A fully automatic pre-filled needle packaging production line

Abstract

The invention discloses a fully automatic pre-filled needle packaging production line, comprising a blister packaging machine and a cartoning machine. The blister packaging machine is provided with a feeding station and a blister output station. The cartoning machine is provided with a cartoning conveying chain for conveying materials to be boxed. Positioning clamps are evenly arranged on the cartoning conveying chain. The invention also comprises a pre-filled needle feeding device connected with the feeding station and used for placing the pre-filled needle into an empty blister, and a relay device arranged between the blister packaging machine and the cartoning machine. The relay device is used for picking up the finished blister plates on the blister output station and adjusting the spacing between the finished blister plates before transferring them to the cartoning conveying chain.

Description

Technical Field

[0001] The invention relates to the technical field of packaging machinery, and in particular to a fully automatic pre-filled needle packaging production line. Background Art

[0002] At present, the blister packaging machine and the cartoning machine form a production line (also called an all-in-one machine), the blister machine completes the blister forming and material filling and sealing to form a blister plate, and the cartoning machine cartonizes the blister plate to produce a commercial package. For the packaging of conventional solid materials, the general process is that at the feeding station, a vibration or roller brush feeding device is usually used to evenly load materials such as tablets and capsules into the formed blisters. After the blister plate is packaged, it is punched into independent plates by a punching device and transported to the blister output station by a conveying device. Then, the blister plate at the blister output station is transferred to the feeding and conveying device of the cartoning machine by a blister plate transfer robot or a conveyor belt, and then the blister plate is sent to the cartoning machine by the feeding and conveying device of the cartoning machine for cartoning.

[0003] Prefilled needles, also known as prefilled syringes, are medical supplies that are sold directly on the market by filling liquid drugs into syringes. They are characterized by a small diameter and a long length. In order to provide better packaging protection for prefilled needles, the size of the blisters formed by the blister packaging machine is adapted to the prefilled needles, so that a single blister plate of the finished product also has the characteristics of a small width and a long length. In order to make full use of the PVC raw materials of the blisters, the blisters are usually designed to be densely arranged in multiple rows. Since the space size of the paper box used for packaging is larger than that of the blister plates, it is required to adjust the densely arranged blister plates to a spacing suitable for boxing in order to complete normal boxing. The existing production line cannot complete the online production of such materials. Moreover, since the prefilled needles are pre-filled with liquid drugs, the loading device of the existing technology cannot be used to load the prefilled needles into the blisters. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic pre-filled needle packaging production line, which adopts a conveyor belt to clamp and convey the pre-filled needle, and a material dividing turntable and an arc track cooperate to place the pre-filled needle on a needle tube fixture, and then a first manipulator picks up the pre-filled needle on the needle tube fixture and transfers it to an empty blister at a feeding station, and the pre-filled needle is sealed in the blister by a blister packaging machine and punched into blister plates, and a second manipulator drives a variable pitch device to pick up a specified number of finished blister plates at the blister output station and open the distance between the finished blister plates, and then the finished blister plates are rotated 90 degrees and transferred to a relay fixture, and then a third manipulator drives a suction cup frame and a second suction cup to pick up a specified number of finished blister plates from the relay fixture and transfer them to a boxing conveyor chain to be transported to a boxing machine for boxing, which has the advantages of stable performance and high production efficiency, and solves the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fully automatic pre-filled needle packaging production line, comprising a blister packaging machine 1 and a cartoning machine 4, wherein the blister packaging machine 1 is provided with a feeding station 101 and a blister output station 102, and the cartoning machine 4 is provided with a cartoning conveyor chain 401 for conveying materials to be boxed, and positioning fixtures 402 are evenly arranged on the cartoning conveyor chain 401, and also comprises a pre-filled needle feeding device 2 connected to the feeding station 101 for placing the pre-filled needle into an empty blister, and a relay device 3 arranged between the blister packaging machine 1 and the cartoning machine 4, wherein the relay device 3 is used to pick up the finished blister plates on the blister output station 102 and adjust the spacing between the finished blister plates before transferring them to the cartoning conveyor chain 401.

[0006] Furthermore, the prefilled needle feeding device 2 comprises:

[0007] A storage device 201, used for storing and transporting prefilled needles 5;

[0008] A lifting device 202, connected to the discharge end of the storage device 201, is used to lift the pre-filling needle 5 to a predetermined height;

[0009] The first slide rail 203 is connected to the discharge end of the lifting device 202;

[0010] The middle conveyor belt 204 is connected to the discharge end of the first slide rail 203, and the position of the middle conveyor belt 204 is lower than the discharge end of the lifting device 202;

[0011] The second slide rail 205 is connected to the discharge end of the intermediate conveyor belt 204;

[0012] The material distribution turntable 206 is tiltedly arranged at the discharge end of the second slide rail 205, and the circumference of the material distribution turntable 206 is evenly provided with card slots 2061, and the outer circumference of the material distribution turntable 206 is provided with an arc track 207 along the travel path of the pre-filling needle 5;

[0013] A clamp chain 208 is mounted on the connecting frame 211. Needle tube clamps 209 are evenly distributed on the clamp chain 208. The needle tube clamps 209 are located below the discharge end of the arc track 207. The clamp chain 208 is driven by a first servo motor 212.

[0014] The first manipulator 210 is disposed between the connecting frame 211 and the blister packaging machine 1 . The first manipulator 210 is used to pick up the prefilling needle 5 on the needle tube fixture 209 and transfer it to the empty blister at the feeding station 101 .

[0015] Furthermore, the storage device 201 includes a base frame 2017, a feed chute 2011, an output chute 2016, and a plurality of closed-loop conveying chains 2012 arranged in parallel on the base frame 2017, a conveying channel 2013 is formed between two adjacent conveying chains 2012, the feed chute 2011 is arranged on one side of the base frame 2017 and connected to the feed end of the conveying channel 2013 formed by the first and second conveying chains 2012, and the output chute 2016 is arranged on the base frame 21 7 is connected with the discharge end of the conveying channel 2013 formed by the last and second last conveying chains 2012 on the other side, and one end of each of the conveying chains 2012 located between the feed slide 2011 and the output slide 2016 is provided with a transfer block 2014 adapted to the conveying channel 2013, and a semi-circular arc structure is provided on the transfer block 2014, and the semi-circular arc structure and the corresponding end of the conveying chain 2012 form an arc channel 2015 for connecting the conveying channels 2013 in sequence.

[0016] Furthermore, the lifting device 202 and the intermediate conveyor belt 204 are both two conveyor belt structures arranged in parallel.

[0017] Furthermore, the relay device 3 includes a machine base 309, a second manipulator 301, a relay conveyor belt 303, and a third manipulator 306. The relay conveyor belt 303 is arranged parallel to one side of the box conveyor chain 401, and the relay conveyor belt 303 is driven by a second servo motor 305. Relay clamps 304 are evenly arranged on the relay conveyor belt 303, and the spacing between the relay clamps 304 is consistent with the spacing of the positioning clamps 402; the machine base 309 is arranged on the rear side of the relay conveyor belt 303, and the second manipulator 301 is arranged at one end of the machine base 309 close to the blister output station 102; the second manipulator 301 is equipped with a pitch-changing device 302, and the second manipulator 301 drives the pitch-changing device 302 to pick up a specified number of finished blister plates at the blister output station 102 And the distance between the finished blister plates is pulled apart, and then the finished blister plates are rotated 90 degrees and transferred to the relay fixture 304; the base of the third manipulator 306 is movably mounted on the machine base 309 through the linear rail 2 308, and a synchronous belt 3091 is wound around the machine base 309, and the base of the third manipulator 306 is connected to the synchronous belt 3091; the synchronous belt 3091 is driven by a third servo motor 3092 arranged at one end of the machine base 309, and a suction cup frame 307 is installed at the front end of the movable arm of the third manipulator 306, and a plurality of suction cups 2 3071 are arranged at the lower end of the suction cup frame 307, and the third manipulator 306 is used to drive the suction cup frame 307 and the suction cup 2 3071 to pick up a specified number of finished blister plates from the relay fixture 304 and transfer them to the box loading conveyor chain 401.

[0018] Furthermore, the pitch changing device 302 includes:

[0019] A connecting seat 3021, used for connecting with the second manipulator 301;

[0020] The crossbeam 3022 is fixedly mounted on the lower end of the connecting seat 3021;

[0021] Linear rail 1 3023, fixedly mounted on the lower end of the crossbeam 3022;

[0022] A fixed suction cup seat 3026 is installed on the linear track 1 3023 and fixedly connected to the crossbeam 3022. A plurality of movable suction cup seats 3025 are also installed on the linear track 1 3023 at both sides of the fixed suction cup seat 3026. The movable suction cup seat 3025 and the fixed suction cup seat 3026 are both connected to the limiting belt 3024. Suction cups 1 3029 are provided at the lower ends of the movable suction cup seat 3025 and the fixed suction cup seat 3026.

[0023] A first cylinder 3027 is installed on one side of the crossbeam 3022, and a piston rod end of the first cylinder 3027 is connected to the rightmost movable suction cup seat 3025;

[0024] The second cylinder 3028 is installed on the other side of the crossbeam 3022, and the piston rod end of the second cylinder 3028 is connected to the movable suction cup seat 3025 at the leftmost end.

[0025] Furthermore, there are two second linear rails 308 and both are parallel to the running direction of the cartoning conveyor chain 401 , and the synchronous belt 3091 is located between the two second linear rails 308 .

[0026] The beneficial effects of the present invention are as follows: the present invention provides a fully automatic pre-filled needle packaging production line, which adopts a conveyor belt to clamp and convey the pre-filled needle, and a material dividing turntable cooperates with an arc track to place a single pre-filled needle on a needle tube fixture, and then a first manipulator picks up the pre-filled needle on the needle tube fixture and transfers it to an empty blister at a feeding station, the pre-filled needle is sealed in the blister by a blister packaging machine and punched into blister plates, a second manipulator drives a variable pitch device to pick up a specified number of finished blister plates at the blister output station and pull the distance between the finished blister plates, and then the finished blister plates are rotated 90 degrees and transferred to a relay fixture, and then a third manipulator drives a suction cup frame and a suction cup 2 to pick up a specified number of finished blister plates from the relay fixture and transfer them to a boxing conveyor chain for transportation to a boxing machine for boxing, which has the advantages of a high degree of automation, a smooth and impact-free pre-filled needle conveying and feeding process, stable performance, and high production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a stereogram of the present invention.

[0028] Figure 2 It is a top view of the present invention.

[0029] Figure 3 for Figure 1 A partial enlarged view of point A in the middle.

[0030] Figure 4 for Figure 2 A partial enlarged view of point B in the middle.

[0031] Figure 5 for Figure 2 A partial enlarged view of point C in the middle.

[0032] Figure 6 It is a three-dimensional diagram of the pitch-changing device of the present invention.

[0033] Figure 7 It is a side view of the pitch changing device of the present invention. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0035] See also Figure 1-7 A fully automatic pre-filled needle packaging production line includes a blister packaging machine 1 and a cartoning machine 4. The blister packaging machine 1 is provided with a feeding station 101 and a blister output station 102. The cartoning machine 4 is provided with a cartoning conveyor chain 401 for conveying materials to be boxed. Positioning fixtures 402 are evenly arranged on the cartoning conveyor chain 401. It also includes a pre-filled needle feeding device 2 connected to the feeding station 101 for placing the pre-filled needle into an empty blister and a relay device 3 provided between the blister packaging machine 1 and the cartoning machine 4. The relay device 3 is used to pick up the finished blister plates on the blister output station 102 and adjust the spacing between the finished blister plates before transferring them to the cartoning conveyor chain 401.

[0036] Furthermore, the pre-filled needle feeding device 2 includes: a storage device 201, a lifting device 202, a first slide rail 203, an intermediate conveyor belt 204, a second slide rail 205, a material distribution turntable 206, a clamp chain 208, and a first manipulator 210; the storage device 201 is used to store and convey the pre-filled needles 5; the lifting device 202 is connected to the discharge end of the storage device 201, and is used to lift the pre-filled needles 5 to a predetermined height; the first slide rail 203 is connected to the discharge end of the lifting device 202; the intermediate conveyor belt 204 is connected to the discharge end of the first slide rail 203, and the position of the intermediate conveyor belt 204 is lower than the discharge end of the lifting device 202. The second slide rail 205 is connected to the discharge end of the middle conveyor belt 204; the material distribution turntable 206 is tiltedly arranged at the discharge end of the second slide rail 205, and the circumference of the material distribution turntable 206 is evenly provided with card slots 2061, and the outer circle of the material distribution turntable 206 is provided with an arc track 207 along the travel path of the pre-filling needle 5; the clamp chain 208 is installed on the connecting frame 211, and the clamp chain 208 is evenly provided with needle clamps 209, and the needle clamps 209 are located below the discharge end of the arc track 207. The clamp chain 208 is driven by the first servo motor 212 to operate; the first manipulator 210 is provided between the connecting frame 211 and the bubble The first manipulator 210 is used to pick up the pre-filled needle 5 on the needle tube clamp 209 and transfer it to the empty blister at the feeding station 101. Here, the clamp chain 208 can be a steel chain or a plastic chain. The pre-filled needle 5 is transported from the storage device 201 to the feeding end of the lifting device 202, and is lifted to a predetermined height by the lifting device 202, and then slides into the middle conveyor belt 204 by the first slide rail 203, and enters the second slide rail 205 under the conveyance of the middle conveyor belt 204. Since the card slots 2061 are evenly distributed on the circumference of the dividing turntable 206, and the card slots 206 1 is adapted to a single pre-filling needle 5. When the material distribution turntable 206 is driven by a power source to rotate, when the slot 2061 is aligned with the exit of the second slide rail 205, a pre-filling needle 5 slides into the slot, and moves along the arc track 207 driven by the slot 2061, and slides into the needle tube clamp 209 at the end of the arc track 207. Here, the power source of the material distribution turntable 206 can be a servo motor or a transmission system linked to the first servo motor 212. Here, the linear speed of the slot 2061 rotating with the material distribution turntable 206 is the same as the travel speed of the needle tube clamp 209 driven by the first servo motor 212.

[0037] Further, the storage device 201 includes a base frame 2017, a feed slide 2011, an output slide 2016, and a plurality of closed-loop conveying chains 2012 arranged in parallel on the base frame 2017. A conveying channel 2013 is formed between two adjacent conveying chains 2012. Here, the conveying chain 2012 is made of plastic material, and a conveyor belt can also be used. The width of the conveying channel 2013 is adapted to the entity of the pre-filling needle 5. Here, the two adjacent conveying chains 2012 run in opposite directions under the drive of the power source. In this way, it is ensured that the half widths of the two adjacent conveying chains 2012 corresponding to the conveying channel 2013 area are running in the same direction, so as to clamp the pre-filling needle 5 and move forward smoothly; The feed chute 2011 is arranged on one side of the base frame 2017 and is connected with the feed end of the conveying channel 2013 formed by the first and second conveying chains 2012. The output chute 2016 is arranged on the other side of the base frame 217 and is connected with the discharge end of the conveying channel 2013 formed by the last and second last conveying chains 2012. One end of each conveying chain 2012 between the feed chute 2011 and the output chute 2016 is provided with a transfer block 2014 adapted to the conveying channel 2013. A semi-circular arc structure is provided on the transfer block 2014. The semi-circular arc structure and the end of the corresponding conveying chain 2012 form an arc channel 2015 for connecting the conveying channels 2013 in sequence, such as Figure 4 As shown, a transfer block 2014 is installed at the end of the second conveying chain 2012 away from the feed chute 2011, connecting the tail end of the conveying channel 2013 formed by the first and second conveying chains 2012 with the head end of the conveying channel 2013 formed by the second conveying chain 2012 and the third conveying chain 2012 to form an angle conveying. Similarly, another transfer block 2014 is installed at the end of the third conveying chain 2012 close to the feed chute 2011 to connect the second conveying chain 2012 and the third conveying chain 2012. The tail end of the conveying channel 2013 formed by the feeding chain 2012 is connected to the head end of the conveying channel 2013 formed by the third conveying chain 2012 and the fourth conveying chain 2012. In this way, the conveying channels 2013 that are connected in sequence make the moving path of the pre-filling needle 5 form a multi-fold path similar to a Z shape, thereby forming a storage space for accommodating the pre-filling needle 5. After the pre-filling needle 5 enters the conveying channel 2013 from the feeding slide 2011, it moves forward steadily with the operation of the conveying chain 2012, and is finally output from the output slide 2016.

[0038] Furthermore, the lifting device 202 and the middle conveyor belt 204 are both two conveyor belt structures arranged in parallel, and the spacing between the conveyor belts is adapted to the entity of the prefilling needle 5, so that the prefilling needle 5 is clamped between the conveyor belts and moves forward in a single-piece flow state.

[0039] Furthermore, the relay device 3 includes a machine base 309, a second manipulator 301, a relay conveyor belt 303, and a third manipulator 306. The relay conveyor belt 303 is arranged parallel to one side of the box loading conveyor chain 401, and the relay conveyor belt 303 is driven by a second servo motor 305. Relay clamps 304 are evenly arranged on the relay conveyor belt 303, and the spacing between the relay clamps 304 is consistent with the spacing of the positioning clamps 402; the machine base 309 is arranged on the rear side of the relay conveyor belt 303, and the second manipulator 301 is arranged at one end of the machine base 309 close to the blister output station 102; the second manipulator 301 is installed with a pitch-changing device 302, and the second manipulator 301 drives the pitch-changing device 302 to pick up a specified number of finished blisters at the blister output station 102 The plates are opened and the distance between the finished blister plates is pulled apart, and then the finished blister plates are rotated 90 degrees and transferred to the relay fixture 304; the base of the third manipulator 306 is movably mounted on the machine base 309 through the linear rail 2 308, and a synchronous belt 3091 is wound around the machine base 309, and the base of the third manipulator 306 is connected to the synchronous belt 3091; the synchronous belt 3091 is driven by a third servo motor 3092 arranged at one end of the machine base 309, and a suction cup frame 307 is installed at the front end of the movable arm of the third manipulator 306, and a plurality of suction cups 2 3071 are arranged at the lower end of the suction cup frame 307, and the third manipulator 306 is used to drive the suction cup frame 307 and the suction cup 2 3071 to pick up a specified number of finished blister plates from the relay fixture 304 and transfer them to the box packing On the conveyor chain 401, through the above settings, the second servo motor 305 drives the relay conveyor belt 303 to run, and conveys the relay fixture 304 carrying the finished blister plate to the specified position of the third manipulator 306 and then pauses. At this time, the third manipulator 306 drives the suction cup frame 307 and the suction cup second 3071 to pick up a specified number of finished blister plates from the relay fixture 304, and then the third servo motor 3092 drives the synchronous belt 3091 to drive the third manipulator 306 to move forward along the line track second 308 and under the control of the whole machine electronic control system, the speed of the third manipulator 306 moving along the line track second 308 is temporarily the same as the running speed of the box conveyor chain 401, so that the suction cup second 3071 and the box conveyor chain 401 are relatively stationary for a short time, thereby facilitating the suction. The second plate 3071 releases the finished blister plate stably into the positioning fixture 402 on the cartoning conveyor chain 401, and then the third servo motor 3092 drives the synchronous belt 3091 to drive the third manipulator 306 to reset. At this time, the second servo motor 305 drives the relay conveyor belt 303 to run, and the relay fixture 304 carrying the finished blister plate is sent to the third manipulator 306 again. At this time, an empty relay fixture 304 is located in the discharge area of ​​the second manipulator 301 to receive the finished blister plate transferred from the blister output station 102 by the second manipulator 301, and the cycle continues like this. Since the suction cup rack 307 can be provided with multiple groups of suction cups 2 3071, multiple finished blister plates can be picked up and transferred at one time, which significantly improves the packaging efficiency.

[0040] Furthermore, the pitch changing device 302 includes: a connecting seat 3021, a crossbeam 3022, a linear rail 1 3023, a fixed suction cup seat 3026, a first cylinder 3027, and a second cylinder 3028; the connecting seat 3021 is used to connect with the second manipulator 301; the crossbeam 3022 is fixedly installed at the lower end of the connecting seat 3021; ​​the linear rail 1 3023 is fixedly installed at the lower end of the crossbeam 3022; the fixed suction cup seat 3026 is installed on the linear rail 1 3023 and is fixedly connected to the crossbeam 3022, and a plurality of movable suction cup seats 3025 are also installed on both sides of the fixed suction cup seat 3026 on the linear rail 1 3023, and the movable suction cup seat 3025 and the fixed suction cup seat 3026 are both connected to the limit 3024 is connected; the lower ends of the movable suction cup seat 3025 and the fixed suction cup seat 3026 are both provided with a suction cup 3029; the first cylinder 3027 is installed on one side of the beam 3022, and the piston rod end of the first cylinder 3027 is connected to a movable suction cup seat 3025 at the rightmost end; the second cylinder 3028 is installed on the other side of the beam 3022, and the piston rod end of the second cylinder 3028 is connected to a movable suction cup seat 3025 at the leftmost end. Through the above settings, when the pitch changing device 302 is driven by the second manipulator 301 and is located at the blister output station 102, the first cylinder 3027 and the second cylinder 3028 are reset to make all the movable suction cup seats 3025 move toward the fixed suction cup seat The disc seat 3026 is close and tight, at this time, the limiting belt 3024 is bent, and the distance between each suction cup seat is consistent with the distance between each finished blister plate on the blister output station 102, the second manipulator 301 drives the variable pitch device 302 to descend so that each suction cup 1 3029 contacts and sucks the corresponding finished blister plate, and then the second manipulator 301 drives the variable pitch device 302 to rise, so as to take the finished blister plate out of the blister output station 102, and then the piston rod ends of the first cylinder 3027 and the second cylinder 3028 are extended to push the corresponding connected movable suction cup seat 3025 to the two ends of the linear track 1 3023 until the limiting belt 3024 collapses and limits the position, at this time, each suction cup seat The distance between them is the same as the distance between each relay fixture 304. When the second manipulator 301 drives the variable pitch device 302 to the relay conveyor belt 303 and rotates the variable pitch device 302 horizontally by 90 degrees, the relay conveyor belt 303 is suspended under the control of the whole machine electronic control system, and the suction cup 3029 releases the finished blister plate to the corresponding relay fixture 304. Then, the relay conveyor belt 303 continues to run a specified distance on the second servo motor 305. In this way, the finished blister plate is transferred from the blister output station 102 to the relay fixture 304 in a cycle. Here, the variable pitch device 302 is rotated horizontally by 90 degrees, that is, the pre-filling needle 5 is also rotated horizontally by 90 degrees, in order to facilitate subsequent boxing.

[0041] Furthermore, there are two second linear rails 308 and both are parallel to the running direction of the cartoning conveyor chain 401 , and the synchronous belt 3091 is located between the two second linear rails 308 .

[0042] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0043] In the description of the present invention, it is necessary to understand that the terms "up", "down", "left", "right", "top", "bottom", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automatic pre-filled needle packaging production line, comprising a blister packaging machine (1) and a cartoning machine (4), wherein the blister packaging machine (1) is provided with a feeding station (101) and a blister output station (102), and the cartoning machine (4) is provided with a cartoning conveyor chain (401) for conveying materials to be boxed, and positioning fixtures (402) are evenly arranged on the cartoning conveyor chain (401), characterized in that: It also includes a pre-filling needle feeding device (2) connected to the feeding station (101) and used for placing the pre-filling needle (5) into the empty blister, and a relay device (3) provided between the blister packaging machine (1) and the cartoning machine (4), wherein the relay device (3) is used for picking up the finished blister blocks on the blister output station (102), adjusting the spacing between the finished blister blocks, and then transferring them to the cartoning conveyor chain (401); The pre-filled needle feeding device (2) comprises: A storage device (201) for storing and transporting prefilled needles (5); A lifting device (202), connected to the discharge end of the storage device (201), and used for lifting the pre-filling needle (5) to a predetermined height; A first slide rail (203) connected to the discharge end of the lifting device (202); An intermediate conveyor belt (204) is connected to the discharge end of the first slide rail (203), and the position of the intermediate conveyor belt (204) is lower than the discharge end of the lifting device (202); A second slide rail (205) connected to the discharge end of the intermediate conveyor belt (204); A material distribution turntable (206) is obliquely arranged at the discharge end of the second slide rail (205), the material distribution turntable (206) is evenly provided with card slots (2061) on the circumference, and an arc track (207) is provided on the outer circumference of the material distribution turntable (206) along the travel path of the pre-filling needle (5); A clamp chain (208) is mounted on the connecting frame (211), and needle tube clamps (209) are evenly distributed on the clamp chain (208). The needle tube clamps (209) are located below the discharge end of the arc track (207). The clamp chain (208) is driven by a first servo motor (212); a first robot (210) disposed between the connecting frame (211) and the blister packaging machine (1), the first robot (210) being used to pick up the prefilling needle (5) on the needle tube fixture (209) and transfer it to an empty blister at the feeding station (101); The material storage device (201) comprises a base frame (2017), a feed slide (2011), an output slide (2016), and a plurality of closed-loop conveying chains (2012) arranged in parallel on the base frame (2017), wherein a conveying channel (2013) is formed between two adjacent conveying chains (2012), the feed slide (2011) is arranged on one side of the base frame (2017) and is connected to the feed end of the conveying channel (2013) formed by the first and second conveying chains (2012), and the output slide (2016) is arranged on the base frame (2017). 7) on the other side and connected with the discharge end of the conveying channel (2013) formed by the last and second-last conveying chains (2012), one end of each conveying chain (2012) between the feed slideway (2011) and the output slideway (2016) is provided with a transfer block (2014) adapted to the conveying channel (2013), and a semi-circular arc structure is provided on the transfer block (2014), and the semi-circular arc structure and the end of the corresponding conveying chain (2012) form an arc channel (2015) for connecting the conveying channels (2013) in sequence; The relay device (3) comprises a machine base (309), a second manipulator (301), a relay conveyor belt (303), and a third manipulator (306); the relay conveyor belt (303) is arranged parallel to one side of the box loading conveyor chain (401); the relay conveyor belt (303) is driven by a second servo motor (305); relay clamps (304) are evenly arranged on the relay conveyor belt (303); the spacing between the relay clamps (304) is the same as that of the positioning The distance between the clamps (402) is consistent; the machine base (309) is arranged at the rear side of the relay conveyor belt (303); the second manipulator (301) is arranged at one end of the machine base (309) close to the blister output station (102); a variable pitch device (302) is installed on the second manipulator (301); the second manipulator (301) drives the variable pitch device (302) to pick up a specified number of finished blister plates on the blister output station (102). and pull the distance between the finished blister plates apart, then rotate the finished blister plates 90 degrees and transfer them to the relay fixture (304); the base of the third manipulator (306) is movably mounted on the machine base (309) via a second linear track (308), a synchronous belt (3091) is wound around the machine base (309), and the base of the third manipulator (306) is connected to the synchronous belt (3091); the synchronous belt (3091) is provided at the The third servo motor (3092) at one end of the machine base (309) is driven to operate, and a suction cup frame (307) is installed at the front end of the movable arm of the third manipulator (306), and a plurality of suction cups (3071) are installed at the lower end of the suction cup frame (307). The third manipulator (306) is used to drive the suction cup frame (307) and the suction cups (3071) to pick up a specified number of finished blister plates from the relay fixture (304) and transfer them to the box loading conveyor chain (401).

2. The fully automatic prefilled needle packaging production line according to claim 1, characterized in that: The lifting device (202) and the intermediate conveyor belt (204) are both two conveyor belt structures arranged in parallel.

3. The fully automatic prefilled needle packaging production line according to claim 1, characterized in that: The pitch changing device (302) comprises: A connecting seat (3021), used for connecting to the second manipulator (301); A crossbeam (3022) is fixedly mounted on the lower end of the connecting seat (3021); Linear rail 1 (3023), fixedly mounted on the lower end of the crossbeam (3022); A fixed suction cup seat (3026) is installed on the linear track 1 (3023) and fixedly connected to the crossbeam (3022); a plurality of movable suction cup seats (3025) are also installed on both sides of the fixed suction cup seat (3026) on the linear track 1 (3023); the movable suction cup seat (3025) and the fixed suction cup seat (3026) are both connected to the limiting belt (3024); and a suction cup 1 (3029) is provided at the lower end of each of the movable suction cup seat (3025) and the fixed suction cup seat (3026); A first cylinder (3027) is installed on one side of the crossbeam (3022), and a piston rod end of the first cylinder (3027) is connected to the rightmost movable suction cup seat (3025); The second cylinder (3028) is installed on the other side of the crossbeam (3022), and the piston rod end of the second cylinder (3028) is connected to the leftmost movable suction cup seat (3025).

4. The fully automatic prefilled needle packaging production line according to claim 1, characterized in that: There are two second linear rails (308) and both are parallel to the running direction of the box loading conveyor chain (401), and the synchronous belt (3091) is located between the two second linear rails (308).

Images