and orderly arranged and transported to the downstream process (such as assembling the push rod and assembling the booster), which can improve the processing efficiency of the subsequent process of the prefilled syringes. The development of automated equipment for the subsequent packaging of prefilled syringes in China and many developing countries is in its infancy, and mature automated equipment is urgently needed to promote market development. Summary of the invention

[0004] The object of the present invention is to provide a prefilled syringe nesting feeding device, which can realize the full automation and high-efficiency removal and transportation of the needle tube.

[0005] To achieve this object, the present invention adopts the following technical solutions:

[0006] A prefilled syringe nesting and feeding device is provided, comprising a conveying mechanism, a tray grabbing mechanism, a tray positioning mechanism, a material taking mechanism and a feeding mechanism. The conveying mechanism can convey a honeycomb box containing a tray and a plurality of syringes to the tray grabbing mechanism, the tray grabbing mechanism is used to transfer the tray and the plurality of syringes to the tray positioning mechanism, the material taking mechanism is used to take the plurality of syringes out of the tray, and the feeding mechanism outputs the plurality of syringes from the material taking mechanism.

[0007] As a preferred solution of the present invention, the tray positioning mechanism includes a frame, on which is provided a supporting base plate, two supporting blocks, a push plate assembly and at least one lifting stop column; the fixed position of the supporting base plate on the frame is adjustable; the supporting block is in the shape of a rectangular parallelepiped; the two supporting blocks are arranged in parallel and opposite to each other; one side edge of the tray can be placed on the surface of one supporting block, and the other side edge of the tray opposite to each other can be placed on the surface of the other supporting block; the supporting base plate can support the bottoms of a plurality of the needle tubes; the pushing plate assembly and the lifting stop column are respectively arranged on both sides in the length direction of the supporting block; the lifting stop column selectively limits the tray; the pushing plate assembly includes a horizontally movable push rod, which can push the tray away from the support block.

[0008] As a preferred solution of the present invention, the pallet positioning mechanism also includes two adjustment plates, which are relatively arranged on the frame, and the adjustment plates include a first flat plate and a second flat plate which are vertically connected to each other, an oblong hole is provided on the first flat plate, and a threaded hole is provided on the frame, the first flat plate and the frame are connected by fasteners that pass through the oblong hole and are screwed into the threaded hole, and the support block is connected to the second flat plate.

[0009] As a preferred solution of the present invention, a swing claw, an articulated seat and a rotating shaft are also provided on the adjustment plate, the articulated seat is fixedly connected to the adjustment plate, the swing claw and the articulated seat are connected by the rotating shaft, the swing claw has an initial position, and the swing claw can only rotate unidirectionally around the rotating shaft in the initial position, the tray comes into contact with the swing claw during the process of descending onto the support block, causing the swing claw to rotate, and after the tray loses contact with the swing claw, the swing claw resets to the initial position under the action of gravity, so that the swing claw limits the displacement of the tray in the vertical direction.

[0010] As a preferred solution of the present invention, the pallet grasping mechanism includes a suction cup assembly, a first suction cup driving member and a second suction cup driving member, the suction cup assembly is connected to the first suction cup driving member, the first suction cup driving member can drive the suction cup assembly to move in a vertical direction, and the second suction cup driving member can drive the first suction cup driving member to move in a horizontal direction, so that the suction cup assembly can move in the vertical and horizontal directions, thereby realizing the grasping, moving and unloading of the pallet by the suction cup assembly.

[0011] As a preferred solution of the present invention, the suction cup assembly includes a disc seat and a plurality of suction nozzles, an air passage is opened inside the disc seat, the suction nozzles are arranged on the bottom surface of the disc seat and communicated with the air passage, the first driving member of the suction cup is connected to the top surface of the disc seat, and an air hole for connecting a vacuum tube is opened on the top surface of the disc seat.

[0012] As a preferred solution of the present invention, a positioning notch is provided on the edge of the tray, and a positioning column is provided on the bottom surface of the tray seat, and the positioning column can pass through the positioning notch.

[0013] As a preferred embodiment of the present invention, the material picking mechanism includes a fork plate, a first driving member for the fork plate, a second driving member for the fork plate and a third driving member for the fork plate, the fork plate is connected to the first driving member for the fork plate, the first driving member for the fork plate can drive the fork plate to move in a first direction within a horizontal plane, the second driving member for the fork plate can drive the first driving member for the fork plate to move in a second direction within the horizontal plane, the first direction is perpendicular to the second direction, the third driving member for the fork plate can drive the second driving member for the fork plate to move in a vertical direction, the fork plate includes a plurality of parallel and spaced material forks, the needle tube can be picked up by the fork plate and arranged between two adjacent material forks.

[0014] As a preferred solution of the present invention, the feeding mechanism includes a material shifting assembly and a slideway, the material picking mechanism transports the needle tube to the material shifting assembly, the material shifting assembly includes a material shifting piece and a material shifting piece driving component, the material shifting piece driving component can drive the material shifting piece to perform reciprocating motion, so that the material shifting piece shifts the needle tube on the fork plate into the slideway.

[0015] As a preferred embodiment of the present invention, the conveying mechanism includes a conveying line and a recovery line, the end of the conveying line is close to the tray positioning mechanism, the conveying line is used to convey the honeycomb box containing the tray and a plurality of needle tubes to the tray grasping mechanism, the conveying line is provided with a box baffle plate, and the box baffle plate can be raised and lowered to block the movement of the honeycomb box, the conveying line is provided with a box pushing assembly, a first transition plate is provided between the conveying line and the recovery line, the box pushing assembly can transfer the honeycomb box from the conveying line to the recovery line via the transition plate, the tray positioning mechanism includes a second transition plate, and the tray can be transferred to the recovery line via the second transition plate.

[0016] Beneficial effects of the present invention:

[0017] The conveying mechanism of the prefilled syringe detaching and feeding device of the present invention conveys the honeycomb box containing the tray and a plurality of syringes to the tray grabbing mechanism, the tray grabbing mechanism causes the tray and the plurality of syringes to separate from the honeycomb box, the tray and the plurality of syringes are then separated by the material taking mechanism on the tray positioning mechanism, the feeding mechanism then outputs the plurality of syringes from the material taking mechanism, thus realizing a fully automatic and efficient process from separation to output of the syringes, avoiding the high material loss caused by manual operation, reducing the chance of contact between personnel and materials, and being suitable for batch automated production of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a perspective schematic diagram of a prefilled syringe nesting and feeding device according to an embodiment of the present invention;

[0019] Figure 2 This is a second three-dimensional schematic diagram of the prefilled syringe nesting and feeding device according to an embodiment of the present invention;

[0020] Figure 3 This is a third three-dimensional schematic diagram of the prefilled syringe nesting and feeding device according to an embodiment of the present invention;

[0021] Figure 4 This is a fourth three-dimensional schematic diagram of the prefilled syringe nesting and feeding device according to an embodiment of the present invention;

[0022] Figure 5 for Figure 4 The main view;

[0023] Figure 6 for Figure 4 A top view of

[0024] Figure 7 The figure is a schematic diagram of the assembly relationship of the honeycomb box, the tray and the needle tube;

[0025] Figure 8 It is a three-dimensional schematic diagram of a tray positioning mechanism according to an embodiment of the present invention;

[0026] Fig. 9 A front view schematic diagram of a tray positioning mechanism according to another embodiment of the present invention;

[0027] Fig.10 for Fig. 9 A top view schematic diagram of

[0028] Fig.11 is a three-dimensional schematic diagram of a tray grabbing mechanism according to an embodiment of the present invention;

[0029] Fig.12 It is a three-dimensional schematic diagram of a material taking mechanism according to an embodiment of the present invention;

[0030] Fig.13 A schematic top view of a fork plate according to an embodiment of the present invention;

[0031] Fig.14 It is a structural schematic diagram of a material taking mechanism and a material feeding mechanism according to an embodiment of the present invention;

[0032] Fig.15 Schematic diagram of a feeding mechanism according to another embodiment of the present invention.

[0033] In the figure:

[0034] 1. Conveying mechanism; 11. Conveying line; 111. Box blocking plate; 12. Recycling line; 13. Box pushing assembly; 14. First transition plate;

[0035] 2. Tray grabbing mechanism; 21. Suction cup assembly; 211. Tray seat; 2111. Air hole; 212. Suction nozzle; 213. Positioning column; 221. Suction cup first driving member; 222. Guide sleeve; 223. Guide column; 23. Suction cup second driving member; 24. First mounting seat; 25. First slide rail;

[0036] 3. Tray positioning mechanism; 30. Frame; 31. Support bottom plate; 311. Notch groove; 32. Support block; 33. Push plate assembly; 331. Push rod; 3311. First segment; 3312. Second segment; 332. Push rod driving member; 34. Lifting stop column; 35. Adjustment plate; 351. First flat plate; 3511. Long round hole; 352. Second flat plate; 36. Swing claw; 37. Articulated seat; 38. Rotating shaft; 39. Second transition plate;

[0037] 4. Material taking mechanism; 41. Material fork plate; 411. Material fork; 42. First driving member of the material fork plate; 43. Second driving member of the material fork plate; 44. Third driving member of the material fork plate; 45. Second mounting seat; 46. Sliding block; 47. Second slide rail; 48. Third slide rail;

[0038] 5. Feeding mechanism; 51. Material shifting assembly; 511. Material shifting piece driving member; 512. Material shifting piece; 52. Slideway;

[0039] 100, tray; 110, positioning notch; 200, needle tube; 201, needle tube body; 202, flange; 300, honeycomb box. DETAILED DESCRIPTION

[0040] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0041] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0042] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0043] like Figures 1 to 7 As shown, the prefilled syringe de-nesting and feeding device of this embodiment includes a conveying mechanism 1, a tray grabbing mechanism 2, a tray positioning mechanism 3, a material taking mechanism 4 and a feeding mechanism 5. The conveying mechanism 1 can convey the honeycomb box 300 containing the tray 100 and a plurality of syringes 200 to the tray grabbing mechanism 2. The tray grabbing mechanism 2 is used to transfer the tray 100 and the plurality of syringes 200 to the tray positioning mechanism 3. The material taking mechanism 4 is used to take the plurality of syringes 200 out of the tray 100. The feeding mechanism 5 outputs the plurality of syringes 200 from the material taking mechanism 4. The tray 100 is a multi-hole plate. The plurality of syringes 200 can be arranged in order on the tray 100. The tray 100 and the plurality of syringes 200 can be contained in the honeycomb box 300 together. As shown in FIG. Figure 7 As shown, the needle tube 200 includes a needle tube body 201 and a flange 202 , and the flange 202 is disposed on the needle tube body 201 .

[0044] The conveying mechanism 1 of the prefilled syringe de-nesting and feeding device of this embodiment conveys the honeycomb box 300 containing the tray 100 and a plurality of syringes 200 to the tray grabbing mechanism 2, and the tray grabbing mechanism 2 causes the tray 100 and the plurality of syringes 200 to separate from the honeycomb box 300, and the tray 100 and the plurality of syringes 200 are then separated by the material picking mechanism 4 on the tray positioning mechanism 3, and the feeding mechanism 5 then outputs the plurality of syringes 200 from the material picking mechanism 4, thereby realizing a fully automatic and efficient process from separation to output of the syringes 200, avoiding the high material loss caused by manual operation, reducing the chance of contact between personnel and materials, and being suitable for batch automated production of materials.

[0045] like Figure 8As shown, preferably, the tray positioning mechanism 3 includes a frame 30, on which a support bottom plate 31, two support blocks 32, a push plate assembly 33 and at least one lifting stop column 34 are arranged. The support block 32 is in the shape of a rectangular parallelepiped, and the two support blocks 32 are arranged parallel and opposite to each other. One side edge of the tray 100 can be placed on the surface of one support block 32, and the other side edge of the tray 100 can be placed on the surface of the other support block 32. The support bottom plate 31 can support the bottoms of a plurality of needle tubes 200. The fixed position of the support bottom plate 31 on the frame 30 is adjustable. The support bottom plate 31 can increase the height of the flange 202 of the needle tube 200 to a certain extent, so that the material taking mechanism 4 can take the needle tube 200. The push plate assembly 33 and the lifting stop column 34 are respectively arranged on both sides of the length direction of the support block 32. The lifting stop column 34 selectively limits the tray 100. The push plate assembly 33 includes a horizontally movable push rod 331, which can push the tray 100 away from the support block 32. The support block 32 is used to support the pallet 100 so that the pallet 100 remains in a horizontal and stable state. The lifting stop column 34 is used to limit the horizontal displacement of the pallet 100 to prevent the pallet 100 from moving when the material picking mechanism 4 separates the needle tube 200 from the pallet 100. After the needle tube 200 is separated from the pallet 100, the lifting stop column 34 descends, and the empty pallet 100 is pushed away from the support block 32 by the push rod 331, providing a placement position for the subsequent pallet 100.

[0046] Furthermore, a notch groove 311 is opened on the support base plate 31, and the opening direction of the notch groove 311 is parallel to the length direction of the support block 32. The push plate assembly 33 also includes a push rod driving member 332. The push rod 331 includes a first segment 3311 and a second segment 3312. The first segment 3311 is vertically arranged, and the second segment 3312 is connected to the top of the first segment 3311. The push rod driving member 332 can drive the first segment 3311 to enter the notch groove 311 and move back and forth, so that the second segment 3312 selectively abuts against the side edge of the tray 100 away from the lifting stop column 34. The push rod driving member 332 can use a driving device in the form of a cylinder or a hydraulic cylinder. The push rod 331 is arranged in the form of a first section 3311 and a second section 3312. This allows the installation height of the push rod driving member 332 to be set lower, thereby providing more sufficient installation space and movement space for the material picking mechanism 4, thereby preventing structural interference between the pallet positioning mechanism 3 and the material picking mechanism 4.

[0047] In some embodiments, the tray positioning mechanism 3 further includes two adjustment plates 35, which are arranged on the frame 30 in a relative manner. The adjustment plates 35 include a first plate 351 and a second plate 352 which are vertically connected to each other. The first plate 351 is provided with an oblong hole 3511, and the frame 30 is provided with a threaded hole (not shown in the figure). The first plate 351 and the frame 30 are connected by a fastener (not shown in the figure) passing through the oblong hole 3511 and screwed into the threaded hole, and the support block 32 is connected to the second plate 352. By changing the fixed position of the first plate 351 on the frame 30, the spacing between the two support blocks 32 can be changed, thereby adapting to the size requirements of the tray 100. In addition, the second plate 352 can be set in a form in which the top end protrudes from the support block 32, so that the top of the second plate 352 provides an additional limiting function for the tray 100, so that the state of the tray 100 on the tray positioning mechanism 3 is more stable.

[0048] Furthermore, the adjustment plate 35 is also provided with a swing claw 36, a hinge seat 37 and a rotating shaft 38. The hinge seat 37 is fixed on the adjustment plate 35. The swing claw 36 and the hinge seat 37 are connected by the rotating shaft 38. The swing claw 36 has an initial position. The swing claw 36 can only rotate in one direction around the rotating shaft 38 in the initial position. The tray 100 contacts the swing claw 36 during the process of descending onto the support block 32, causing the swing claw 36 to rotate. After the tray 100 loses contact with the swing claw 36, the swing claw 36 returns to the initial position under the action of gravity, causing the swing claw 36 to limit the displacement of the tray 100 in the vertical direction. When the needle tube 200 is separated from the tray 100, the needle tube 200 needs to move vertically upward. During the upward movement, the needle tube 200 will rub against the tray 100, causing the tray 100 to also have a tendency to move vertically upward. The swing claw 36 can prevent the tray 100 from moving in the vertical direction during the separation of the needle tube 200, so that the tray 100 always maintains a relatively stable state, which is conducive to the better separation of the needle tube 200 from the tray 100. In addition, after the tray grasping mechanism 2 places the tray 100 with a plurality of needle tubes 200 on the tray positioning mechanism 3, it needs to be separated from the tray 100. The tray grasping mechanism 2 usually grasps and moves the tray 100 in an adsorption and fixing manner. During this separation process, the tray grasping mechanism 2 may still retain a certain amount of adsorption on the tray 100. Therefore, the swing claw 36 is also required to limit the tray 100 to achieve a better separation of the tray grasping mechanism 2 and the tray 100.

[0049] The working principle of the swing claw 36 is as follows: Fig. 9 As shown (for the sake of clarity, Figure 8On the basis of the shown embodiment, the adjustment plate 35 and other components are omitted), the tray 100 is placed on the top surface of the frame 30, and the hinge seat 37 is also fixed on the top surface of the frame 30. When the tray 100 falls to the top surface of the frame 30, it touches the swing claw 36, causing the swing claw 36 to rotate. After the tray 100 loses contact with the swing claw 36, the swing claw 36 is reset. At this time, the edge of the tray 100 is located between the top surface of the frame 30 and the swing claw 36. Since the swing claw 36 can only rotate in one direction, the swing claw 36 allows the tray 100 to only move slightly in the vertical direction at this time, so the needle tube 200 can be well separated from the tray 100.

[0050] like Fig.10 As shown, after the needle tube 200 is separated, the lifting stopper 34 descends, and the empty tray 100 can be pushed away from the frame 30 by the push rod 331 .

[0051] like Fig.11 As shown, preferably, the pallet grasping mechanism 2 includes a suction cup assembly 21, a first suction cup driving member 221 and a second suction cup driving member 23. The suction cup assembly 21 is connected to the first suction cup driving member 221. The first suction cup driving member 221 can drive the suction cup assembly 21 to move in the vertical direction. The second suction cup driving member 23 can drive the first suction cup driving member 221 to move in the horizontal direction, so that the suction cup assembly 21 can move in the vertical and horizontal directions, thereby realizing the grasping, moving and unloading of the pallet 100 by the suction cup assembly 21. Specifically, the suction cup first driving member 221 is arranged on the guide sleeve 222, and a guide column 223 is also arranged on the guide sleeve 222. The suction cup first driving member 221 can select a cylinder, and the piston rod of the cylinder and the guide column 223 are both connected to the suction cup assembly 21 to improve the stability of the suction cup assembly 21 during movement. The guide sleeve 222 is fixed on the first mounting seat 24, and the first mounting seat 24 is slidably arranged on the first slide rail 25. The suction cup second driving member 23 can drive the first mounting seat 24 to reciprocate along the first slide rail 25. The suction cup second driving member 23 can select a cylinder or other forms of driving devices.

[0052] Furthermore, the suction cup assembly 21 includes a cup seat 211, a plurality of suction nozzles 212 and a positioning column 213. An air passage is provided inside the cup seat 211. The suction nozzles 212 are arranged on the bottom surface of the cup seat 211 and communicate with the air passage. The first suction cup driving member 221 is connected to the top surface of the cup seat 211. The top surface of the cup seat 211 is provided with an air hole 2111 for connecting a vacuum tube. Fig.10As shown, a positioning notch 110 is provided at the edge of the tray 100, and the positioning column 213 can pass through the positioning notch 110, so that the tray base 211 can be aligned with the tray 100, and each suction nozzle 212 can make good contact with the tray 100. When the suction nozzle 212 contacts the surface of the tray 100, the air pressure inside the airway is reduced by suction, and the suction nozzle 212 can firmly adsorb the tray 100. The tray base 211 is preferably in the form of a combination of upper and lower plates, and a sealing pad is arranged between the two plates, so that the airway has good sealing performance and the tray base 211 also has high structural strength.

[0053] The first driving member 221 of the suction cup drives the suction cup assembly 21 to descend, so that the suction nozzle 212 contacts the tray 100, and then vacuum is performed to make the suction nozzle 212 suck the tray 100, and then the first driving member 221 of the suction cup drives the suction cup assembly 21 to rise, and the tray 100 and a plurality of needle tubes 200 are taken out of the honeycomb box 300. The empty honeycomb box 300 is removed, and then the second driving member 23 of the suction cup moves the tray 100 to the top of the tray positioning mechanism 3, and the first driving member 221 of the suction cup drives the suction cup assembly 21 to descend again, and places the tray 100 and a plurality of needle tubes 200 on the tray positioning mechanism 3, and then the air pressure in the airway returns to normal, and the suction nozzle 212 releases the tray 100, and the first driving member 221 of the suction cup drives the suction cup assembly 21 to rise, and the second driving member 23 of the suction cup drives the suction cup assembly 21 back to the top of the next honeycomb box 300 to grab the next tray 100.

[0054] like Fig.12 and Fig.13As shown, preferably, the material picking mechanism 4 includes a fork plate 41, a first driving member 42 for the fork plate, a second driving member 43 for the fork plate and a third driving member 44 for the fork plate, the fork plate 41 is connected to the first driving member 42 for the fork plate, the first driving member 42 for the fork plate can drive the fork plate 41 to move in a first direction within the horizontal plane, the second driving member 43 for the fork plate can drive the first driving member 42 for the fork plate to move in a second direction within the horizontal plane, the first direction is perpendicular to the second direction, the third driving member 44 for the fork plate can drive the second driving member 43 for the fork plate to move in a vertical direction, the fork plate 41 includes a plurality of parallel and spaced material forks 411, the needle tube 200 can be forked by the fork plate 41 and arranged between two adjacent material forks 411. The fork plate 41 is extended by the first driving member 42 of the fork plate, and the fork plate 41 forks a plurality of needle tubes 200 on the tray 100, so that the plurality of needle tubes 200 are distributed between two adjacent material forks 411, and a plurality of rows of needle tubes 200 are formed on the fork plate 41. The fork plate 41 is then moved by the second driving member 43 and the third driving member 44 of the fork plate to cooperate with the feeding mechanism 5. Specifically, the first driving member 42 of the fork plate is arranged on the second mounting seat 45, and a slider 46 is arranged on the second mounting seat 45. The fork plate 41 is connected to the slider 46, and the first driving member 42 of the fork plate can drive the slider 46 to slide on the second mounting seat 45. The first driving member 42 of the fork plate adopts a rodless cylinder with a simple structure and low cost. The first driving member 42 of the fork plate can also adopt a servo motor with a synchronous belt to make the fork plate 41 move smoothly and at a uniform speed, reducing the impact on the needle tube 200 during the forking process. The second mounting seat 45 is arranged on the second slide rail 47 and the second driving member 43 of the fork plate moves the second mounting seat 45. The third driving member 44 of the fork plate uses the third slide rail 48 to move the second slide rail 47 and the second driving member 43 of the fork plate. In this way, the fork plate 41 can be displaced in the three directions of XYZ in three-dimensional space.

[0055] like Fig.14As shown, further, the feeding mechanism 5 includes a material shifting assembly 51 and a slideway 52. ​​The material taking mechanism 4 transports the needle tube 200 to the material shifting assembly 51. The material shifting assembly 51 includes a material shifting piece driving member 511 and a material shifting piece 512. The material shifting piece driving member 511 can drive the material shifting piece 512 to reciprocate. The material shifting piece 512 shifts at least one row of needle tubes 200 into the slideway 52 each time. After several reciprocating movements, the material shifting piece 512 can shift all the needle tubes 200 on the fork plate 41 into the slideway 52. ​​In this embodiment, the material shifting piece driving member 511 adopts a rodless cylinder with a simple structure and low cost. The material shifting piece driving member 511 can also adopt a servo motor with a synchronous belt, so that the material shifting piece 512 can achieve uniform and stable movement, so that each row of needle tubes 200 can be orderly shifted into the slideway 52. At the same time, the second driving member 43 of the fork plate also adopts the form of a servo motor and a lead screw. Since the shifting piece 512 can only reciprocate in one direction, in order to ensure that each row of needle tubes 200 can be shifted into the slide 52, the fork plate 41 needs to be intermittently and accurately displaced in the second direction. After a row of needle tubes 200 on the fork plate 41 are shifted into the slide 52, the shifting piece 512 needs to be able to align with the next row of needle tubes 200 on the fork plate 41. If the second driving member 43 of the fork plate is driven by a cylinder, it is difficult to meet the requirement of precise movement of the fork plate 41.

[0056] The specific working steps are as follows: the fork plate 41 is moved to the feeding mechanism 5 under the joint action of the first driving member 42, the second driving member 43 and the third driving member 44 of the fork plate, and the material shifting piece 512 is driven by the material shifting piece driving member 511 to shift at least one row of needle tubes 200 on the fork plate 41 into the slide 52, and then the material shifting piece 512 is reset under the drive of the material shifting piece driving member 511, and the fork plate 41 is driven by the second driving member 43 of the fork plate to make a small displacement in the second direction in the horizontal plane, so that the material shifting piece 512 is aligned with at least one row of needle tubes 200 to shift them into the slide 52, and this cycle is repeated until all the needle tubes 200 on the fork plate 41 are finally shifted into the slide 52.

[0057] like Fig.15 As shown, in another embodiment, the material shifting assembly 51 adopts a rotary material shifting method for material shifting, including a material shifting piece driving member 511 and two material shifting pieces 512. The material shifting piece driving member 511 adopts a rotary form similar to a conveyor belt, and the two material shifting pieces 512 rotate on the material shifting piece driving member 511. When one material shifting piece 512 shifts a row of needle tubes 200 into the slide 52, the other material shifting piece 512 just rotates to the material shifting position. The next material shifting can be performed only after the fork plate 41 is displaced in the second direction, thereby reducing the waiting time.

[0058] Preferably, the conveying mechanism 1 includes a conveying line 11 and a recycling line 12. The end of the conveying line 11 is close to the tray positioning mechanism 3. The conveying line 11 is used to convey the honeycomb box 300 containing the tray 100 and a plurality of needle tubes 200 to the tray grabbing mechanism 2. Figure 2 As shown, the conveyor line 11 is provided with a box blocking plate 111, which can be raised and lowered to block the movement of the honeycomb box 300. The box blocking plate 111 can be driven by a cylinder to achieve the lifting and lowering. When the tray grabbing mechanism 2 performs the grabbing operation of the tray 100, the box blocking plate 111 rises to block the subsequent honeycomb box 300. The conveyor line 11 is provided with a box pushing assembly 13, and a first transition plate 14 is provided between the conveyor line 11 and the recycling line 12. The box pushing assembly 13 can transfer the empty honeycomb box 300 from the conveyor line 11 to the recycling line 12 via the first transition plate 14, thereby realizing the recycling of the honeycomb box 300. Fig.10 As shown, the tray positioning mechanism 3 includes a second transition plate 39, and the tray 100 can be transferred to the recycling line 12 via the second transition plate 39. When the plurality of needle tubes 200 on the tray 100 are removed, the empty tray 100 can also be transferred to the recycling line 12 via the second transition plate 39, thereby realizing the recycling of the tray 100.

[0059] As preferred embodiments of the present invention, in the description of this specification, the reference terms "preferably", "further", etc., mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0060] The above embodiments are only used to illustrate the detailed scheme of the present invention, and the present invention is not limited to the above detailed scheme, that is, it does not mean that the present invention must rely on the above detailed scheme to be implemented. Those skilled in the art should understand that any improvement of the present invention, equivalent replacement of various raw materials of the product of the present invention, addition of auxiliary components, selection of specific methods, etc., all fall within the protection scope and disclosure scope of the present invention.

Claims

1. A prefilled syringe nesting feeding device, characterized in that: It includes a conveying mechanism, a tray grabbing mechanism, a tray positioning mechanism, a material taking mechanism and a feeding mechanism. The conveying mechanism can convey the honeycomb box containing the tray and a plurality of needle tubes to the tray grabbing mechanism. The tray grabbing mechanism is used to transfer the tray and the plurality of needle tubes to the tray positioning mechanism. The material taking mechanism is used to take the plurality of needle tubes out of the tray. The feeding mechanism outputs the plurality of needle tubes from the material taking mechanism. The tray positioning mechanism comprises a frame, on which a supporting bottom plate, two supporting blocks, a push plate assembly and at least one lifting stop column are arranged, the fixed position of the supporting bottom plate on the frame is adjustable, the supporting block is in the shape of a rectangular parallelepiped, the two supporting blocks are arranged in parallel and opposite to each other, one side edge of the tray can be placed on the surface of one supporting block, and the other side edge of the tray opposite to each other can be placed on the surface of the other supporting block, the supporting bottom plate can support the bottoms of a plurality of the needle tubes, the push plate assembly and the lifting stop column are respectively arranged on both sides in the length direction of the supporting block, the lifting stop column selectively limits the tray, and the push plate assembly comprises a horizontally movable push rod, which can push the tray away from the supporting block; The tray positioning mechanism further comprises two adjustment plates, which are arranged on the frame opposite to each other, and the adjustment plates comprise a first flat plate and a second flat plate which are vertically connected to each other, an oblong hole is provided on the first flat plate, and a threaded hole is provided on the frame, and the first flat plate and the frame are connected by a fastener which passes through the oblong hole and is screwed into the threaded hole, and the support block is connected to the second flat plate, and the second flat plate is arranged in a form in which the top end protrudes from the support block; The adjustment plate is also provided with a swing claw, an articulated seat and a rotating shaft, the articulated seat is fixedly connected to the adjustment plate, the swing claw and the articulated seat are connected by the rotating shaft, the swing claw has an initial position, and the swing claw can only rotate unidirectionally around the rotating shaft in the initial position, the tray comes into contact with the swing claw during the process of descending onto the support block, causing the swing claw to rotate, and after the tray loses contact with the swing claw, the swing claw returns to the initial position under the action of gravity, so that the swing claw limits the displacement of the tray in the vertical direction.

2. The prefilled syringe nesting feeding device according to claim 1, characterized in that: The pallet grabbing mechanism includes a suction cup assembly, a first suction cup driving member and a second suction cup driving member. The suction cup assembly is connected to the first suction cup driving member. The first suction cup driving member can drive the suction cup assembly to move in the vertical direction. The second suction cup driving member can drive the first suction cup driving member to move in the horizontal direction, so that the suction cup assembly can move in the vertical and horizontal directions, thereby realizing the grabbing, moving and unloading of the pallet by the suction cup assembly.

3. The prefilled syringe nesting feeding device according to claim 2, characterized in that: The suction cup assembly includes a disc seat and a plurality of suction nozzles, an air passage is provided inside the disc seat, the suction nozzles are arranged on the bottom surface of the disc seat and communicated with the air passage, the first driving member of the suction cup is connected to the top surface of the disc seat, and an air hole for connecting a vacuum tube is provided on the top surface of the disc seat.

4. The prefilled syringe nesting feeding device according to claim 3, characterized in that: A positioning notch is provided at the edge of the tray, and a positioning column is provided on the bottom surface of the tray seat, and the positioning column can pass through the positioning notch.

5. The prefilled syringe nesting feeding device according to claim 1, characterized in that: The material picking mechanism includes a fork plate, a first driving member for the fork plate, a second driving member for the fork plate and a third driving member for the fork plate, the fork plate is connected to the first driving member for the fork plate, the first driving member for the fork plate can drive the fork plate to move in a first direction within a horizontal plane, the second driving member for the fork plate can drive the first driving member for the fork plate to move in a second direction within the horizontal plane, the first direction is perpendicular to the second direction, the third driving member for the fork plate can drive the second driving member for the fork plate to move in a vertical direction, the fork plate includes a plurality of material forks arranged in parallel and at intervals, the needle tube can be picked up by the fork plate and arranged between two adjacent material forks.

6. The prefilled syringe nesting feeding device according to claim 5, characterized in that: The feeding mechanism includes a material shifting assembly and a slideway. The material picking mechanism transports the needle tube to the material shifting assembly. The material shifting assembly includes a material shifting piece and a material shifting piece driving component. The material shifting piece driving component can drive the material shifting piece to perform reciprocating motion, so that the material shifting piece shifts the needle tube on the fork plate into the slideway.

7. The prefilled syringe nesting feeding device according to claim 1, characterized in that: The conveying mechanism includes a conveying line and a recycling line, the end of the conveying line is close to the tray positioning mechanism, the conveying line is used to convey the honeycomb box containing the tray and a plurality of syringes to the tray grasping mechanism, the conveying line is provided with a box blocking plate, the box blocking plate can be raised and lowered to block the movement of the honeycomb box, the conveying line is provided with a box pushing assembly, a first transition plate is provided between the conveying line and the recycling line, the box pushing assembly can transfer the honeycomb box from the conveying line to the recycling line via the first transition plate, the tray positioning mechanism includes a second transition plate, the tray can be transferred to the recycling line via the second transition plate.

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