A pre-filled syringe filling and needle-adding linkage line

Abstract

The present invention discloses a pre-filled syringe filling and needle adding linkage line, comprising a machine platform, a circulating track disposed on the machine platform, and a mold disposed on the circulating track. The machine platform is further provided along the conveying direction of the circulating track with a loading robot arm for moving the syringe into the mold with the core rod facing upward, a core rod pressing mechanism for pressing the syringe core rod moved into the mold by the loading robot arm to the bottom, a front flipping mechanism for removing the syringe from the mold, flipping it 180°, and then returning it to the mold with the core rod facing downward, a filling mechanism for filling the syringe with liquid medicine, and a needle adding mechanism for inserting the needle into the syringe. The present invention has a compact structure and can realize the two process steps of automatic filling and needle adding through the mutual linkage and cooperation among the circulating track, the loading robot arm, the core rod pressing mechanism, the front flipping mechanism, and the needle adding mechanism, thereby improving production efficiency and the degree of automation.

Description

Technical Field

[0001] The invention relates to a syringe production line, in particular to a pre-filled syringe filling and needle adding linkage line. Background Art

[0002] Prefilled syringes are a new type of pharmaceutical packaging material developed in recent years. They serve both pharmaceutical storage and general injection purposes. They are primarily used for packaging vaccines, biological products, biochemical products, antithrombotic drugs, and other products.

[0003] An existing pre-filled syringe such as Figure 1 As shown, the structure includes a syringe 95 and a needle 98. The syringe includes a barrel 96 and a core rod 97, and the needle includes a needle tube 99 and a needle seat 100. The needle seat is inserted into the connector of the syringe. Syringes are usually packaged in a honeycomb packaging method. When producing such a prefilled syringe, it is only necessary to fill the syringe with the required amount of liquid medicine and then install the needle into the syringe.

[0004] The filling process can be completed automatically using a filling machine, but the addition of needles is still mainly done by manual assembly. Manual assembly of needles is labor-intensive, has low production efficiency, unstable assembly quality (needles are prone to tilting and falling off), and is prone to needlestick injuries to operators and needle contamination. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned problems existing in the manual assembly of needles during the production of existing pre-filled syringes, and provides a pre-filled syringe production line with a compact structure that combines the filling and needle adding processes to improve production efficiency and automation.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a pre-filled syringe linkage line of the present invention includes a machine, a circulating track arranged on the machine and a mold arranged on the circulating track. The machine is also provided with a loading robot arm along the conveying direction of the circulating track for moving the syringe into the mold with the core rod facing upward, a core rod pressing mechanism for pressing the core rod of the syringe moved by the loading robot arm into the mold to the bottom, a front flipping mechanism for taking the syringe out of the mold, flipping it 180°, and then putting it back into the mold with the core rod facing downward, a filling mechanism for filling the syringe with liquid medicine, and a needle adding mechanism for inserting the needle into the syringe. The present invention integrates mechanisms such as a circulating track, a feeding robot arm, a core rod pressing mechanism, a front flipping mechanism and a needle adding mechanism on a machine platform, and has a compact structure. Under the control of a control system, the circulating track, the feeding robot arm, the core rod pressing mechanism, the front flipping mechanism and the needle adding mechanism are linked and coordinated with each other to realize the two process steps of automatic filling and adding needles, thereby improving production efficiency and the degree of automation. Among them, the circulating track and the feeding robot arm are conventional structures in this field, and there are multiple molds, so that the workstations of each mechanism can work simultaneously, thereby improving production efficiency. The structures of the core rod pressing mechanism, the front flipping mechanism and the needle adding mechanism are not limited, and those skilled in the art can make conventional adjustments and designs according to their uses. In addition to the above-mentioned mechanisms, various conventional mechanisms such as an unpacking mechanism (to disassemble the honeycomb packaging of the syringe), a film tearing mechanism (to tear off the sealing film of the honeycomb packaging of the syringe), a detection mechanism, a counting mechanism, and a visual detection mechanism can be added according to actual needs.

[0007] Preferably, the core rod pressing mechanism includes a lifting mechanism and a pressing head, wherein the pressing head is disposed on the lifting mechanism and the lifting mechanism drives the pressing head to move up and down. The pressing head presses the syringe core rod from top to bottom, causing the rubber plug at the end of the core rod to drop to the lowest position to reduce air inside the syringe.

[0008] Preferably, the front flip mechanism includes a first base plate, a first drive mechanism, and a first lifting mechanism. The first base plate is provided with a first linear motion mechanism. The first lifting mechanism is located below and connected to the first base plate. The first drive mechanism drives the first linear motion mechanism to move forward and backward relative to the first base plate. The first linear motion mechanism is provided with a rotation mechanism. The rotation mechanism is provided with a first clamping jaw capable of clamping or loosening. The first clamping jaw can rotate within a vertical plane relative to the first base plate under the drive of the rotation mechanism. The first lifting mechanism drives the first drive mechanism and the first base plate to rise and fall together. The first drive mechanism, first lifting mechanism, and first linear motion mechanism in the front flip mechanism are all conventional structures in the art. The front flip mechanism flips the syringe so that the syringe barrel connector faces upward, allowing the filling needle in the filling mechanism to extend from top to bottom into the syringe through the opening of the syringe barrel connector.

[0009] Preferably, the pre-filled syringe filling and needle-adding linkage line also includes a core rod pull-down following mechanism for pulling down and following the core rod when the syringe is filled, and continuing to pull the core rod downward for a certain distance after the syringe is filled. During the actual filling process, the filling pressure of the liquid medicine is difficult to maintain stable. If the filling pressure of the liquid medicine becomes smaller, the core rod plunger in the syringe will not be able to descend, resulting in the inability of the liquid medicine to be poured into the syringe, causing inaccurate amount of liquid medicine filled and affecting the filling accuracy. In addition, when a filling cycle is completed, the filling needle rises under the drive of the needle holder lifting mechanism to quickly withdraw from the syringe. If the liquid medicine in the syringe is filled too full or expands, the liquid medicine will easily overflow from the syringe joint. In order to solve this problem, the present invention adds a core rod pull-down following mechanism. The core rod pull-down following mechanism can pull down the core rod during filling and drop synchronously with the core rod plunger. If the filling pressure of the liquid medicine becomes smaller, the core rod will still drop under the pull of the core rod pull-down following mechanism, so that the plunger can also drop synchronously. In this way, the liquid medicine can be filled even under a smaller pressure, ensuring a stable and reliable filling process and improving the filling accuracy. After the filling is completed, the core rod pull-down following mechanism continues to pull the core rod downward for a certain distance to increase the distance from the liquid medicine level in the syringe to the opening of the syringe joint, so that the liquid medicine is not easy to overflow.

[0010] Preferably, the core rod pull-down follower mechanism includes a second base plate, a second drive mechanism, and a second lifting mechanism. The second base plate is provided with a second linear motion mechanism. The second lifting mechanism is located below and connected to the second base plate. The second drive mechanism drives the second linear motion mechanism to move forward and backward relative to the second base plate. The second linear motion mechanism is provided with a second clamping claw capable of clamping or releasing. The second lifting mechanism drives the second drive mechanism and the second base plate to rise and fall together. Both the second drive mechanism and the second lifting mechanism are conventional structures in the art.

[0011] Preferably, the prefilled syringe filling and needle-adding assembly line further includes a syringe centering clamping mechanism for clamping the syringe and aligning it with a filling needle in the filling mechanism during syringe filling. The syringe centering clamping mechanism is located at a station in the filling mechanism. A certain gap exists between the syringe and the mold, which can cause some displacement during syringe transport. To ensure proper alignment of the syringe and the filling needle during filling, the present invention incorporates a syringe centering clamping mechanism. The syringe centering clamping mechanism clamps the syringe to align it with the filling needle.

[0012] Preferably, the needle adding mechanism includes a needle loading robot arm for moving the needle into the needle centering clamping mechanism, a needle centering clamping mechanism for simultaneously clamping the needle and the syringe and aligning them, and a needle pressing mechanism for pressing the needle down and inserting it into the syringe.

[0013] Preferably, the syringe centering and clamping mechanism includes a first clamping jaw, a first cam centering mechanism and a third base plate, the first clamping jaw includes a first left half-jaw and a first right half-jaw, the first left half-jaw and the first right half-jaw are provided with a first jaw, the first left half-jaw and the first right half-jaw are arranged on the third base plate, and the first left half-jaw and / or the first right half-jaw can slide relative to the third base plate, the first cam centering mechanism is arranged on the third base plate and connected to the first left half-jaw and / or the first right half-jaw; the needle centering and clamping mechanism includes a second clamping jaw and a second cam centering mechanism, the second clamping jaw includes a second left half-jaw and a second right half-jaw, and the second left half-jaw and / or the second right half-jaw can slide relative to the third base plate, the second cam centering mechanism is arranged on the third base plate and connected to the second left half-jaw and / or the second right half-jaw; the first cam centering mechanism and the second cam centering mechanism are driven by the third driving mechanism to simultaneously drive the first The left half jaw and / or the first right half jaw slide, and the second left half jaw and / or the second right half jaw slide, thereby opening or closing the first jaw and the second jaw. A third lifting mechanism is provided below the third base plate, connected to the third base plate, and drives the third driving mechanism and the third base plate to rise and fall together. The needle pressing mechanism includes a pressing head, a lifting plate, a pressure sensor, and a fourth lifting mechanism. The fourth lifting mechanism is located below and fixedly connected to the lifting plate, and drives the lifting plate to rise and fall. The pressure sensor is disposed within the lifting plate. The pressing head is located below the pressure sensor and is restrained within the lifting plate, slidingly engaging between the lifting plates. A needle-stripping cavity is provided within the pressing head. When the lifting plate is driven by the fourth lifting mechanism to descend until the pressing head is pressed against the syringe needle, the pressing head simultaneously applies upward force to the pressure sensor until the lifting plate descends a set distance, and the syringe needle is pressed onto the syringe by the pressing head. The needle-stripping cavity is used to accommodate the needle tube of the needle to prevent the pressing head from colliding with the needle tube during downward pressure, thereby hindering the pressing head from descending. The pressure sensor is connected to the control system and is used to detect and feedback the reaction force exerted on the pressure head when it presses down the needle seat, that is, the pressure of the pressure head during press-fitting. During the press-fitting of the needle seat, if the pressure sensor detects that the reaction force exerted on the pressure head, that is, the pressure of the pressure head, is not within the set value range, the control system will alarm and shut down the machine. By using the pressure sensor to detect the reaction force exerted on the pressure head, that is, the pressure of the pressure head online in real time, it can not only ensure the stability of the press-fitting pressure, but also monitor abnormal conditions during press-fitting of the needle head online in real time, thereby ensuring the stability and consistency of the needle assembly. In addition, the needle is press-fitted by the cooperation of the pressure head and the lifting mechanism, and the pressure is stable, which is conducive to ensuring the stability of the assembly.

[0014] Preferably, the first cam centering mechanism includes a first cylindrical cam, a first vertical plate, a first upper connecting plate and a first lower connecting plate, the first vertical plate is fixed to the third bottom plate, the first left half claw is fixed to the first upper connecting plate, the first right half claw is fixed to the lower connecting plate, the first upper connecting plate and the first lower connecting plate are slidably connected to the first vertical plate through a third linear motion mechanism, the first cylindrical cam is provided with a first left wheel groove and a first right wheel groove, the core shaft of the first cylindrical cam is rotatably connected to the third bottom plate through an axle seat, the first upper connecting plate is fixed with a first left roller, the first left roller is located in the first left wheel groove, the first lower connecting plate is fixed with a first right roller, the first right roller is located in the first left wheel groove The second cam centering mechanism includes a second cylindrical cam, a second vertical plate, a second upper connecting plate and a second upper connecting plate, the second vertical plate is fixed to the third bottom plate, the second left half claw is fixed to the second upper connecting plate, the second right half claw is fixed to the lower connecting plate, the second upper connecting plate and the second lower connecting plate are slidably connected to the second vertical plate through a fourth linear motion mechanism, a second left wheel groove and a second right wheel groove are provided on the second cylindrical cam, and the core shaft of the second cylindrical cam is rotatably connected to the third bottom plate through a shaft seat, a second left roller is fixed on the first upper connecting plate, the second left roller is located in the second left wheel groove, a second right roller is fixed on the second lower connecting plate, and the second right roller The roller is located in the second right wheel groove; the core shaft of the first cylindrical cam and the core shaft of the second cylindrical cam are fixedly connected by a coupling; the third driving mechanism drives the core shaft of the first cylindrical cam or the core shaft of the second cylindrical cam to drive the first cylindrical cam and the second cylindrical cam to simultaneously drive the first left roller and the first right roller, the second right roller and the second right roller to approach or move away from each other, thereby closing or opening the first jaw and the second jaw; a third lifting mechanism is provided under the third base plate, and the third lifting mechanism is connected to the third base plate, and the third lifting mechanism drives the third driving mechanism and the third base plate to rise and fall together; the lifting plate includes an upper mounting plate and a lower mounting plate, and the fourth lifting mechanism is fixedly connected to the upper mounting plate The bottom surface of the upper mounting plate is provided with a mounting cavity with an open bottom, the pressure sensor is fixed in the mounting cavity, the lower mounting plate is fixed under the upper mounting plate, a guide hole is provided in the lower mounting plate, the pressure head is restricted in the guide hole and slidably cooperates with the lower mounting plate; the pressure head includes a pressure needle head, a guide rod and a limit pressure block, the limit pressure block and the pressure needle head are respectively fixed at the upper and lower ends of the guide rod, the limit pressure block is located outside the guide hole and is limited by the lower mounting plate, and an active gap is provided between the limit pressure block and the pressure sensor, the limit pressure block can enter the mounting cavity through the opening at the bottom of the mounting cavity, the guide rod is located in the guide hole and can move up and down along the guide hole, and the pressure needle head, the guide rod and the limit pressure block are provided with connected channels to form a needle-proof cavity.The first cam centering mechanism drives the first left half claw on the first upper connecting plate and the first right half claw on the first lower connecting plate to move toward each other (close) or move away from each other (open) at the same time through the cooperation of the first cylindrical cam with the first left roller and the first right roller. It has a simple structure and precise movement. The operating principle of the second cam centering mechanism is the same as that of the first cam centering mechanism. The first cam centering mechanism and the second cam centering mechanism in the present invention are driven by the same lifting mechanism (third lifting mechanism) and the same driving mechanism (third lifting mechanism), mainly to reduce costs. The first cam centering mechanism and the second cam centering mechanism can also be It is independently driven by different lifting mechanisms and driving mechanisms respectively; when there is no force naturally, a movable gap is provided between the limit pressure block and the pressure sensor. The movable gap allows the pressure needle head to fall smoothly on the step surface of the needle seat and be supported by the needle seat when the pressure needle head falls to the point where it is blocked by the needle seat. As the lower mounting plate continues to fall, the guide rod is lifted up by the needle seat and slides relative to the lifting plate until the limit pressure block contacts the pressure sensor. This ensures that the pressure needle head can maintain full contact with the needle seat when pressing the needle seat, the needle seat is evenly stressed, and the pressing process is smooth, which is conducive to ensuring assembly quality and is not prone to skewing.

[0015] Preferably, the pre-filled syringe filling and needle-adding linkage line also includes a rear flipping mechanism for taking the syringe sent out from the needle-adding mechanism out of the mold, flipping it 180°, and then putting it back into the mold with the needle facing down, and a unloading robot arm for taking the syringe sent out from the rear flipping mechanism out of the mold.

[0016] Therefore, the present invention has the following beneficial effects: the circulating track, loading robot arm, core rod pressing mechanism, front flipping mechanism and needle adding mechanism are integrated on the machine platform, with a compact structure. Under the control of the control system, the circulating track, loading robot arm, core rod pressing mechanism, front flipping mechanism and needle adding mechanism are linked and coordinated with each other to realize the two process processes of automatic filling and needle adding, thereby improving production efficiency and automation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional diagram of an existing pre-filled syringe.

[0018] Figure 2 It is a schematic diagram of the layout of the pre-filled syringe filling and needle adding linkage line of the present invention.

[0019] Figure 3 It is a three-dimensional diagram of the core rod pressing mechanism.

[0020] Figure 4 It is an exploded view of the front flip mechanism.

[0021] Figure 5It is a connection diagram of the first base plate, the first linear motion mechanism, the hollow lifting shaft, the first transmission shaft, the first rocker arm, the first shift wheel and the first shift block in the front flip mechanism.

[0022] Figure 6 It is an exploded view of the core rod pull-down follower mechanism.

[0023] Figure 7 It is a schematic diagram of the coordination between the core rod pull-down following mechanism and the filling structure.

[0024] Figure 8 This is an exploded view of the syringe centering clamping mechanism and the needle centering clamping mechanism when they are in conjunction.

[0025] Figure 9 It is a connection diagram of the first centering jaw, the first cam centering mechanism, the second centering jaw, the second cam centering mechanism and the third base plate.

[0026] Figure 10 It is a top view of the first pair of jaws.

[0027] Figure 11 yes Figure 10 Cross-sectional view along the AA direction.

[0028] Figure 12 This is a top view of the second pair of jaws.

[0029] Figure 13 yes Figure 12 Cross-sectional view along direction BB.

[0030] Figure 14 It is a three-dimensional diagram of the needle pressing mechanism.

[0031] Figure 15 This is a schematic diagram of the coordination of the lifting plate, pressure sensor and pressure head.

[0032] Figure 16 yes Figure 15 Exploded diagram of .

[0033] Figure 17 It is a three-dimensional diagram of the indenter.

[0034] Figure 18 yes Figure 17 Exploded diagram of .

[0035] Figure 19 yes Figure 15 Right view of .

[0036] Figure 20 yes Figure 19 Cross-sectional view along CC direction.

[0037] In the figure: machine 1, circulating track 2, mold 3, loading robot arm 4, core rod pressing mechanism 5, front flip mechanism 6, filling mechanism 7, syringe centering clamping mechanism 8, core rod pull-down following mechanism 9, needle loading robot arm 10, needle centering clamping mechanism 11, needle pressing mechanism 12, rear flip mechanism 13, unloading robot arm 14, lifting mechanism 15, pressing head 16, cylinder 17, lifting shaft 18, linear bearing seat 19, first base plate 20, first transmission shaft 21, first shift block 22, first rotating servo motor 23, hollow lifting shaft 24, first lifting servo motor Machine 25, first linear motion mechanism 26, rotary cylinder 27, rotating shaft 28, first clamping jaw fixed plate 29, first clamping jaw 30, first linear bearing seat 31, first lifting seat 32, first rocker arm 33, first dial 34, first guide groove 35, first crank 36, connecting rod 37, second base plate 38, second driving mechanism 39, second lifting mechanism 40, second linear motion mechanism 41, fixed shaft 42, second clamping jaw fixed plate 43, second clamping jaw 44, third base plate 45, first left half jaw 46, first right half jaw 47, first jaw 48, first cylindrical cam Wheel 49, first vertical plate 50, first upper connecting plate 51, first lower connecting plate 52, third linear motion mechanism 53, first left wheel groove 54, first right wheel groove 55, first left roller 56, first right roller 57, second left half claw 58, second right half claw 59, second jaw 60, second cylindrical cam 61, second vertical plate 62, second upper connecting plate 63, second lower connecting plate 64, fourth linear motion mechanism 65, second left wheel groove 66, second right wheel groove 67, second left roller 68, second right roller 69, coupling 70, third lifting servo motor 71, shaft Fixed block 72, third lifting shaft 73, third linear bearing seat 74, synchronous belt 75, third rotation servo motor 77, driving bevel gear 78, driven bevel gear 79, pressure sensor 80, fourth lifting mechanism 81, upper mounting plate 82, lower mounting plate 83, mounting cavity 84, guide hole 85, needle pressure head 86, guide rod 87, limiting pressure block 88, active gap 89, bushing 90, limiting ring 91, needle avoidance cavity 92, front weighing mold 93, rear weighing mold 94, syringe 95, syringe 96, core rod 97, needle 98, needle tube 99, needle seat 100. DETAILED DESCRIPTION

[0038] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0039] like Figure 2The pre-filled syringe filling and needle-adding linkage line shown in the figure comprises a machine 1, a circulating track 2 installed on the machine and a mold 3 fixed on the circulating track. The machine is also provided with a loading robot arm 4 for moving the syringe into the mold with the core rod facing upward, a core rod pressing mechanism 5 for pressing the core rod of the syringe moved into the mold by the loading robot arm to the bottom, a front flipping mechanism 6 for taking the syringe out of the mold, turning it 180° and then putting it back into the mold with the core rod facing downward, a filling mechanism 7 for filling the syringe with liquid medicine, a needle-adding mechanism for inserting the needle into the syringe, a rear flipping mechanism 13 for taking the syringe sent out from the needle-adding mechanism out of the mold, turning it 180° and then putting it back into the mold with the needle facing downward, and a syringe sent out from the rear flipping mechanism. The filling mechanism is provided with a syringe centering clamping mechanism 8 for clamping the syringe so that it is centered with the filling needle in the filling mechanism during syringe filling, and a core rod pulling-down following mechanism 9 for pulling down and following the core rod when the syringe is filled, and continuing to pull the core rod downward a certain distance after the syringe is filled. The needle adding mechanism includes a needle loading robot arm 10 for moving the needle into the needle centering clamping mechanism, a needle centering clamping mechanism 11 for clamping the needle and the syringe at the same time and centered them, and a needle pressing mechanism 12 for pressing the needle down and inserting it into the syringe. The loading robot arm is used to move the syringe into the mold with the core rod facing upward, and the unloading robot arm is used to take the syringe sent out from the rear flipping mechanism out of the mold; the core rod pressing mechanism (such as Figure 3 As shown in FIG1 , the lifting mechanism 15 includes a lifting mechanism and a pressing head 16. The pressing head is fixed on a fixed plate. The fixed plate is provided on the lifting mechanism. The lifting mechanism drives the pressing head to move up and down. The lifting mechanism in this embodiment is composed of a cylinder 17, a lifting shaft 18 and a linear bearing seat 19. The upper and lower ends of the lifting shaft that slides with the linear bearing seat are fixedly connected to the fixed plate and the piston shaft of the cylinder respectively. The cylinder and the linear bearing seat are fixed on the machine table. The front flip mechanism (as shown in FIG1 ) includes a lifting mechanism 15 and a pressing head 16. The pressing head is fixed on a fixed plate. The fixed plate is provided on the lifting mechanism. The lifting mechanism drives the pressing head to move up and down. The lifting mechanism in this embodiment is composed of a cylinder 17, a lifting shaft 18 and a linear bearing seat 19. The upper and lower ends of the lifting shaft that slides with the linear bearing seat are fixedly connected to the fixed plate and the piston shaft of the cylinder respectively. The cylinder and the linear bearing seat are fixed on the machine table. Figure 4 、 Figure 52 and 3. The first lifting mechanism comprises a first base plate 20, a first driving mechanism and a first lifting mechanism, the first driving mechanism comprises a first transmission shaft 21, a first shift block 22 and a first rotation servo motor 23, the first lifting mechanism comprises a hollow lifting shaft 24 and a first lifting servo motor 25, a first linear motion mechanism 26 is provided on the first base plate, the first linear motion mechanism is a linear guide slide, the first linear motion mechanism can move back and forth relative to the first base plate under the drive of the first driving mechanism, and a rotating mechanism is provided on the first linear motion mechanism; the rotating mechanism is composed of a rotating cylinder 27 and a rotating shaft 28, the rotating cylinder is fixed on the slide of the linear guide slide, the rotating shaft is rotatably connected to the slide through an axis support, one end of the rotating shaft is fixedly connected to the rotating disk of the rotating cylinder, and the other end of the rotating shaft is fixed with a first clamping claw fixing plate 29, the first clamping claw fixing plate is equipped with a first clamping claw 30 that can complete the clamping or loosening action, the first clamping claw is two rows of pneumatic clamps arranged in an up and down staggered manner, and the first transmission shaft rotates The first gear 32 is fixed to the bottom of the lifting seat, and the first crank 36 is fixed to the motor shaft of the first lifting servo motor. Figure 6 As shown) includes a second base plate 38, a second drive mechanism 39 and a second lifting mechanism 40, a second linear motion mechanism 41 is provided on the second base plate, the second linear motion mechanism, the second drive mechanism and the second drive mechanism are respectively the same as the first linear motion mechanism, the first drive mechanism and the first drive mechanism in the front flip mechanism, so they are not described here; a fixed shaft 42 is fixed to the slide table in the second linear motion mechanism, a second clamping jaw fixing plate 43 is fixed to the end of the fixed shaft away from the second base plate, a second clamping jaw 44 capable of completing the clamping or loosening action is installed on the second clamping jaw fixing plate, and the second clamping jaw is a row of horizontally arranged pneumatic clamping jaws; the filling mechanism is the existing technology, including a filling needle, a liquid medicine tank not shown in the figure and a liquid medicine conveying device such as a plunger pump or a screw pump not shown in the figure, the filling needle can be raised and lowered, and the filling needle is located above the core rod pull-down follower mechanism (as shown in the figure). Figure 7 As shown); syringe centering clamping mechanism (as shown Figure 8 、 Figure 9As shown) comprises a first centering jaw, a first cam centering mechanism and a third base plate 45, the first centering jaw comprises a first left half jaw 46 and a first right half jaw 47, the first left half jaw and the first right half jaw are provided with a first jaw 48, the shape of the first jaw is adapted to the shape of the connector on the syringe barrel (as shown) Figure 10 、 Figure 11 As shown in FIG5 ), the first cam centering mechanism includes a first cylindrical cam 49, a first vertical plate 50, a first upper connecting plate 51 and a first lower connecting plate 52. The first vertical plate is fixed to the third bottom plate, the first left half claw is fixed to the first upper connecting plate, the first right half claw is fixed to the lower connecting plate, the first upper connecting plate and the first lower connecting plate are slidably connected to the first vertical plate through a third linear motion mechanism 53. The third linear motion mechanism is a linear guide slider. The first cylindrical cam is provided with a first left wheel groove 54 and a first right wheel groove 55. The core shaft of the first cylindrical cam is rotatably connected to the shaft seat through the shaft seat. On the third base plate, a first left roller 56 is fixed to the first upper connecting plate, and the first left roller is located in the first left wheel groove. A first right roller 57 is fixed to the first lower connecting plate, and the first right roller is located in the first right wheel groove. The needle centering clamping mechanism includes a second centering jaw and a second cam centering mechanism. The second centering jaw includes a second left half jaw 58 and a second right half jaw 59. The second left half jaw and the second right half jaw are provided with a second jaw 60. The upper shape of the second jaw is adapted to the shape of the needle seat, and the lower shape of the second jaw is adapted to the shape of the upper connector of the syringe barrel (such as Figure 12 、 Figure 13As shown), the second cam centering mechanism includes a second cylindrical cam 61, a second vertical plate 62, a second upper connecting plate 63 and a second lower connecting plate 64, the second vertical plate is fixed on the third base plate, the second left half claw is fixed on the second upper connecting plate, the second right half claw is fixed on the lower connecting plate, the second upper connecting plate and the second lower connecting plate are slidingly connected to the second vertical plate through a fourth linear motion mechanism 65, a second left wheel groove 66 and a second right wheel groove 67 are provided on the second cylindrical cam, the core shaft of the second cylindrical cam is rotatably connected to the third base plate through a shaft seat, a second left roller 68 is fixed on the second upper connecting plate, the second left roller is located in the second left wheel groove, a second right roller 69 is fixed on the second lower connecting plate, the second right roller is located in the second right wheel groove; the core shaft of the first cylindrical cam and the core shaft of the second cylindrical cam are fixedly connected by a coupling 70; a third lifting mechanism is provided under the third base plate, and the third lifting mechanism The third lifting servo motor 71 includes a third lifting servo motor 71, a shaft fixing block 72 and a third lifting shaft 73. The third lifting servo motor is fixed on the machine platform. The upper end of the third lifting shaft is fixedly connected to the third base plate, the lower end of the third lifting shaft is fixedly connected to the shaft fixing block, and the outer sleeve of the third lifting shaft is provided with a third linear bearing seat 74. The shaft fixing block and the third lifting servo motor are connected by a synchronous belt 75. The third driving mechanism includes a third transmission shaft 76 and a third rotating servo motor 77. The third rotating servo motor is fixed to the bottom of the shaft fixing block. The third transmission shaft passes through the third lifting shaft and is connected to the third lifting shaft in rotation. The third rotating servo motor is fixed to the bottom of the shaft fixing block. The upper end of the third transmission shaft is fixed with a driving bevel gear 78. The lower end of the third transmission shaft is fixedly connected to the motor shaft of the third rotating servo motor. The outer end of the second cylindrical cam is fixed with a driven bevel gear 79, and the driving bevel gear is meshed with the driven bevel gear. The needle pressing mechanism (such as Figure 14 、 Figure 15 、 Figure 16 As shown) includes a pressure head, a lifting plate, a pressure sensor 80 and a fourth lifting mechanism 81, the lifting plate includes an upper mounting plate 82 and a lower mounting plate 83, the upper mounting plate and the lower mounting plate are fastened as a whole, the fourth lifting mechanism has the same structure as the third lifting mechanism; the fourth lifting mechanism is located below the lower mounting plate and is fixedly connected to the upper mounting plate, the bottom surface of the upper mounting plate is provided with a mounting cavity 84 with an open bottom (as shown), the pressure sensor is fixed in the mounting cavity, the lower mounting plate is provided with a guide hole 85, the pressure head (as shown) Figure 17 、 Figure 18 As shown) includes a pressure needle head 86, a guide rod 87 and a limit pressure block 88, the limit pressure block and the pressure needle head are respectively fixed to the upper and lower ends of the guide rod, the limit pressure block is located outside the guide hole and is limited by the lower mounting plate, and a movable gap 89 is provided between the limit pressure block and the pressure sensor (as shown Figure 19 、 Figure 20As shown), the limiting pressure block can enter the installation cavity through the opening at the bottom of the installation cavity, a bushing 90 is provided on the outside of the guide rod, and a limiting ring 91 is provided on the circumferential surface of the lower side of the guide rod. The bushing is located in the guide hole and is limited between the limiting pressure block and the limiting ring to slide up and down along the guide hole. A connecting channel is provided in the pressure needle head, the guide rod and the limiting pressure block to form a needle cavity 92; the structure of the rear flip mechanism is the same as that of the front flip mechanism, so it is not repeated.

[0040] The operation process of the present invention is as follows: the loading robot arm moves the syringe in the front weighing mold 93 into the mold on the circulating track with the core rod facing upward; when the mold reaches the station of the core rod pressing mechanism, the core rod pressing mechanism presses the core rod to the bottom, and the core rod pressing mechanism resets, and the front flipping mechanism takes the syringe out of the mold, flips it 180 degrees, and then puts it back into the mold with the core rod facing downward, and the mold is transported to the station of the filling mechanism; when the mold reaches the station of the filling mechanism, the syringe centering clamping mechanism clamps the syringe so that it is centered with the filling needle in the filling mechanism, and the filling needle in the filling mechanism is inserted into the syringe for filling. During filling, the core rod pulling-down following mechanism pulls down and follows the core rod to descend. After the filling is completed, the core rod pulling-down following mechanism continues to pull the core rod downward for a certain distance, and then the syringe centering clamping mechanism, the filling mechanism and the core rod pulling-down following mechanism are reset. The mold is transported to the station of the needle adding mechanism; when the mold arrives at the station of the needle adding mechanism, the needle loading robot arm places the needle in the needle centering clamping mechanism, and the needle centering clamping mechanism clamps the needle and the syringe at the same time and aligns them, then the needle loading robot arm is reset, and the needle pressing mechanism presses the needle down so that the needle is inserted into the syringe, the needle centering clamping mechanism and the needle pressing mechanism are reset, and the mold is transported to the station of the rear flipping mechanism; when the mold arrives at the station of the rear flipping mechanism, the rear flipping mechanism takes out the syringe with the needle from the mold, flips it 180°, and then puts it back into the mold with the needle facing down, the rear flipping mechanism is reset, and the mold is transported to the station of the lower feeding robot arm; when the mold arrives at the station of the lower feeding robot arm, the lower feeding robot arm moves the syringe in the mold into the rear weighing mold 94 for weighing, and after weighing, the lower feeding robot arm takes the syringe out of the rear weighing mold.

[0041] The embodiment described above is only a preferred solution of the present invention and does not limit the present invention in any form. Other variations and modifications are possible without exceeding the technical solution described in the claims.

Claims

1. A pre-filled syringe filling and needle adding linkage line, characterized in that: The machine comprises a platform, a circulating track arranged on the platform, and a mold arranged on the circulating track. The platform is further provided with a loading robot arm for moving the syringe into the mold with the core rod facing upward, a core rod pressing mechanism for pressing the syringe core rod moved into the mold by the loading robot arm to the bottom, a front flipping mechanism for taking the syringe out of the mold, flipping it 180 degrees, and then putting it back into the mold with the core rod facing downward, a filling mechanism for filling the syringe with liquid medicine, a core rod pulling-down following mechanism for pulling down and following the core rod when the syringe is filled and continuing to pull the core rod downward for a certain distance after the syringe is filled, and a needle adding mechanism for inserting the needle into the syringe. The front flip mechanism includes a first base plate, a first driving mechanism and a first lifting mechanism, wherein a first linear motion mechanism is provided on the first base plate, the first lifting mechanism is located below the first base plate and is connected to the first base plate, the first driving mechanism drives the first linear motion mechanism to move forward and backward relative to the first base plate, the first linear motion mechanism is provided with a rotating mechanism, the rotating mechanism is provided with a first clamping jaw capable of completing a clamping or loosening action, the first clamping jaw can rotate in a vertical plane relative to the first base plate under the drive of the rotating mechanism, and the first lifting mechanism drives the first driving mechanism and the first base plate to rise and fall together; The core rod pull-down following mechanism includes a second base plate, a second driving mechanism and a second lifting mechanism. The second base plate is provided with a second linear motion mechanism. The second lifting mechanism is located below the second base plate and is connected to the second base plate. The second driving mechanism drives the second linear motion mechanism to move forward and backward relative to the second base plate. The second linear motion mechanism is provided with a second clamping claw that can complete the clamping or loosening action. The second lifting mechanism drives the second driving mechanism and the second base plate to rise and fall together.

2. A pre-filled syringe filling and needle adding linkage line according to claim 1, characterized in that: The core rod pressing mechanism includes a lifting mechanism and a pressing head. The pressing head is arranged on the lifting mechanism, and the lifting mechanism drives the pressing head to move up and down.

3. A pre-filled syringe filling and needle adding linkage line according to claim 1, characterized in that: The prefilled syringe filling and needle adding linkage line also includes a syringe centering clamping mechanism for clamping the syringe so that it is centered with the filling needle in the filling mechanism during syringe filling. The syringe centering clamping mechanism is arranged at the work station of the filling mechanism.

4. A pre-filled syringe filling and needle adding linkage line according to claim 3, characterized in that: The needle adding mechanism includes a needle loading mechanical arm for moving the needle into the needle centering clamping mechanism, a needle centering clamping mechanism for simultaneously clamping the needle and the syringe and aligning them, and a needle pressing mechanism for pressing the needle down and inserting it onto the syringe.

5. A pre-filled syringe filling and needle adding linkage line according to claim 4, characterized in that: The syringe centering and clamping mechanism includes a first centering jaw, a first cam centering mechanism, and a third base plate. The first centering jaw includes a first left half-jaw and a first right half-jaw. The first left half-jaw and the first right half-jaw are provided with a first jaw. The first left half-jaw and the first right half-jaw are disposed on the third base plate, and the first left half-jaw and / or the first right half-jaw are slidable relative to the third base plate. The first cam centering mechanism is disposed on the third base plate and connected to the first left half-jaw and / or the first right half-jaw. The needle centering and clamping mechanism includes a second centering jaw and a second cam centering mechanism, the second centering jaw includes a second left half jaw and a second right half jaw, the second left half jaw and the second right half jaw are provided with a second jaw, the second left half jaw and the second right half jaw are arranged on the third bottom plate, and the second left half jaw and / or the second right half jaw can slide relative to the third bottom plate, and the second cam centering mechanism is arranged on the third bottom plate and connected to the second left half jaw and / or the second right half jaw; Driven by the third driving mechanism, the first cam centering mechanism and the second cam centering mechanism simultaneously drive the first left half jaw and / or the first right half jaw to slide and the second left half jaw and / or the second right half jaw to slide, so as to open or close the first jaw and the second jaw; A third lifting mechanism is provided under the third bottom plate, the third lifting mechanism is connected to the third bottom plate, and the third lifting mechanism drives the third driving mechanism and the third bottom plate to rise and fall together; The needle pressing mechanism includes a pressure head, a lifting plate, a pressure sensor and a fourth lifting mechanism. The fourth lifting mechanism is located below the lifting plate and is fixedly connected to the lifting plate. The fourth lifting mechanism drives the lifting plate to rise and fall. The pressure sensor is arranged in the lifting plate. The pressure head is located below the pressure sensor and is limited in the lifting plate and slides between the lifting plates. A needle-avoiding cavity is provided in the pressure head. When the lifting plate is driven by the fourth lifting mechanism to descend until the pressure head is pressed on the syringe needle, the pressure head simultaneously applies upward force to the pressure sensor until the lifting plate descends a set distance and the syringe needle is pressed onto the syringe by the pressure head.

6. A pre-filled syringe filling and needle adding linkage line according to claim 5, characterized in that: The first cam centering mechanism includes a first cylindrical cam, a first vertical plate, a first upper connecting plate and a first lower connecting plate, the first vertical plate is fixed to the third base plate, the first left half claw is fixed to the first upper connecting plate, the first right half claw is fixed to the first lower connecting plate, the first upper connecting plate and the first lower connecting plate are slidably connected to the first vertical plate through a third linear motion mechanism, a first left wheel groove and a first right wheel groove are provided on the first cylindrical cam, the core shaft of the first cylindrical cam is rotatably connected to the third base plate through a shaft seat, a first left roller is fixed to the first upper connecting plate, the first left roller is located in the first left wheel groove, and a first right roller is fixed to the first lower connecting plate, the first right roller is located in the first right wheel groove; The second cam centering mechanism includes a second cylindrical cam, a second vertical plate, a second upper connecting plate and a second lower connecting plate, the second vertical plate is fixed to the third bottom plate, the second left half claw is fixed to the second upper connecting plate, the second right half claw is fixed to the second lower connecting plate, the second upper connecting plate and the second lower connecting plate are slidably connected to the second vertical plate through a fourth linear motion mechanism, a second left wheel groove and a second right wheel groove are provided on the second cylindrical cam, the core shaft of the second cylindrical cam is rotatably connected to the third bottom plate through a shaft seat, a second left roller is fixed to the second upper connecting plate, the second left roller is located in the second left wheel groove, a second right roller is fixed to the second lower connecting plate, and the second right roller is located in the second right wheel groove; The core shaft of the first cylindrical cam is fixedly connected to the core shaft of the second cylindrical cam via a coupling; The third driving mechanism drives the core shaft of the first cylindrical cam or the core shaft of the second cylindrical cam to drive the first cylindrical cam and the second cylindrical cam to simultaneously drive the first left roller and the first right roller, the second right roller and the second right roller to move closer to or away from each other, thereby closing or opening the first jaw and the second jaw; The lifting plate includes an upper mounting plate and a lower mounting plate, the fourth lifting mechanism is fixedly connected to the upper mounting plate, the bottom surface of the upper mounting plate is provided with a mounting cavity with an open bottom, the pressure sensor is fixed in the mounting cavity, the lower mounting plate is fixed below the upper mounting plate, a guide hole is provided in the lower mounting plate, the pressure head is confined in the guide hole and slidably cooperates with the lower mounting plate; The pressure head includes a pressure needle head, a guide rod and a limiting pressure block. The limiting pressure block and the pressure needle head are respectively fixed at the upper and lower ends of the guide rod. The limiting pressure block is located outside the guide hole and is limited by the lower mounting plate. A movable gap is provided between the limiting pressure block and the pressure sensor. The limiting pressure block can enter the mounting cavity through the opening at the bottom of the mounting cavity. The guide rod is located in the guide hole and can move up and down along the guide hole. The pressure needle head, the guide rod and the limiting pressure block are provided with connected channels to form a needle avoidance cavity.

7. The pre-filled syringe filling and needle adding linkage line according to claim 1, characterized in that: The pre-filled syringe filling and needle-adding linkage line also includes a rear flipping mechanism for taking out the syringe sent out from the needle-adding mechanism from the mold, flipping it 180°, and then putting it back into the mold with the needle facing down, and a blanking robot arm for taking out the syringe sent out from the rear flipping mechanism from the mold.

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