Intubation machine

Abstract

A cannulation machine includes a frame, a packaging bag transfer mechanism, a packaging bag conveyor belt, a movable positioning mechanism, and a tube expansion and cannulation mechanism. The tube expansion and cannulation mechanism is located behind the packaging bag transfer mechanism along the conveying direction of the packaging bag conveyor belt. The tube expansion and cannulation mechanism includes a plastic tube clamping mechanism capable of clamping a plastic tube, a tube opening expansion mechanism capable of expanding the tube opening at the end of the plastic tube, and a plastic tube position switching mechanism. The plastic tube position switching mechanism is capable of switching the position of the plastic tube clamping mechanism and the plastic tube thereon between a plastic tube positioning mechanism, a tube opening expansion mechanism, and a tube joint positioning mechanism. The cannulation machine of the present invention can receive liquid packaging bags filled with liquid (e.g., liquid dialysis solution packaging bags filled with dialysate) from a filling machine, expand the size of the tube opening at the end of the plastic tube, and then connect the plastic tube end to the tube joint on the packaging bag, thereby improving the degree of automation and production efficiency.

Description

Technical Field

[0001] The present invention relates to a jointing device for prefabricated components, in particular to a cannulation machine. Background Art

[0002] During the production process of dialysate (such as peritoneal dialysis fluid), after the dialysate is filled into the drug bag, the drug bag must be connected to an empty drainage bag. Finally, the empty drainage bag and drug bag are placed together in an outer bag and sealed. During production, the empty drainage bag is usually pre-connected to the drainage tubing and infusion tubing. The end of the infusion tubing is then connected to the corresponding fitting (such as a snap-off plug) on the drug bag filled with dialysate. The connection method is to slip the infusion tubing end onto the corresponding fitting on the drug bag. The infusion tubing is usually plastic tubing, and its material can be PVC (polyvinyl chloride) or PP (polypropylene).

[0003] Currently, intubation (the operation of inserting the infusion tube end into the pipe joint) is usually completed manually. Since the infusion tube end needs to fit tightly with the pipe joint of the liquid medicine packaging bag, the inner diameter of the infusion tube end is often slightly smaller than the outer diameter of the pipe joint. Inserting the infusion tube end into the pipe joint is time-consuming and labor-intensive, and requires repeated actions for a long time. On the one hand, the labor intensity of the operator is high, which can easily cause problems such as wear and tear on the hands, blisters, and arm pain. On the other hand, as the operation time increases, the operator will inevitably make work errors, resulting in improper installation of the plastic tube end and causing quality risks. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a cannulation machine that can receive liquid packaging bags (e.g., dialysis solution packaging bags) filled with liquid from a filling machine, enlarge the size of the nozzle of the plastic tube end, and then connect the plastic tube end to the pipe joint on the packaging bag, thereby improving the degree of automation and production efficiency. The technical solution adopted is as follows:

[0005] A cannulation machine, characterized in that it includes a frame, a packaging bag handover mechanism, a packaging bag conveyor belt, a movable positioning mechanism and a tube expansion and cannulation mechanism; the packaging bag conveyor belt and the movable positioning mechanism are arranged side by side on the frame and have the same conveying direction; the movable positioning mechanism includes a conveying mechanism, a plurality of plastic tube positioning mechanisms capable of positioning plastic tubes to be connected, and a plurality of pipe joint positioning mechanisms capable of positioning pipe joints to be connected, the number of plastic tube positioning mechanisms and pipe joint positioning mechanisms being the same, and the plastic tube positioning mechanisms and pipe joint positioning mechanisms being arranged alternately on the conveying mechanism; the packaging bag handover mechanism can receive liquid packaging bags filled with liquid from a filling machine, and transfer the liquid packaging The bag is placed on the packaging bag conveyor belt, and the pipe joint on the liquid packaging bag is positioned on the pipe joint positioning mechanism; along the conveying direction of the packaging bag conveyor belt, the pipe expansion and insertion mechanism is located behind the packaging bag handover mechanism; the pipe expansion and insertion mechanism includes a plastic pipe clamping mechanism that can clamp the plastic pipe, a pipe opening expansion mechanism that can expand the pipe opening of the plastic pipe end, and a plastic pipe position switching mechanism. The plastic pipe position switching mechanism can switch the position of the plastic pipe clamping mechanism and the plastic pipe thereon between the plastic pipe positioning mechanism that reaches a predetermined position, the pipe opening expansion mechanism, and the pipe joint positioning mechanism that reaches a predetermined position; the pipe opening expansion mechanism and the plastic pipe position switching mechanism are both installed on the frame.

[0006] In the above-mentioned intubation machine, a packaging bag transfer mechanism receives liquid packaging bags filled with liquid from a filling machine and places the liquid packaging bags onto a packaging bag conveyor belt, while simultaneously positioning the pipe joints on the liquid packaging bags on the pipe joint positioning mechanism. The packaging bag conveyor belt then conveys the filled liquid packaging bags toward the tube expansion and intubation mechanism, and the plastic tube positioning mechanism and the pipe joint positioning mechanism in the movable positioning mechanism move synchronously with the liquid packaging bags under the drive of the conveying mechanism. In front of the tube expansion and intubation mechanism, the end of the infusion tube is pre-positioned on the plastic tube positioning mechanism (this can be done manually or mechanically, so that the end of the infusion tube on the empty drainage bag is positioned on the plastic tube positioning mechanism, and the empty drainage bag can be stacked on the liquid packaging bag). When the packaging bag conveyor belt and the movable positioning mechanism jointly convey the liquid packaging bag (such as a liquid medicine packaging bag), the empty drainage bag, the pipe joint positioning mechanism and the pipe joint, the plastic tube positioning mechanism, and the infusion tube to a predetermined position, the tube expansion and intubation mechanism performs the tube expansion and intubation operations.

[0007] The plastic pipe positioning mechanism positions the plastic pipe to be connected, facilitating the plastic pipe clamping mechanism to grasp the pipe at the predetermined position. The pipe expansion mechanism is typically located in a fixed position on the frame and expands the pipe ends of the plastic pipes. The pipe joint positioning mechanism positions the pipe joint to be connected, maintaining it in the predetermined position and facilitating the plastic pipe clamping mechanism to accurately fit the expanded pipe end onto the pipe joint. The plastic pipe clamping mechanism's grip on the plastic pipe is located near the location to be expanded, typically a short distance from the pipe end.

[0008] The above-mentioned plastic tube position switching mechanism can switch the position of the plastic tube clamping mechanism and the plastic tube thereon. Under the drive of the plastic tube position switching mechanism, the plastic tube clamping mechanism and the plastic tube thereon move in sequence between the plastic tube positioning mechanism, the tube expansion mechanism and the pipe joint positioning mechanism. Specifically, the plastic tube clamping mechanism first moves to the plastic tube positioning mechanism that has reached a predetermined position, clamps the plastic tube on the plastic tube positioning mechanism, and removes it from the plastic tube positioning mechanism; then the plastic tube is transferred to the tube expansion mechanism, and the tube expansion mechanism performs a tube expansion operation on the tube end of the plastic tube. ; After the expansion mechanism completes the expansion operation, the plastic tube that has completed the expansion operation is removed from the expansion mechanism; the plastic tube is then transferred so that the tube mouth of the plastic tube end is aligned with the position of the tube joint to be connected on the tube joint positioning mechanism that has reached the predetermined position, and then the plastic tube end is sleeved onto the tube joint, thereby realizing the connection between the plastic tube end and the tube joint; after the connection between the plastic tube end and the tube joint is completed, the plastic tube clamping mechanism releases the plastic tube, and under the drive of the plastic tube position switching mechanism, it returns to the position of the plastic tube positioning mechanism and starts the next round of expansion and insertion operations. Usually, after the plastic tube clamping mechanism clamps the plastic tube on the plastic tube positioning mechanism and removes it, and during the entire process of sleeved the tube mouth of the plastic tube end onto the tube joint, the plastic tube clamping mechanism maintains the state of clamping the plastic tube until the connection between the plastic tube end and the tube joint is completed and then releases the plastic tube.

[0009] In a preferred embodiment, the packaging bag transfer mechanism includes a tilting frame, a turning mechanism, a translation frame, a translation mechanism, and a liquid packaging bag placement mechanism; the tilting frame is rotatably mounted on the frame, the tilting mechanism is mounted on the frame and is capable of driving the tilting frame to turn; the translation frame is mounted on the tilting frame via a translation guide structure, and the translation mechanism is capable of driving the translation frame to move relative to the tilting frame along the guide direction of the translation guide structure; and the liquid packaging bag placement mechanism is mounted on the translation frame. The guiding direction of the translation guide structure is generally perpendicular to the conveying direction of the packaging bag conveyor belt. When the above-mentioned packaging bag handover mechanism is working, after the liquid packaging bag filled with liquid from the filling machine reaches the predetermined position (the pipe joint on the liquid packaging bag filled with liquid from the filling machine is usually facing upwards), the liquid packaging bag picking and placing mechanism removes the liquid packaging bag from the predetermined position, and the liquid packaging bag is positioned on the liquid packaging bag picking and placing mechanism; then the translation mechanism drives the translation frame, the liquid packaging bag picking and placing mechanism and the liquid packaging bag thereon to translate a certain distance relative to the flip frame; then the flip mechanism drives the flip frame to flip, and at this time the translation frame, the liquid packaging bag picking and placing mechanism and the liquid packaging bag thereon are also flipped together (for example, flipped 90 degrees), so that the liquid packaging bag reaches the packaging bag conveyor The liquid packaging bag is directly above the belt, and the liquid packaging bag is on the lower side of the liquid packaging bag picking and placing mechanism; then the translation mechanism can drive the translation frame, the liquid packaging bag picking and placing mechanism and the liquid packaging bag on it to translate a certain distance relative to the flip frame, so that the liquid packaging bag descends and reaches the packaging bag conveyor belt, and at the same time, the pipe joint on the liquid packaging bag is positioned on the pipe joint positioning mechanism, and the liquid packaging bag picking and placing mechanism releases the liquid packaging bag (usually, the liquid packaging bag is placed flat on the packaging bag conveyor belt, the side wall of the bag body is in contact with the packaging bag conveyor belt, and the pipe joint is on one side of the bag body); then the liquid packaging bag picking and placing mechanism is reset by the translation mechanism and the flip mechanism, preparing for the next round of liquid packaging bag picking and placing operations.

[0010] In a more preferred embodiment, the flipping mechanism includes a flip cylinder, a flip sleeve and a flip swing arm, and the translation mechanism includes a translation servo motor, a flip shaft, a gear and a rack; the flip shaft can be rotatably mounted on the frame and is arranged in the horizontal direction (the direction of the flip shaft is usually parallel to the conveying direction of the packaging bag conveyor belt), the flip sleeve is sleeved on the flip shaft and can rotate relative to the flip shaft, the flip sleeve is fixedly connected to the flip frame, one end of the flip swing arm is fixedly connected to the flip sleeve, the other end of the flip swing arm is hinged to the piston rod of the flip cylinder, and the cylinder body of the flip cylinder is hinged to the frame; the gear is mounted on the flip shaft, the rack is fixedly mounted on the translation frame and meshes with the gear, the rack extends along the guide direction of the translation guide structure, and the power output shaft of the translation servo motor is transmission-connected to the flip shaft. The above-mentioned translation servo motor can be fixedly mounted on the frame, and the power output shaft of the translation servo motor is transmission-connected to one end of the flip shaft through a coupling or a reducer.

[0011] In one specific embodiment, the translation guide structure includes multiple linear guide rails and multiple sliders. Each linear guide rail is fixedly mounted on the translation frame and parallel to each other. Each slider is fixedly mounted on the flip frame. Each linear guide rail corresponds to at least one slider, and the linear guide rails and corresponding sliders slide in conjunction. The linear guide rails are typically perpendicular to the conveying direction of the packaging bag conveyor belt. The extension direction of the linear guide rails is the guiding direction of the translation guide structure. Four linear guide rails can be provided, with two linear guide rails on each side of the translation frame; eight sliders can be provided, with two sliders corresponding to each linear guide rail.

[0012] In one specific embodiment, the translation mechanism includes a translation servo motor, a tilting shaft, two gears, and two racks, with the two gears corresponding to the two racks. The racks are mounted on either side of the translation frame. The tilting shaft extends through the translation frame. A strip-shaped through-hole is provided on the translation frame at a position corresponding to the tilting shaft. The strip-shaped through-hole extends along the guide direction of the translation guide structure, and the tilting shaft is located within the strip-shaped through-hole. When the translation mechanism drives the translation frame, the liquid packaging bag placement mechanism, and the liquid packaging bags thereon to translate relative to the tilting frame, the tilting shaft moves relative to the strip-shaped through-hole.

[0013] In a more preferred embodiment, the liquid packaging bag pick-up and placement mechanism includes at least one liquid packaging bag adsorption and positioning unit, which includes an adsorption and positioning base plate, a suction cup bracket, a suction cup bracket position switching cylinder, and a pipe joint clamping device. The adsorption and positioning base plate is mounted on the translation frame, the suction cup bracket position switching cylinder is arranged along the guide direction of the translation guide structure, the cylinder body of the suction cup bracket position switching cylinder is mounted on the adsorption and positioning base plate, the suction cup bracket is connected to the piston rod of the suction cup bracket position switching cylinder, the suction cup bracket is provided with at least one suction cup, and the pipe joint clamping device is mounted on the adsorption and positioning base plate. The suction cup corresponds to the bag body of the liquid packaging bag and is used to adsorb the side wall of the bag body of the liquid packaging bag; the pipe joint clamping device corresponds to the position of the pipe joint on the liquid packaging bag and is used to clamp the pipe joint; the pipe joint clamping device cooperates with the suction cup to jointly position the liquid packaging bag on the liquid packaging bag adsorption and positioning unit. During operation, after the liquid packaging bag filled with liquid from the filling machine and the liquid packaging bag pick-up and placement mechanism reach the predetermined position, the piston rod of the suction cup bracket position switching cylinder extends, causing each suction cup to adsorb on the side wall of the bag body of the liquid packaging bag; then the piston rod of the suction cup bracket position switching cylinder retracts, causing the liquid packaging bag to leave the filling machine and the pipe joint clamping device to clamp the pipe joint on the liquid packaging bag; when the liquid packaging bag reaches the packaging bag conveyor belt, the suction cup releases the bag body of the liquid packaging bag, and the pipe joint clamping device releases the pipe joint, and the liquid packaging bag pick-up and placement mechanism releases the liquid packaging bag. In addition, some liquid packaging bags are also equipped with a dispensing interface, which is arranged side by side with the pipe joint. In this case, a liquid packaging bag adsorption and positioning unit may include two pipe joint clamping devices, one for clamping the pipe joint and the other for clamping the dispensing interface.

[0014] In a further preferred embodiment, the pipe joint clamping device includes an upper clamping device, a lower clamping device and a pushing mechanism; the upper clamping device includes a pipe joint clamping finger cylinder and two upper pipe joint claws, the pipe joint clamping finger cylinder is installed on the adsorption positioning substrate, the pipe joint clamping finger cylinder has two fingers, and the two upper pipe joint claws are respectively connected to the two fingers of the pipe joint clamping finger cylinder; the lower clamping device includes a lower clamping device seat, a lower pipe joint claw opening and closing mechanism and two lower pipe joint claws, the lower clamping device seat is installed on the adsorption positioning substrate, the two lower pipe joint claws are arranged side by side, the middle part of the lower pipe joint claw is hinged to the lower clamping device seat, and the lower pipe joint claws are respectively connected to the two fingers of the pipe joint clamping finger cylinder. The opening and closing mechanism includes a first push rod and a first push rod position switching cylinder capable of driving the first push rod to move back and forth. A guide curved surface (similar to the profile of a cam) is respectively provided on the two side surfaces of the first push rod. One end of the lower pipe joint clamp constitutes a top contact portion, and the other end of the lower pipe joint clamp constitutes a clamping portion. The top contact portions of the two lower pipe joint clamps respectively contact and cooperate with the two guide curved surfaces. The pushing mechanism includes a push plate and a push plate position switching cylinder. The push plate position switching cylinder is arranged along the guide direction of the translation guide structure. The cylinder body of the push plate position switching cylinder is fixedly mounted on the adsorption positioning base plate. The push plate is connected to the piston rod of the push plate position switching cylinder, and the push plate is located between the upper clamping device and the lower clamping device. Preferably, in the above-mentioned upper clamping device, the upper pipe joint clamp is made of silicone. The upper pipe joint clamp made of silicone has elasticity, which is conducive to avoiding damage to the pipe joint. Typically, a tension spring is connected between the two lower pipe joint jaws. This tension spring forces the contact portions of the two lower pipe joint jaws to move closer together, allowing them to closely contact the two guide curved surfaces. A first push rod is inserted between the two lower pipe joint jaws. When the first push rod position switching cylinder drives the first push rod to move, the two guide curved surfaces push against the contact portions of the two lower pipe joint jaws, causing the two lower pipe joint jaws to rotate about their respective centers, thereby controlling the clamping portions of the two lower pipe joint jaws to close or separate.

[0015] The aforementioned liquid bag placement mechanism may include multiple liquid bag suction and positioning units arranged sequentially along the conveying direction of the bag conveyor. This allows multiple filled liquid bags to be simultaneously received from the filling machine and placed on the bag conveyor. The spacing between the liquid bag suction and positioning units is typically adjustable to accommodate various situations. For example, a horizontal guide rail extending in the guide direction of the translation guide structure may be provided on the translation frame, and a slider slidably engaged with the horizontal guide rail may be provided on the suction and positioning base plate. This allows the liquid bag suction and positioning units to be moved along the horizontal guide rail to a desired position (the position of the liquid bag suction and positioning units can be adjusted manually or mechanically). After adjustment, the position of the liquid bag suction and positioning units can be fixed.

[0016] In a preferred embodiment, the plastic tube positioning mechanism includes a positioning post and a positioning post seat, wherein the positioning post is mounted on the positioning post seat. The positioning post in the plastic tube positioning mechanism is used to position the plastic tube to be connected, and the plastic tube end is sleeved on the positioning post.

[0017] In a more preferred embodiment, the lower end of the positioning post is fixedly connected to the positioning post seat, and both the lower and upper halves of the positioning post are cylindrical, with the outer diameter of the lower half of the positioning post being larger than that of the upper half. An annular limiting step is formed at the junction of the lower half and the upper half of the positioning post. The positioning post in the plastic tube positioning mechanism is used to position the plastic tube to be connected. The plastic tube end is sleeved onto the upper half of the positioning post. When the end face of the plastic tube end contacts the annular limiting step, the depth of the plastic tube inserted into the positioning post is limited, so that the plastic tube end is positioned at a predetermined height.

[0018] In another more preferred embodiment, the positioning post is disposed along the Y direction, the fixed end of the positioning post is fixedly connected to the positioning post seat, the half of the positioning post near the free end and the half near the fixed end are both cylindrical, and the outer diameter of the half near the free end is larger than the outer diameter of the half near the fixed end. An annular limiting step is formed at the junction of the half near the free end and the half near the fixed end. The positioning post in the plastic tube positioning mechanism is used to position the plastic tube to be connected. The plastic tube end is sleeved onto the half near the free end of the positioning post. When the end face of the plastic tube end contacts the annular limiting step, the depth of the plastic tube inserted into the positioning post is limited, so that the plastic tube end is positioned at a predetermined position.

[0019] In a preferred embodiment, the pipe joint positioning mechanism includes a positioning fixture and a positioning fixture seat. The positioning fixture includes a fixed positioning jaw, a movable positioning jaw and a first tension spring. The fixed positioning jaw is installed on the positioning fixture seat. The fixed positioning jaw is provided with a transverse guide groove. The movable positioning jaw is provided with a slider. The slider is located in the transverse guide groove and slides with the transverse guide groove. The two ends of the first tension spring are respectively connected to the fixed positioning jaw and the movable positioning jaw. The fixed positioning jaw and the movable positioning jaw have a tendency to clamp with each other under the action of the first tension spring. Usually, the first tension spring and the transverse guide groove are parallel to each other. The fixed positioning jaw and the movable positioning jaw each have a clamping portion. The two clamping portions cooperate with each other to clamp the pipe joint between the two clamping portions and position the pipe joint. When the fixed positioning jaw and the movable positioning jaw are in the clamping state, the width of the gap between the two clamping parts is slightly smaller than the outer diameter of the corresponding part of the pipe joint; when the corresponding part of the pipe joint enters the gap between the two clamping parts, the two clamping parts are stretched open. At this time, the first tension spring is stretched, and the two clamping parts apply clamping force to the corresponding part of the pipe joint to clamp the corresponding part of the pipe joint.

[0020] In a preferred embodiment, when the clamping portions of the fixed positioning jaws and the movable positioning jaws in the pipe joint positioning mechanism are both facing upward, a support guide plate is provided between the packaging bag conveyor belt and the movable positioning mechanism. The support guide plate extends along the conveying direction of the packaging bag conveyor belt, and the top surface of the support guide plate constitutes a support guide surface. The portion of the support guide surface corresponding to the packaging bag transfer mechanism to the tube expansion and insertion mechanism is a horizontal surface, and the portion of the support guide surface behind the tube expansion and insertion mechanism is an inclined surface that gradually rises from front to back. The support guide surface corresponds to the position of one end of the pipe joint near the liquid packaging bag body. After the tube expansion and insertion mechanism completes the connection between the plastic tube end and the pipe joint, as the liquid packaging bag continues to be conveyed backward, the pipe joint is gradually lifted by the inclined surface and eventually detaches from the positioning fixture.

[0021] In one specific embodiment, the conveying mechanism in the mobile positioning mechanism includes a positioning structure transmission chain, which includes a driving sprocket, a driven sprocket, and an endless chain. The driving sprocket and the driven sprocket are each rotatably mounted on a frame, and the driving sprocket and the driven sprocket jointly tension the endless chain (when tensioned, the endless chain has a linear conveying section running in the conveying direction and a linear return section running in the opposite direction). Each plastic tube positioning mechanism and each pipe joint positioning mechanism are mounted on the endless chain, with multiple plastic tube positioning mechanisms and multiple pipe joint positioning mechanisms on the endless chain arranged at equal intervals. The plastic tube positioning mechanisms and pipe joint positioning mechanisms are alternately arranged on the endless chain. The positioning column seats in the plastic tube positioning mechanisms are connected to the endless chain, and the positioning fixture seats in the pipe joint positioning mechanisms are connected to the endless chain. The positioning structure transmission chain and the packaging bag conveyor belt are typically driven by an electric motor (which can be driven by the same motor).

[0022] In another specific embodiment, the conveying mechanism in the movable positioning mechanism includes a positioning structure drive belt, which includes a driving pulley, a driven pulley, and an endless synchronous belt. The driving pulley and the driven pulley are each rotatably mounted on a frame, and the driving pulley and the driven pulley jointly tension the endless synchronous belt (when tensioned, the endless synchronous belt has a linear conveying section running in the conveying direction and a linear return section running in the opposite direction). Each plastic tube positioning mechanism and each pipe joint positioning mechanism are mounted on the endless synchronous belt, with multiple plastic tube positioning mechanisms and multiple pipe joint positioning mechanisms arranged at equal intervals on the endless synchronous belt. The plastic tube positioning mechanisms and the pipe joint positioning mechanisms are alternately arranged on the endless synchronous belt. The positioning column seats in the plastic tube positioning mechanisms are connected to the endless synchronous belt, and the positioning fixture seats in the pipe joint positioning mechanisms are connected to the endless synchronous belt. The positioning structure drive belt and the packaging bag conveyor belt are typically driven by an electric motor (which can be driven by the same motor).

[0023] In another embodiment, the conveying mechanism in the movable positioning mechanism includes an annular guide rail, on which are mounted a plurality of sliders arranged sequentially on the annular guide rail and movable along the annular guide rail. Each slider is mounted with a plastic tube positioning mechanism and a pipe joint positioning mechanism. Adjacent sliders are hingedly connected by connecting rods, thereby connecting all the sliders sequentially to form a closed loop. A drive device (such as a power sprocket) drives the connecting rods or sliders, causing each slider to move along the annular guide rail, and the plastic tube positioning mechanism and the pipe joint positioning mechanism to move along the annular guide rail accordingly.

[0024] In a preferred embodiment, the pipe expansion and insertion mechanism further includes an auxiliary positioning mechanism for the pipe joint, which includes an auxiliary clamping mechanism, an auxiliary clamping lifting seat, and an auxiliary clamping lifting mechanism capable of driving the auxiliary clamping lifting seat to move up and down. The auxiliary clamping lifting mechanism is fixedly mounted on the frame, the auxiliary clamping mechanism is mounted on the auxiliary clamping lifting seat, the auxiliary clamping mechanism is located above the movable positioning mechanism, and corresponds to the position of the pipe joint positioning mechanism that has reached a predetermined position. The auxiliary clamping mechanism includes an auxiliary clamping seat and two auxiliary clamping claws, the two auxiliary clamping claws are mounted on the auxiliary clamping seat, and the auxiliary clamping seat is provided with an auxiliary clamping claw opening and closing mechanism capable of controlling the opening and closing of the two auxiliary clamping claws. The two auxiliary clamping claws each have a clamping portion, and under the drive of the auxiliary clamping claw opening and closing mechanism, the clamping portions of the two auxiliary clamping claws are clamped or separated. When the auxiliary clamping lifting mechanism drives the auxiliary clamping lifting seat to descend, the two auxiliary clamping jaws descend to a position corresponding to the pipe joint positioning mechanism (at this point, the two auxiliary clamping jaws can be located outside the fixed positioning jaw and the movable positioning jaw, respectively). The auxiliary clamping jaw opening and closing mechanism then drives the clamping portions of the two auxiliary clamping jaws to close, further defining the position of the pipe joint positioning mechanism and the pipe joint. Together with the pipe joint positioning mechanism, the pipe joint is positioned to maintain a stable position. In addition, a limiting groove can be provided at the lower end of the auxiliary clamp seat. When the two auxiliary clamping jaws descend to a position corresponding to the pipe joint positioning mechanism, the pipe joint is positioned in the limiting groove, further stabilizing the position of the pipe joint.

[0025] As a preferred embodiment of the pipe joint auxiliary positioning mechanism, the two auxiliary jaws are arranged side by side, with their middle portions hingedly connected to the auxiliary clamp seat, and their lower portions forming a clamping portion. The auxiliary jaw opening and closing mechanism includes a second push rod and a second push rod lifting mechanism capable of driving the second push rod upward and downward. The second push rod is provided with guide curved surfaces (similar to a cam profile) on both side surfaces. The upper ends of the auxiliary jaws form contact portions, and the contact portions of the two auxiliary jaws respectively contact and mate with the two guide curved surfaces. Typically, a second tension spring is connected between the upper ends of the two auxiliary jaws, which tends to move the upper ends of the two auxiliary jaws toward each other, thereby ensuring close contact between the contact portions of the two auxiliary jaws and the two guide curved surfaces. The second push rod is inserted between the two auxiliary jaws. When the second push rod lifting mechanism drives the second push rod upward and downward, the two guide curved surfaces push against the contact portions of the two auxiliary jaws, causing the two auxiliary jaws to rotate about their respective midpoints, thereby controlling the closing or separation of the clamping portions of the two auxiliary jaws.

[0026] In a preferred embodiment, the plastic tube clamping mechanism includes a plastic tube clamping finger cylinder and two plastic tube clamping claws. The plastic tube clamping finger cylinder has two fingers, and the two plastic tube clamping claws are respectively connected to the two fingers of the plastic tube clamping finger cylinder. In a more preferred embodiment, the plastic tube clamping claw is provided with a plurality of clamping plates arranged in sequence, with a clamping plate insertion gap between two adjacent clamping plates. The clamping plates and the clamping plate insertion gap on one plastic tube clamping claw respectively correspond to the clamping plate insertion gap and the clamping plates on the other plastic tube clamping claw (the clamping plates on one plastic tube clamping claw can be inserted into the clamping plate insertion gap on the other plastic tube clamping claw). Using a plurality of clamping plates arranged in sequence to form a plastic tube clamping claw can clamp the plastic tube more tightly, which helps the plastic tube maintain a stable position on the plastic tube clamping mechanism.

[0027] As a first preferred embodiment of the aforementioned plastic tube position switching mechanism, the aforementioned plastic tube position switching mechanism includes a lifting mechanism, a lifting seat, an X-direction translation mechanism, an X-direction translation seat, a Y-direction translation mechanism, a Y-direction translation seat, and a second flipping mechanism. The lifting mechanism is mounted on a frame and is capable of driving the lifting seat up and down; the X-direction translation mechanism is mounted on the lifting seat and is capable of driving the X-direction translation seat to translate in the X direction; the Y-direction translation mechanism is mounted on the X-direction translation seat and is capable of driving the Y-direction translation seat to translate in the Y direction; and the second flipping mechanism is mounted on the Y-direction translation seat and is capable of driving the plastic tube clamping mechanism to flip; the X-direction is parallel to the conveying direction of the packaging bag conveyor belt and the movable positioning mechanism. The X-direction and Y-direction are two directions perpendicular to each other in a horizontal plane. Typically, driven by the second flipping mechanism, the plastic tube clamping mechanism can flip around a rotating axis disposed in the X-direction by a certain angle, such as 90°. In the above-mentioned plastic tube position switching mechanism, the lifting mechanism can drive the lifting seat, the X-direction translation mechanism, the X-direction translation seat, the Y-direction translation mechanism, the Y-direction translation seat, the second flipping mechanism and the plastic tube clamping mechanism to rise and fall together; the X-direction translation mechanism can drive the X-direction translation seat, the Y-direction translation mechanism, the Y-direction translation seat, the second flipping mechanism and the plastic tube clamping mechanism to translate together in the X direction; the Y-direction translation mechanism can drive the Y-direction translation seat, the second flipping mechanism and the plastic tube clamping mechanism to translate together in the Y direction; the second flipping mechanism can drive the plastic tube clamping mechanism to flip, thereby switching the position of the plastic tube clamping mechanism.

[0028] The first preferred scheme of the above-mentioned plastic tube position switching mechanism is suitable for the following situations: the orientation of the plastic tube end on the plastic tube positioning mechanism and the orientation of the plastic tube end on the pipe expansion mechanism are both perpendicular to the orientation of the pipe joint to be connected on the pipe joint positioning mechanism. For example, the plastic tube end is in a vertical direction on the plastic tube positioning mechanism and the pipe expansion mechanism, and the pipe joint to be connected on the pipe joint positioning mechanism is in the Y direction.

[0029] As a preferred embodiment of the aforementioned lifting mechanism, the lifting mechanism includes a lifting drive motor, a lifting transmission mechanism, and lifting guide columns. The lifting drive motor is mounted on a frame, the power output shaft of the lifting drive motor is in driving connection with the power input end of the lifting transmission mechanism, and the power output end of the lifting transmission mechanism is connected to the lifting seat. The lifting guide columns extend vertically, and the lifting seat is provided with guide sleeves that mate with the lifting guide columns. There are typically multiple lifting guide columns, and the lifting seat is provided with a corresponding number of guide sleeves, each guide sleeve mates with a corresponding lifting guide column. The lifting transmission mechanism can adopt a screw / nut transmission mechanism (the screw can be rotatably mounted on the frame and is arranged vertically, the power output shaft of the lifting drive motor is connected to one end of the screw (i.e., the power input end of the lifting transmission mechanism), the nut (i.e., the power output end of the lifting transmission mechanism) is installed on the lifting seat, and the nut is screwed together with the screw), or a chain transmission mechanism (using multiple vertically arranged chains, each chain is tensioned by a driving sprocket and a driven sprocket, each driving sprocket is connected to the power output shaft of the lifting drive motor, and the lifting seat is connected to each chain), or a belt transmission mechanism (using multiple vertically arranged synchronous belts, each synchronous belt is tensioned by a driving pulley and a driven pulley, each driving pulley is connected to the power output shaft of the lifting drive motor, and the lifting seat is connected to each synchronous belt). The lifting drive motor usually adopts a servo motor. When the power output shaft of the lifting motor rotates, the lifting seat is driven to rise or fall a certain distance along the lifting guide column through the lifting transmission mechanism.

[0030] As another preferred embodiment of the aforementioned lifting mechanism, the lifting mechanism includes lifting guide columns and two sets of lifting cylinders. The two sets of lifting cylinders have different strokes. Each lifting cylinder is arranged in a vertical direction. The cylinder body of the lifting cylinder is mounted on a frame. The piston rod of the lifting cylinder faces upward and contacts the bottom of the lifting seat. The lifting guide columns extend up and down, and the lifting seat is provided with a guide sleeve that cooperates with the lifting guide columns. According to the need to switch the height position of the lifting seat, the corresponding lifting cylinder is activated to drive the lifting seat up or down to the desired position. Typically, the plastic pipe clamping mechanism has a height difference when moving between the plastic pipe positioning mechanism and the pipe expansion mechanism, and another height difference when moving between the pipe expansion mechanism and the pipe joint positioning mechanism. Therefore, using two sets of lifting cylinders with different strokes can meet the need for its height change. Each set of lifting cylinders may include one or more lifting cylinders.

[0031] As a preferred embodiment of the above-mentioned X-direction translation mechanism, the above-mentioned X-direction translation mechanism includes an X-direction translation drive motor, an X-direction translation transmission mechanism, and an X-direction translation guide rail. The X-direction translation drive motor is mounted on the lifting seat. The power output shaft of the X-direction translation drive motor is drivingly connected to the power input end of the X-direction translation transmission mechanism. The power output end of the X-direction translation transmission mechanism is connected to the X-direction translation seat. The X-direction translation guide rail is mounted on the lifting seat and extends in the X-direction. The X-direction translation guide rail is mounted with an X-direction translation slider capable of moving along the X-direction translation guide rail. The X-direction translation slider is connected to the X-direction translation seat. Multiple X-direction translation guide rails are usually provided and arranged sequentially in the Y-direction. The X-axis translation transmission mechanism can adopt a screw / nut transmission mechanism (a screw is rotatably mounted on a lifting base and arranged along the X-direction, the power output shaft of the X-axis translation drive motor is drivingly connected to one end of the screw (i.e., the power input end of the X-axis translation drive mechanism), and the nut (i.e., the power output end of the X-axis translation drive mechanism) is mounted on the X-axis translation base, and the nut and the screw are screwed together). Alternatively, a chain transmission mechanism (using at least one chain arranged along the X-direction, each chain being tensioned by a driving sprocket and a driven sprocket, each driving sprocket being drivingly connected to the power output shaft of the X-axis translation drive motor, and the X-axis translation base being connected to each chain) or a belt transmission mechanism (using at least one synchronous belt arranged along the X-direction, each synchronous belt being tensioned by a driving pulley and a driven pulley, each driving pulley being drivingly connected to the power output shaft of the X-axis translation drive motor, and the X-axis translation base being connected to each synchronous belt). The X-axis translation drive motor is typically a servo motor. When the power output shaft of the X-direction translation motor rotates, the X-direction translation seat is driven to move a certain distance along the X-direction translation guide rail through the X-direction translation transmission mechanism.

[0032] As another preferred embodiment of the aforementioned X-direction translation mechanism, the X-direction translation mechanism includes an X-direction translation cylinder and an X-direction translation guide rail. The X-direction translation guide rail is mounted on a lifting seat and extends in the X-direction. The X-direction translation guide rail is mounted with an X-direction translation slider capable of moving along the X-direction translation guide rail, and the X-direction translation slider is connected to the X-direction translation seat. The X-direction translation cylinder is disposed along the X-direction, and the cylinder body and piston rod of the X-direction translation cylinder are respectively connected to the lifting seat and the X-direction translation seat. Typically, the plastic tube positioning mechanism and the pipe joint positioning mechanism are spaced a certain distance apart in the X-direction, and the pipe expansion mechanism can be aligned with either the plastic tube positioning mechanism or the pipe joint positioning mechanism in the X-direction. Therefore, a single X-direction translation cylinder can be used to meet the requirements for switching the position of the plastic tube clamping mechanism in the X-direction.

[0033] As a preferred embodiment of the Y-direction translation mechanism, the Y-direction translation mechanism includes a Y-direction translation drive motor, a Y-direction translation transmission mechanism, and a Y-direction translation guide rail. The Y-direction translation drive motor is mounted on the X-direction translation seat. The power output shaft of the Y-direction translation drive motor is in transmission connection with the power input end of the Y-direction translation transmission mechanism. The power output end of the Y-direction translation transmission mechanism is connected to the Y-direction translation seat. The Y-direction translation guide rail is mounted on the X-direction translation seat and extends in the Y direction. A Y-direction translation slider capable of moving along the Y-direction translation guide rail is mounted on the Y-direction translation guide rail. The Y-direction translation slider is connected to the Y-direction translation seat. Multiple Y-direction translation guide rails are typically provided and arranged sequentially in the X direction. The Y-axis translation transmission mechanism can adopt a screw / nut transmission mechanism (the screw is rotatably mounted on the X-axis translation seat and arranged along the Y-axis, the power output shaft of the Y-axis translation drive motor is transmission-connected to one end of the screw (i.e., the power input end of the Y-axis translation drive mechanism), the nut (i.e., the power output end of the Y-axis translation drive mechanism) is mounted on the Y-axis translation seat, and the nut and the screw are screwed together), or a chain transmission mechanism (using at least one chain arranged along the Y-axis, each chain being tensioned by a driving sprocket and a driven sprocket, each driving sprocket being transmission-connected to the power output shaft of the Y-axis translation drive motor, and the Y-axis translation seat being connected to each chain), or a belt transmission mechanism (using at least one synchronous belt arranged along the Y-axis, each synchronous belt being tensioned by a driving pulley and a driven pulley, each driving pulley being transmission-connected to the power output shaft of the Y-axis translation drive motor, and the Y-axis translation seat being connected to each synchronous belt). The Y-axis translation drive motor is usually a servo motor. When the power output shaft of the Y-direction translation motor rotates, the Y-direction translation seat is driven to move a certain distance along the Y-direction translation guide rail through the Y-direction translation transmission mechanism.

[0034] As another preferred embodiment of the above-mentioned Y-direction translation mechanism, the above-mentioned Y-direction translation mechanism includes a push plate, a Y-direction translation guide rail, a first Y-direction translation cylinder, a second Y-direction translation cylinder, a third Y-direction translation cylinder and a third tension spring; the Y-direction translation guide rail is installed on the X-direction translation seat and extends along the Y-direction, the Y-direction translation guide rail is equipped with a Y-direction translation slider that can move along the Y-direction translation guide rail, the Y-direction translation slider is connected to the Y-direction translation seat, the push plate is fixedly installed on the X-direction translation seat, the first Y-direction translation cylinder and the second Y-direction translation cylinder have different strokes, the first Y-direction translation cylinder and the second Y-direction translation cylinder are both arranged along the Y-direction, and the cylinder bodies of the first Y-direction translation cylinder and the second Y-direction translation cylinder are both fixedly installed on the Y-direction translation seat. The piston rods of the first and second Y-direction translation cylinders correspond to the position of the push plate. A third tension spring is arranged along the Y direction, and its two ends are respectively connected to the X-direction translation seat and the Y-direction translation seat, so that the Y-direction translation seat has a tendency to move closer to the push plate. The Y-direction translation seat is provided with a flip mechanism guide rail extending along the Y direction, and the second flip mechanism is mounted on the flip mechanism guide rail and can move along the flip mechanism guide rail. The two ends of the third Y-direction translation cylinder are respectively connected to the Y-direction translation seat and the second flip mechanism (the cylinder body of the third Y-direction translation cylinder can be connected to the second flip mechanism, and the piston rod can be connected to the Y-direction translation seat; or the piston rod of the third Y-direction translation cylinder can be connected to the second flip mechanism, and the cylinder body can be connected to the Y-direction translation seat). In a specific solution, a wall panel is provided on the Y-direction translation seat, the cylinder body of the third Y-direction translation cylinder is fixedly mounted on the second flip mechanism, and the piston rod of the third Y-direction translation cylinder is connected to the wall panel. The first Y-direction translation cylinder, the second Y-direction translation cylinder, and the third Y-direction translation cylinder cooperate to achieve multi-stroke control of the plastic tube clamping mechanism in the Y direction. A plurality of third tension springs are usually provided and arranged in sequence along the X direction.

[0035] As another preferred embodiment of the above-mentioned Y-direction translation mechanism, the above-mentioned Y-direction translation mechanism includes a push plate, a Y-direction translation guide rail and two groups of Y-direction translation cylinders. The Y-direction translation guide rail is installed on the X-direction translation seat and extends along the Y-direction. The Y-direction translation guide rail is provided with a Y-direction translation slider that can move along the Y-direction translation guide rail. The Y-direction translation slider is connected to the Y-direction translation seat. The push plate is fixedly mounted on the X-direction translation seat. The two groups of Y-direction translation cylinders have different strokes. Each Y-direction translation cylinder is arranged along the Y-direction. The cylinder body of each Y-direction translation cylinder is fixedly mounted on the Y-direction translation seat. The piston rod of each Y-direction translation cylinder corresponds to the position of the push plate.

[0036] As a preferred embodiment of the second turning mechanism, the second turning mechanism comprises a support, a turning base, and a turning drive cylinder. The turning base is rotatably mounted on the support via a turning axis disposed along the X-axis. The cylinder body of the turning drive cylinder is hingedly connected to the support, and the piston rod of the turning drive cylinder is hingedly connected to a portion of the turning base offset from the turning axis. The plastic tube clamping mechanism is fixedly mounted on the turning base. Typically, when driven by the second turning mechanism, the plastic tube clamping mechanism can be turned around the turning axis by a certain angle, such as 90°.

[0037] As a preferred embodiment of the second flipping mechanism, the second flipping mechanism includes a support, a flipping seat, and a flipping drive motor. The flipping seat is rotatably mounted on the support via a flipping shaft, the flipping shaft being arranged along the X-direction. The flipping drive motor is mounted on the support, and the power output shaft of the flipping drive motor is connected to the flipping shaft via a transmission mechanism. The plastic tube clamping mechanism is fixedly mounted on the flipping seat. The transmission mechanism between the power output shaft of the flipping drive motor and the flipping shaft can be a gear set (with a first-stage gear mounted on the power output shaft of the flipping drive motor and a final-stage gear mounted on the flipping shaft) or a belt drive mechanism (with a driving pulley mounted on the power output shaft of the flipping drive motor and a driven pulley mounted on the flipping shaft, the driving pulley being connected to the driven pulley via a synchronous belt).

[0038] As a second preferred embodiment of the aforementioned plastic tube position switching mechanism, the aforementioned plastic tube position switching mechanism includes a lifting mechanism, a lifting seat, a Y-direction translation mechanism, a Y-direction translation seat, an X-direction translation mechanism, an X-direction translation seat, and a second flipping mechanism. The lifting mechanism is mounted on a frame and is capable of driving the lifting seat up and down; the Y-direction translation mechanism is mounted on the lifting seat and is capable of driving the Y-direction translation seat to translate in the Y direction; the X-direction translation mechanism is mounted on the Y-direction translation seat and is capable of driving the X-direction translation seat to translate in the X direction; and the second flipping mechanism is mounted on the X-direction translation seat and is capable of driving the plastic tube clamping mechanism to flip; the X-direction is parallel to the conveying direction of the packaging bag conveyor belt and the movable positioning mechanism. The X-direction and Y-direction are two directions perpendicular to each other in a horizontal plane. Typically, driven by the second flipping mechanism, the plastic tube clamping mechanism can flip around a rotating axis disposed in the X direction by a certain angle, such as 90°. In the aforementioned plastic tube position switching mechanism, the lifting mechanism can drive the lifting seat, Y-axis translation mechanism, Y-axis translation seat, X-axis translation mechanism, X-axis translation seat, second flipping mechanism, and plastic tube clamping mechanism to lift and lower together; the Y-axis translation mechanism can drive the Y-axis translation seat, X-axis translation mechanism, X-axis translation seat, second flipping mechanism, and plastic tube clamping mechanism to translate together in the Y direction; the X-axis translation mechanism can drive the X-axis translation seat, second flipping mechanism, and plastic tube clamping mechanism to translate together in the X direction; and the second flipping mechanism can drive the plastic tube clamping mechanism to flip, thereby switching the position of the plastic tube clamping mechanism. The main difference between the second preferred embodiment of the aforementioned plastic tube position switching mechanism and the first preferred embodiment is that the Y-axis translation mechanism and Y-axis translation seat are interchanged with the X-axis translation mechanism and X-axis translation seat. The specific structures of the lifting mechanism, Y-axis translation mechanism, X-axis translation mechanism, and second flipping mechanism in the second preferred embodiment of the plastic tube position switching mechanism can be designed with reference to the first preferred embodiment.

[0039] The second preferred scheme of the above-mentioned plastic tube position switching mechanism is suitable for the following situations: the orientation of the plastic tube end on the plastic tube positioning mechanism and the orientation of the plastic tube end on the pipe expansion mechanism are both perpendicular to the orientation of the pipe joint to be connected on the pipe joint positioning mechanism. For example, the plastic tube end is in a vertical direction on the plastic tube positioning mechanism and the pipe expansion mechanism, and the pipe joint to be connected on the pipe joint positioning mechanism is in the Y direction.

[0040] As a third preferred embodiment of the aforementioned plastic tube position switching mechanism, the aforementioned plastic tube position switching mechanism includes a lifting mechanism, a lifting seat, a Y-direction translation mechanism, a Y-direction translation seat, an X-direction translation mechanism, and an X-direction translation seat. The lifting mechanism is mounted on a frame and is capable of driving the lifting seat to rise and fall. The Y-direction translation mechanism is mounted on the lifting seat and is capable of driving the Y-direction translation seat to translate in the Y direction. The X-direction translation mechanism is mounted on the Y-direction translation seat and is capable of driving the X-direction translation seat to translate in the X direction. The plastic tube clamping mechanism is mounted on the X-direction translation seat. The X-direction is parallel to the conveying direction of the packaging bag conveyor belt and the movable positioning mechanism. The aforementioned X-direction and Y-direction are two directions perpendicular to each other in a horizontal plane. In the above-mentioned plastic tube position switching mechanism, the lifting mechanism can drive the lifting seat, Y-direction translation mechanism, Y-direction translation seat, X-direction translation mechanism, X-direction translation seat, and plastic tube clamping mechanism to lift and lower together; the Y-direction translation mechanism can drive the Y-direction translation seat, X-direction translation mechanism, X-direction translation seat, and plastic tube clamping mechanism to translate together in the Y direction; and the X-direction translation mechanism can drive the X-direction translation seat and plastic tube clamping mechanism to translate together in the X direction, thereby switching the position of the plastic tube clamping mechanism. The main difference between the third preferred embodiment of the above-mentioned plastic tube position switching mechanism and its first and second preferred embodiments is that a second flipping mechanism is not required. In addition, the Y-direction translation mechanism and Y-direction translation seat can also be interchanged with the X-direction translation mechanism and X-direction translation seat. The specific structures of the lifting mechanism, Y-direction translation mechanism, and X-direction translation mechanism in the third preferred embodiment of the plastic tube position switching mechanism can be designed with reference to the first preferred embodiment.

[0041] The third preferred scheme of the above-mentioned plastic tube position switching mechanism is suitable for the following situations: the orientation of the plastic tube end on the plastic tube positioning mechanism and the orientation of the plastic tube end on the pipe expansion mechanism are consistent with the orientation of the pipe joint to be connected on the pipe joint positioning mechanism. For example, the plastic tube end is in the Y direction on the plastic tube positioning mechanism and the pipe expansion mechanism, and the pipe joint to be connected on the pipe joint positioning mechanism is also in the Y direction.

[0042] In a preferred embodiment, the expansion nozzle mechanism includes an expansion nozzle assembly and at least two expansion nozzle component seats. The expansion nozzle assembly is composed of at least two expansion nozzle components. The expansion nozzle components are equal in number to the expansion nozzle component seats and correspond one to one. The expansion nozzle components are arranged on the corresponding expansion nozzle component seats. The expansion nozzle mechanism also includes an expansion nozzle component seat position switching mechanism capable of switching the positions of the expansion nozzle component seats, thereby closing or opening the expansion nozzle assembly. Closing the expansion nozzle assembly means that the expansion nozzle components are brought together; opening the expansion nozzle assembly means that the expansion nozzle components are separated from each other. When performing the pipe expansion operation on the plastic pipe end, the pipe expansion nozzle assembly is first in a closed state. At this time, the plastic pipe can be clamped with the help of the plastic pipe clamping and moving mechanism of the intubation machine, and then the plastic pipe end is put on the outside of the pipe expansion nozzle assembly; then the pipe expansion nozzle component seat position switching mechanism switches the position of each pipe expansion nozzle component seat to open the pipe expansion nozzle assembly. At this time, the pipe expansion nozzle components are separated from each other and respectively apply outward forces to the inner wall of the plastic pipe end to expand the pipe mouth size of the plastic pipe end; then the pipe expansion nozzle assembly is closed again, and the plastic pipe end is removed from the pipe expansion nozzle assembly with the help of the plastic pipe clamping and moving mechanism of the intubation machine, and then the plastic pipe end is moved to the position corresponding to the pipe joint of the liquid medicine packaging bag, and the plastic pipe end is put on the pipe joint of the liquid medicine packaging bag to complete the intubation operation.

[0043] In a more preferred embodiment, the expansion nozzle assembly is provided with an inflation channel, an expansion nozzle component seat is provided with an air inlet channel, an air inlet end of the air inlet channel opens on the surface of the expansion nozzle component seat, an air outlet end of the air inlet channel is connected to the inflation channel, and an air outlet end of the inflation channel is provided on the surface of the expansion nozzle assembly. The two side walls of the empty drainage bag are usually tightly together. In some cases, it is necessary to fill the empty drainage bag with gas so that the two side walls of the empty drainage bag are slightly separated. By providing the air inlet channel and the inflation channel, when the plastic tube end is sleeved on the outside of the expansion nozzle assembly, gas is introduced from the air inlet end of the air inlet channel, and the gas enters the empty drainage bag through the air inlet channel, the inflation channel, and the infusion tube. Then, the expansion nozzle assembly is opened to expand the size of the tube mouth of the plastic tube end. Alternatively, the pipe expansion assembly can be expanded while gas is introduced from the inlet end of the air inlet passage for inflation; or, after the pipe expansion assembly has expanded the orifice of the plastic tube, gas can be introduced from the inlet end of the air inlet passage for inflation. Typically, an air inlet pipe connector is provided at the inlet end of the air inlet passage, which is connected to a gas supply device (such as a compressed gas tank or air pump) via an air inlet pipe.

[0044] In a further preferred embodiment, the lower end of the expansion nozzle component is connected to the corresponding expansion nozzle component seat, and the gas outlet end of the inflation channel is provided on the upper end surface of the expansion nozzle assembly.

[0045] In a further preferred embodiment, each of the aforementioned nozzle expansion components is provided with a strip groove on its inner side surface, and when the nozzle expansion component is in a closed state, each strip groove forms the inflation channel. In another further preferred embodiment, the inflation channel is provided within a nozzle expansion component, and the nozzle expansion component seat corresponding to the nozzle expansion component is provided with the air inlet channel.

[0046] In a more preferred embodiment, the expansion nozzle assembly is cylindrical in the closed state, and its outer diameter is generally slightly smaller than the initial inner diameter of the plastic pipe end. In another more preferred embodiment, the lower end of the expansion nozzle component is connected to the corresponding expansion nozzle component seat. When the expansion nozzle assembly is in the closed state, its lower portion is cylindrical, and its upper end is truncated cone-shaped, with a smaller upper portion and a larger lower portion. The outer diameter of the cylindrical portion is generally slightly smaller than the initial inner diameter of the plastic pipe end. The truncated cone-shaped upper end facilitates smooth insertion of the plastic pipe end into the expansion nozzle assembly.

[0047] In a more preferred embodiment, the expansion nozzle component seat position switching mechanism includes an expansion nozzle finger cylinder with at least two fingers. The expansion nozzle finger cylinder has the same number of fingers as the expansion nozzle component seats, and the expansion nozzle component seats are connected to the fingers of the expansion nozzle finger cylinder in a one-to-one correspondence. The expansion nozzle finger cylinder controls the separation or convergence of its fingers, thereby separating or converging the expansion nozzle components (the expansion nozzle components are translated under the influence of the expansion nozzle finger cylinder).

[0048] In a specific solution, the pipe expansion finger cylinder has two fingers, the pipe expansion assembly is composed of two pipe expansion parts, and the pipe expansion mechanism includes two pipe expansion part seats. Preferably, the above-mentioned expansion nozzle component seat position switching mechanism also includes a limit mechanism, the limit mechanism includes a limit screw and a limit adjustment nut, a screw through hole is provided in the first expansion nozzle component seat, and a limit screw hole is provided in the second expansion nozzle component seat, the screw through hole and the limit screw hole are aligned with each other, the limit screw passes through the screw through hole and engages with the limit screw hole, the first end of the limit screw is outside the screw through hole, the limit adjustment nut is installed on the first end of the limit screw, and the first expansion nozzle component seat is between the second expansion nozzle component seat and the limit adjustment nut; when the two fingers of the expansion nozzle finger cylinder are separated, the two expansion nozzle components are separated, and when the first expansion nozzle component seat contacts the limit adjustment nut, the distance between the two expansion nozzle components is limited, thereby expanding the nozzle to a predetermined size; before production, the limit adjustment nut is adjusted to the corresponding position of the limit screw according to the predetermined size of the expansion nozzle. In a more preferred embodiment, the second end of the limiting screw is outside the limiting screw hole, and a fastening nut is installed on the second end of the limiting screw. The fastening nut is in close contact with the side wall of the second expansion nozzle component seat, which can effectively prevent the position of the limiting screw from loosening.

[0049] Usually, the expansion port finger cylinder is fixedly mounted on a mounting base.

[0050] In another more preferred embodiment, the above-mentioned expansion nozzle component seat position switching mechanism includes at least two expansion nozzle component seat translation units, and the expansion nozzle component seat translation units are the same in number and correspond one to one with the expansion nozzle component seats; the expansion nozzle component seat translation unit includes a support, a drive motor, a screw and a guide rail, the drive motor and the guide rail are fixedly mounted on the support, a slider is provided at the bottom of the expansion nozzle component seat, the slider is mounted on the guide rail and slides with the guide rail, the screw can be rotatably mounted on the support and is parallel to the guide rail, the slider is provided with a screw hole that meshes with the screw, and the power output shaft of the drive motor is connected to the screw. The drive motors in each expansion nozzle component seat translation unit act simultaneously, driving the slider and the expansion nozzle component seat to translate along the guide rail, thereby switching the position of each expansion nozzle component, so that each expansion nozzle component is separated or brought closer.

[0051] In another more preferred embodiment, the above-mentioned expansion nozzle mechanism includes two expansion nozzle component seats; the expansion nozzle component seat position switching mechanism includes a support, a drive motor, a screw and a guide rail, the drive motor and the guide rail are fixedly mounted on the support, a slider is provided at the bottom of each of the two expansion nozzle component seats, both sliders are mounted on the guide rail and slide with the guide rail, the screw can be rotatably mounted on the support and is parallel to the guide rail, the power output shaft of the drive motor is connected to the screw, the screw has a first thread segment and a second thread segment with opposite spiral directions, one slider is provided with a screw hole engaged with the first thread segment, and the other slider is provided with a screw hole engaged with the second thread segment. When the drive motor drives the screw to rotate, it simultaneously drives the two sliders to translate along the guide rail. Since the spiral directions of the first thread segment and the second thread segment are opposite, the two sliders can move toward or away from each other, so that the two expansion nozzle component seats can move toward or away from each other, switching the position of each expansion nozzle component, so that each expansion nozzle component is brought closer or apart.

[0052] In another more preferred embodiment, the above-mentioned pipe expansion mechanism includes two pipe expansion component seats; the pipe expansion component seat position switching mechanism includes a support, a guide rail, a first connecting rod, a second connecting rod and a cylinder, the guide rail and the cylinder are fixedly mounted on the support, a slider is provided at the bottom of each of the two pipe expansion component seats, both sliders are mounted on the guide rail and slide with the guide rail, the cylinder and the guide rail are perpendicular to each other, a connecting block is installed on the piston rod of the cylinder, the first end of the first connecting rod is hinged to a slider, the second end of the first connecting rod is hinged to the connecting block, the first end of the second connecting rod is hinged to another slider, and the second end of the second connecting rod is hinged to the connecting block. When the piston rod of the cylinder is extended or retracted, the second end of the first connecting rod and the second end of the second connecting rod can be driven to move through the connecting block, so that the first end of the first connecting rod and the first end of the second connecting rod are moved closer to or apart from each other, driving the two sliders to move toward or away from each other, so that the two pipe expansion component seats can move toward or away from each other, switching the position of each pipe expansion component, so that each pipe expansion component is moved closer to or apart.

[0053] The above-mentioned expansion nozzle component seat position switching mechanism may also adopt other structures, and its power source may adopt a cylinder, a hydraulic cylinder, etc. For example: (1) In the case that the above-mentioned expansion nozzle mechanism includes ≥3 expansion nozzle component seats, the above-mentioned expansion nozzle component seat position switching mechanism includes a corresponding number of expansion nozzle component seat translation units, and the expansion nozzle component seat translation unit includes a support, a guide rail and a cylinder (or hydraulic cylinder). The cylinder body and the guide rail of the cylinder (or hydraulic cylinder) are fixedly mounted on the support, and a slider is provided at the bottom of the expansion nozzle component seat. The slider is mounted on the guide rail and slides with the guide rail. The cylinder (or hydraulic cylinder) is parallel to the guide rail, and the piston rod of the cylinder (or hydraulic cylinder) is connected to the slider or the expansion nozzle component seat; the cylinders (or hydraulic cylinders) in each expansion nozzle component seat translation unit act simultaneously to drive the slider and the expansion nozzle component seat. The component seat moves horizontally along the guide rail, thereby switching the position of each expansion nozzle component, so that each expansion nozzle component is separated or brought closer; (2) In the case where the above-mentioned expansion nozzle mechanism includes two expansion nozzle component seats, the expansion nozzle component seat position switching mechanism includes a support, a guide rail and a cylinder (or hydraulic cylinder), the guide rail is fixedly installed on the support, and a slider is provided at the bottom of each expansion nozzle component seat, both sliders are installed on the guide rail and slide with the guide rail, the cylinder (or hydraulic cylinder) and the guide rail are parallel to each other, and the two sliders are respectively connected to the cylinder body and piston rod of the cylinder (or hydraulic cylinder); when the piston rod of the cylinder (or hydraulic cylinder) is extended or retracted, the two sliders can be driven to move toward or away from each other, so that the two expansion nozzle component seats can move toward or away from each other, switching the position of each expansion nozzle component, so that each expansion nozzle component is brought closer or separated. In the case where a motor is used as the power source, a transmission mechanism such as a synchronous belt, gear / rack can also be used to achieve the position switching of the expansion nozzle component seat.

[0054] The present invention can receive liquid packaging bags filled with liquid (e.g., liquid dialysis solution packaging bags) from a filling machine and place the liquid packaging bags onto a packaging bag conveyor belt, while simultaneously positioning the pipe joints on the liquid packaging bags on a pipe joint positioning mechanism. The packaging bag conveyor belt then conveys the liquid packaging bags filled with liquid toward a tube expansion and insertion mechanism. Within the tube expansion and insertion mechanism, a plastic tube position switching mechanism switches the position of a plastic tube clamping mechanism and the plastic tube thereon, causing the plastic tube clamping mechanism and the plastic tube thereon to sequentially move between the plastic tube positioning mechanism, the pipe opening expansion mechanism, and the pipe joint positioning mechanism. The pipe opening expansion mechanism then expands the pipe opening of the plastic tube end, thereby increasing the size of the pipe opening of the plastic tube end and connecting the plastic tube end to the pipe joint, thereby improving the degree of automation and production efficiency of production. When the present invention is used in dialysate production, the end of an infusion tube is sleeved onto a corresponding pipe joint (e.g., a breakaway plug) on a liquid dialysis solution packaging bag filled with dialysate, thereby connecting the infusion tube to the liquid dialysis solution packaging bag. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1is a top view of a preferred embodiment 1 of the present invention;

[0056] Figure 2 yes Figure 1 Schematic diagram of the structure of the middle expansion tube and intubation mechanism;

[0057] Figure 3 1 is a schematic structural diagram of the movable positioning mechanism in the preferred embodiment 1 of the present invention;

[0058] Figure 4 1 is a schematic structural diagram of the pipe joint positioning mechanism in the preferred embodiment 1 of the present invention;

[0059] Figure 5 1 is a schematic structural diagram of the pipe joint auxiliary positioning mechanism in preferred embodiment 1 of the present invention;

[0060] Figure 6 Schematic diagram of the structure of the auxiliary clamping mechanism in the preferred embodiment 1 of the present invention;

[0061] Figure 7 is a perspective view of the plastic pipe position switching mechanism in preferred embodiment 1 of the present invention;

[0062] Figure 8 This is a three-dimensional diagram of the plastic pipe position switching mechanism in the preferred embodiment 1 of the present invention from another perspective;

[0063] Figure 9 is a perspective view of the plastic pipe clamping mechanism in preferred embodiment 1 of the present invention;

[0064] Figure 10 Schematic diagram of the structure of the pipe expansion mechanism in the preferred embodiment 1 of the present invention;

[0065] Figure 11 Schematic diagram of the structure of the air intake channel and the charging channel in the preferred embodiment 1 of the present invention;

[0066] Figure 12 is a cross-sectional view of the inflation channel in the preferred embodiment 1 of the present invention;

[0067] Figure 13 yes Figure 10 AA sectional view (the expansion nozzle seat position switching mechanism and the mounting seat are not shown);

[0068] Figure 14 Schematic diagram of the structure of the packaging bag handover mechanism in the preferred embodiment 1 of the present invention;

[0069] Figure 15 Schematic diagram of the structure of the translation mechanism in the preferred embodiment 1 of the present invention;

[0070] Figure 16 It is a structural schematic diagram of the upper clamping device in the preferred embodiment 1 of the present invention;

[0071] Figure 17 Schematic diagram of the structure of the lower clamping device in the preferred embodiment 1 of the present invention;

[0072] Figure 18 1 is a schematic structural diagram of the pushing mechanism in the preferred embodiment 1 of the present invention;

[0073] Figure 19 Schematic diagram of the structure of the suction cup, suction cup bracket and suction cup bracket position switching cylinder in preferred embodiment 1 of the present invention;

[0074] Figure 20 1 is a schematic structural diagram of the support and guide plate in the preferred embodiment 1 of the present invention;

[0075] Figure 21 Schematic diagram of the structure of the pipe expansion mechanism in the preferred embodiment 2 of the present invention;

[0076] Figure 22 It is a structural schematic diagram of the pipe expansion mechanism in the preferred embodiment 3 of the present invention. DETAILED DESCRIPTION

[0077] Example 1, as Figure 1-Figure 3 As shown, the intubation machine includes a frame 1, a packaging bag handover mechanism 11, a packaging bag conveyor belt 9, a movable positioning mechanism and a tube expansion and intubation mechanism; the packaging bag conveyor belt 9 and the movable positioning mechanism are arranged side by side on the frame 1 and have the same conveying direction; the movable positioning mechanism includes a conveying mechanism, a plurality of plastic tube positioning mechanisms 2 that can position the plastic tubes 101 to be connected, and a plurality of pipe joint positioning mechanisms 3 that can position the pipe joints 102 to be connected, the number of the plastic tube positioning mechanisms 2 and the pipe joint positioning mechanisms 3 being the same, and the plastic tube positioning mechanisms 2 and the pipe joint positioning mechanisms 3 being arranged alternately on the conveying mechanism; the packaging bag handover mechanism 11 can receive the liquid packaging bag 10 filled with liquid from the filling machine, and place the liquid packaging bag 10 into On the packaging bag conveyor belt 9, the pipe joint 102 on the liquid packaging bag 10 is positioned on the pipe joint positioning mechanism 3; along the conveying direction of the packaging bag conveyor belt 9, the pipe expansion and insertion mechanism is located behind the packaging bag handover mechanism 11; the pipe expansion and insertion mechanism includes a plastic pipe clamping mechanism 5 that can clamp the plastic pipe, a pipe expansion mechanism 4 that can expand the pipe mouth of the plastic pipe end 1011, and a plastic pipe position switching mechanism 6. The plastic pipe position switching mechanism 6 can switch the position of the plastic pipe clamping mechanism 5 and the plastic pipe 101 thereon between the plastic pipe positioning mechanism 2 that reaches the predetermined position, the pipe expansion mechanism 4 and the pipe joint positioning mechanism 3 that reaches the predetermined position; the pipe expansion mechanism 4 and the plastic pipe position switching mechanism 6 are both installed on the frame 1.

[0078] refer to Figure 3The plastic pipe positioning mechanism 2 includes a positioning post 21 and a positioning post seat 22. The positioning post 21 is mounted on the positioning post seat 22. In this embodiment, the lower end of the positioning post 21 is fixedly connected to the positioning post seat 22. The lower and upper halves of the positioning post 21 are both cylindrical, and the outer diameter of the lower half of the positioning post 21 is larger than that of the upper half. An annular limiting step 23 is formed at the junction of the lower half and the upper half of the positioning post 21. The positioning post 21 is used to position the plastic pipe to be connected. The plastic pipe end 1011 is sleeved on the upper half of the positioning post 21. When the end face of the plastic pipe end 1011 contacts the annular limiting step 23, the depth of the plastic pipe inserted into the positioning post is limited, so that the plastic pipe end 1011 is positioned at a predetermined height.

[0079] refer to Figure 4 The pipe joint positioning mechanism 3 includes a positioning fixture 31 and a positioning fixture seat 32. The positioning fixture 31 includes a fixed positioning jaw 311, a movable positioning jaw 312, and a first tension spring 313. The fixed positioning jaw 311 is mounted on the positioning fixture seat 32. The fixed positioning jaw 311 is provided with a transverse guide groove 314. The movable positioning jaw 312 is provided with a slider 315. The slider 315 is located in the transverse guide groove 314 and slidably cooperates with the transverse guide groove 314. The two ends of the first tension spring 313 are respectively connected to the fixed positioning jaw 311 and the movable positioning jaw 312. Under the action of the first tension spring 313, the fixed positioning jaw 311 and the movable positioning jaw 312 tend to clamp together. The first tension spring 313 and the transverse guide groove 314 are parallel to each other. The fixed positioning jaw 311 and the movable positioning jaw 312 each have a clamping portion 316, 317. The two clamping portions 316, 317 cooperate with each other to clamp the pipe joint 102 between the two clamping portions 316, 317, thereby positioning the pipe joint 102. When the fixed positioning jaw 311 and the movable positioning jaw 312 are in the clamped state, the width of the gap between the two clamping portions 316, 317 is slightly smaller than the outer diameter of the corresponding portion of the pipe joint 102. When the corresponding portion of the pipe joint 102 enters the gap between the two clamping portions 316, 317, the two clamping portions 316, 317 are stretched apart, at which point the first tension spring 313 is stretched, and the two clamping portions 316, 317 apply a clamping force to the corresponding portion of the pipe joint, thereby clamping the corresponding portion of the pipe joint.

[0080] refer to Figure 3In this embodiment, the conveying mechanism in the mobile positioning mechanism includes a positioning structure transmission chain 8, which includes a driving sprocket, a driven sprocket, and an endless chain 81. The driving sprocket and the driven sprocket are each rotatably mounted on the frame 1. The driving sprocket and the driven sprocket jointly tension the endless chain 81 (when tensioned, the endless chain 81 has a straight conveying section running in the conveying direction and a straight return section running in the opposite direction). Each plastic tube positioning mechanism 2 and each pipe joint positioning mechanism 3 are mounted on the endless chain 81. The multiple plastic tube positioning mechanisms 2 on the endless chain 81 are arranged at equal intervals, and the multiple pipe joint positioning mechanisms 3 on the endless chain 81 are arranged at equal intervals. The plastic tube positioning mechanisms 2 and the pipe joint positioning mechanisms 3 are arranged alternately on the endless chain 81. The positioning column seats 22 in the plastic tube positioning mechanisms 2 are connected to the endless chain 81, and the positioning fixture seats 32 in the pipe joint positioning mechanisms 3 are connected to the endless chain 81. The positioning structure transmission chain 8 and the packaging bag conveyor belt 9 can be driven by the same motor.

[0081] refer to Figure 1 、 Figure 5 and Figure 6The pipe expansion and insertion mechanism also includes a pipe joint auxiliary positioning mechanism 7, which includes an auxiliary clamping mechanism 71, an auxiliary clamping lifting seat 72, and an auxiliary clamping lifting mechanism capable of driving the auxiliary clamping lifting seat 72 to rise and fall. The auxiliary clamping lifting mechanism is fixedly mounted on the frame 1 (in this embodiment, the auxiliary clamping lifting mechanism includes an auxiliary clamping lifting cylinder 73, the cylinder body of the auxiliary clamping lifting cylinder 73 is fixedly mounted on the frame 1, and the piston rod of the auxiliary clamping lifting cylinder 73 is downward and connected to the auxiliary clamping lifting seat 72). The auxiliary clamping mechanism 71 is mounted on the auxiliary clamping lifting seat 72, and the auxiliary clamping mechanism 71 is located above the movable positioning mechanism and corresponds to the position of the pipe joint positioning mechanism 3 that has reached a predetermined position; the auxiliary clamping mechanism 71 includes an auxiliary clamping seat 711 and two auxiliary clamping claws 712, and the two auxiliary clamping claws 712 are mounted on the auxiliary clamping seat 711. The auxiliary clamping seat 711 is provided with an auxiliary clamping claw opening and closing mechanism capable of controlling the opening and closing of the two auxiliary clamping claws 712. The two auxiliary clamping jaws 712 each have a clamping portion 713. Driven by the auxiliary clamping jaw opening and closing mechanism, the clamping portions 713 of the two auxiliary clamping jaws 712 clamp together or separate. When the auxiliary clamping lifting mechanism (auxiliary clamping lifting cylinder 73) drives the auxiliary clamping lifting base 72 downward, the two auxiliary clamping jaws 712 descend to a position corresponding to the pipe joint positioning mechanism 3 (at this point, the two auxiliary clamping jaws 712 can be located outside the fixed positioning jaw 311 and the movable positioning jaw 312, respectively). The auxiliary clamping jaw opening and closing mechanism then drives the clamping portions 713 of the two auxiliary clamping jaws 712 to clamp together, further defining the position of the pipe joint positioning mechanism 3 and the pipe joint 102. Together with the pipe joint positioning mechanism 3, the auxiliary clamping jaws 712 are positioned to maintain a stable position. A limiting groove 714 can be provided at the lower end of the auxiliary clamp seat 711. When the two auxiliary clamping jaws 712 descend to a position corresponding to the pipe joint positioning mechanism 3, the pipe joint 102 is located in the limiting groove 714, which can further keep the pipe joint in a stable position.

[0082] refer to Figure 6The two auxiliary clamping jaws 712 are arranged side by side, the middle part of the auxiliary clamping jaws 712 is hinged to the auxiliary clamp seat 711, and the lower part of the auxiliary clamping jaw 712 constitutes a clamping part 713; the auxiliary clamping jaw opening and closing mechanism includes a second push rod 715 and a second push rod lifting mechanism that can drive the second push rod 715 to rise and fall (in this embodiment, the second push rod lifting mechanism includes a second push rod lifting cylinder 716, the cylinder body of the second push rod lifting cylinder 716 is fixedly mounted on the auxiliary clamp seat 711, and the piston rod of the second push rod lifting cylinder 716 faces downward and is connected to the upper end of the second push rod 715), guide surfaces 717 are respectively provided on the two side surfaces of the second push rod 715 (the guide surfaces 717 are similar to the profile of a cam), the upper end of the auxiliary clamping jaw 712 constitutes a top contact portion 718, and the top contact portions 718 of the two auxiliary clamping jaws 712 are in contact with the two guide surfaces 717 respectively. A second tension spring is connected between the upper ends of the two auxiliary jaws 712. This spring forces the upper ends of the two auxiliary jaws 712 to move toward each other, allowing their contact portions 718 to come into close contact with the two guide curved surfaces 717. A second push rod 715 is inserted between the two auxiliary jaws 712. When the second push rod lifting mechanism (second push rod lifting cylinder 716) drives the second push rod 715 up and down, the two guide curved surfaces 717 push against the contact portions 718 of the two auxiliary jaws, causing the two auxiliary jaws 712 to rotate about their respective centers, thereby controlling the closing or separation of the clamping portions 713 of the two auxiliary jaws.

[0083] refer to Figure 7-Figure 9 The plastic tube clamping mechanism 5 includes a plastic tube clamping finger cylinder 51 and two plastic tube clamping jaws 52. The plastic tube clamping finger cylinder 51 has two fingers 53, and the two plastic tube clamping jaws 52 are respectively connected to the two fingers 53 of the plastic tube clamping finger cylinder. The plastic tube clamping jaws 52 are provided with a plurality of clamping pieces 521 arranged in sequence, with a clamping piece insertion gap 522 between adjacent clamping pieces 521. The clamping piece 521 and the clamping piece insertion gap 522 on one plastic tube clamping jaw 52 respectively match the clamping piece insertion gap 522 and the clamping piece 521 on the other plastic tube clamping jaw 52 (the clamping piece 521 on one plastic tube clamping jaw can be inserted into the clamping piece insertion gap 522 on the other plastic tube clamping jaw).

[0084] refer to Figure 7 and Figure 8The plastic tube position switching mechanism 6 includes a lifting mechanism 61, a lifting seat 62, an X-direction translation mechanism 63, an X-direction translation seat 64, a Y-direction translation mechanism 65, a Y-direction translation seat 66, and a second flipping mechanism 67. The lifting mechanism 61 is mounted on the frame 1 and can drive the lifting seat 62 up and down. The X-direction translation mechanism 63 is mounted on the lifting seat 62 and can drive the X-direction translation seat 64 to translate in the X direction. The Y-direction translation mechanism 65 is mounted on the X-direction translation seat 64 and can drive the Y-direction translation seat 66 to translate in the Y direction. The second flipping mechanism 67 is mounted on the Y-direction translation seat 66 and can flip the plastic tube clamping mechanism 5. The X-direction is parallel to the conveying direction of the packaging bag conveyor belt 9 and the movable positioning mechanism. Driven by the second flipping mechanism 67, the plastic tube clamping mechanism 5 can flip around a rotating axis arranged in the X-direction by a certain angle, such as 90°. In the plastic tube position switching mechanism, the lifting mechanism 61 can drive the lifting seat 62, the X-direction translation mechanism 63, the X-direction translation seat 64, the Y-direction translation mechanism 65, the Y-direction translation seat 66, the second flipping mechanism 67 and the plastic tube clamping mechanism 5 to rise and fall together; the X-direction translation mechanism 63 can drive the X-direction translation seat 64, the Y-direction translation mechanism 65, the Y-direction translation seat 66, the second flipping mechanism 67 and the plastic tube clamping mechanism 5 to translate together in the X direction; the Y-direction translation mechanism 65 can drive the Y-direction translation seat 66, the second flipping mechanism 67 and the plastic tube clamping mechanism 5 to translate together in the Y direction; the second flipping mechanism 67 can drive the plastic tube clamping mechanism 5 to flip, thereby switching the position of the plastic tube clamping mechanism 5.

[0085] The lifting mechanism 61 includes a lifting guide post 611 and two sets of lifting cylinders 612 and 613. The two sets of lifting cylinders 612 and 613 have different strokes. Each lifting cylinder 612 and 613 is arranged vertically. The cylinder bodies of the lifting cylinders 612 and 613 are mounted on the frame 1. The piston rods of the lifting cylinders face upward and contact the bottom of the lifting base 62. The lifting guide post 611 extends vertically, and the lifting base 62 is equipped with a guide sleeve 614 that cooperates with the lifting guide post 611. Depending on the height position of the lifting base 62, the corresponding lifting cylinder 612 or lifting cylinder 613 is activated to drive the lifting base 62 up or down to the desired position. In this embodiment, the plastic pipe clamping mechanism 5 has a height difference when moving between the plastic pipe positioning mechanism 2 and the pipe expansion mechanism 4, and another height difference when moving between the pipe expansion mechanism 4 and the pipe joint positioning mechanism 3. Therefore, the use of two sets of lifting cylinders 612 and 613 with different strokes can meet the required height changes. Each set of lifting cylinders may include one or more lifting cylinders.

[0086] The X-direction translation mechanism 63 includes an X-direction translation cylinder 631 and an X-direction translation guide rail 632. The X-direction translation guide rail 632 is mounted on the lifting base 62 and extends in the X-direction. An X-direction translation slider 633 is mounted on the X-direction translation guide rail 632 and is movable along the X-direction translation guide rail 632. The X-direction translation slider 633 is connected to the X-direction translation base 64. The X-direction translation cylinder 631 is disposed along the X-direction. The cylinder body and piston rod of the X-direction translation cylinder 631 are connected to the lifting base 62 and the X-direction translation base 64, respectively. In this embodiment, the plastic tube positioning mechanism 2 and the pipe joint positioning mechanism 3 are spaced a certain distance apart in the X-direction. Since the pipe expansion mechanism 4 is aligned with the plastic tube positioning mechanism 2 (or the pipe joint positioning mechanism 3) in the X-direction, a single X-direction translation cylinder 631 can be used to switch the plastic tube clamping mechanism 5 in the X-direction.

[0087] The Y-direction translation mechanism 65 includes a push plate 651, a Y-direction translation guide rail 652, a first Y-direction translation cylinder 653, a second Y-direction translation cylinder 654, a third Y-direction translation cylinder 655 and a third tension spring 659; the Y-direction translation guide rail 652 is installed on the X-direction translation seat 64 and extends along the Y direction, a Y-direction translation slider 656 that can move along the Y-direction translation guide rail 652 is installed on the Y-direction translation guide rail 652, the Y-direction translation slider 656 is connected to the Y-direction translation seat 66, the push plate 651 is fixedly installed on the X-direction translation seat 64, the first Y-direction translation cylinder 653 and the second Y-direction translation cylinder 654 have different strokes, the first Y-direction translation cylinder 653 and the second Y-direction translation cylinder 654 are both arranged along the Y direction, the cylinder bodies of the first Y-direction translation cylinder 653 and the second Y-direction translation cylinder 654 are both fixedly installed on the Y-direction translation seat 66, The piston rods of the first and second Y-direction translation cylinders 653 and 654 correspond to the positions of the push plate 651. A third tension spring 659 is arranged along the Y direction, with its ends connected to the X-direction translation seat 64 and the Y-direction translation seat 66, respectively, causing the Y-direction translation seat 66 to tend to move toward the push plate 651. The Y-direction translation seat 66 is provided with a flip mechanism guide rail 657 extending along the Y direction. The second flip mechanism 67 is mounted on the flip mechanism guide rail 657 and can move along the flip mechanism guide rail 657. The ends of the third Y-direction translation cylinder 655 are respectively connected to the Y-direction translation seat 66 and the second flip mechanism 67 (the cylinder body of the third Y-direction translation cylinder can be connected to the second flip mechanism, and the piston rod can be connected to the Y-direction translation seat; alternatively, the piston rod of the third Y-direction translation cylinder can be connected to the second flip mechanism, and the cylinder body can be connected to the Y-direction translation seat). Four third tension springs are provided, arranged sequentially along the X direction. In this embodiment, a wall plate 658 is provided on the Y-direction translation seat 67, the cylinder body of the third Y-direction translation cylinder 655 is fixedly mounted on the second flipping mechanism 67 (the cylinder body of the third Y-direction translation cylinder 655 is fixedly mounted on the support 671), and the piston rod of the third Y-direction translation cylinder 67 is connected to the wall plate 658. The first Y-direction translation cylinder 653, the second Y-direction translation cylinder 654 and the third Y-direction translation cylinder 657 cooperate to realize multi-stroke control of the plastic tube clamping mechanism 5 in the Y-direction. For example, in the Y-direction, with the position of the pipe opening expansion mechanism 4 as a reference, the first Y-direction translation cylinder 653 can switch the position of the plastic tube clamping mechanism 5 between the plastic tube positioning mechanism 2 and the pipe opening expansion mechanism 4, and the second Y-direction translation cylinder 654 can switch the position of the plastic tube clamping mechanism 5 between the pipe opening expansion mechanism 4 and the pipe joint positioning mechanism 3; after the pipe opening of the plastic tube end and the position of the pipe joint 102 to be connected on the pipe joint positioning mechanism 3 are aligned with each other, the third Y-direction translation cylinder 657 is actuated to apply a thrust to the second flipping mechanism 67, so that the plastic tube clamping mechanism 5 and the plastic tube end thereon move further toward the pipe joint 102, and the plastic tube end 1011 is sleeved onto the pipe joint 102.

[0088] refer to Figure 9 The second flipping mechanism 67 includes a support 671, a flipping base 672, and a flipping drive cylinder 673. The flipping base 672 is rotatably mounted on the support 671 via a flipping axis 674, which is arranged along the X-axis. The cylinder body of the flipping drive cylinder 673 is hingedly connected to the support 671, and the piston rod of the flipping drive cylinder 673 is hingedly connected to a portion of the flipping base 672 that is offset from the flipping axis 674. The plastic tube clamping mechanism 5 is fixedly mounted on the flipping base 672 (the plastic tube clamping finger cylinder 51 is fixedly mounted on the flipping base 671). Driven by the second flipping mechanism 67, the plastic tube clamping mechanism 5 can be rotated around the flipping axis 674 to a certain angle, such as 90°.

[0089] like Figure 10 As shown, the pipe expansion mechanism 4 includes a pipe expansion assembly 42 and two pipe expansion component seats 41 (respectively, pipe expansion component seats 41-1 and 41-2). The pipe expansion assembly 42 is composed of two pipe expansion components 421 and 422. The pipe expansion components 421 and 422 correspond to the pipe expansion component seats 41-1 and 41-2 one by one. The pipe expansion component 421 is arranged on the corresponding pipe expansion component seat 41-1, and the pipe expansion component 422 is arranged on the corresponding pipe expansion component seat 41-2; the pipe expansion mechanism also includes a pipe expansion component seat position switching mechanism that can switch the position of each pipe expansion component seat 41, thereby closing or opening the pipe expansion assembly 42.

[0090] refer to Figure 11 and Figure 12 The expansion nozzle assembly 42 is provided with an air charging channel 43, and the expansion nozzle component seat 41-1 is provided with an air inlet channel 44. The air inlet end of the air inlet channel 44 opens on the surface of the expansion nozzle component seat 41-1, and the air outlet end of the air inlet channel 44 is connected to the air charging channel 43. The air outlet end of the air charging channel 43 is provided on the surface of the expansion nozzle assembly 42. In this embodiment, the lower ends of the expansion nozzle components 421 and 422 are connected to the corresponding expansion nozzle component seats 41-1 and 41-2, and the air outlet end of the air charging channel 43 is provided on the upper end surface of the expansion nozzle assembly 42. The inner side surface of the expansion nozzle component 421 is provided with a vertical strip groove 431, and the inner side surface of the expansion nozzle component 422 is provided with a vertical strip groove 432. When the expansion nozzle assembly 42 is in a closed state, the strip grooves 431 and 432 surround the air charging channel 43. An air intake pipe joint 412 is provided at the air intake end of the air intake channel 44 (the air intake pipe joint 412 can be welded to the expansion port component seat 41 - 1 ), and the air intake pipe joint 412 is connected to an air supply device (such as a compressed gas storage tank or an air pump) through an air intake pipe.

[0091] In this embodiment, when the expansion nozzle assembly 42 is in a closed state, its lower portion 423 is cylindrical (the outer diameter of the cylindrical portion 423 is usually slightly smaller than the initial inner diameter of the plastic pipe end), and its upper end 424 is truncated cone-shaped with a smaller top and a larger bottom; the truncated cone-shaped upper end 424 enables the plastic pipe end to be more smoothly inserted into the expansion nozzle assembly.

[0092] In this embodiment, the expansion nozzle component seat position switching mechanism includes an expansion nozzle finger cylinder 45 having two fingers 451 and 452. The expansion nozzle component seats 41-1 and 41-2 are connected to the expansion nozzle finger cylinder fingers 451 and 452 in a one-to-one correspondence. The expansion nozzle finger cylinder 45 controls the separation or convergence of its fingers 451 and 452, thereby separating or converging the two expansion nozzle components 421 and 422 (the expansion nozzle components 421 and 422 are translated under the drive of the expansion nozzle finger cylinder 45). Figure 13 The position switching mechanism of the expansion nozzle component seat also includes a limiting mechanism, which includes a limiting screw 46 and a limiting adjustment nut 47. A screw through hole 48 is provided in the expansion nozzle component seat 41-1, and a limiting screw hole 49 is provided in the expansion nozzle component seat 41-2. The screw through hole 48 and the limiting screw hole 49 are aligned with each other, and the limiting screw 46 passes through the screw through hole 48 and engages with the limiting screw hole 49. The first end of the limiting screw 46 is outside the screw through hole 48, and the limiting adjustment nut 47 is installed on the first end of the limiting screw 46. Component seat 41-1 is located between expansion nozzle component seat 41-2 and limit adjustment nut 47. When the two fingers 451 and 452 of the expansion nozzle finger cylinder 45 separate, the two expansion nozzle components 421 and 422 separate. When the expansion nozzle component seat 41-1 contacts the limit adjustment nut 47, the distance between the two expansion nozzle components 421 and 422 is limited, thereby expanding the nozzle to the predetermined size. Before production, the limit adjustment nut 47 is adjusted to the corresponding position of the limit screw 46 according to the predetermined size of the expansion nozzle. The second end of the limit screw 46 is located outside the limit screw hole 49. A fastening nut 410 is installed on the second end of the limit screw 46. The fastening nut 410 is in close contact with the side wall of the expansion nozzle component seat 41-2, which effectively prevents the position of the limit screw 46 from loosening.

[0093] The expansion port finger cylinder 5 is fixedly mounted on the mounting base 411. The mounting base 411 is mounted on the frame 1.

[0094] refer to Figure 14In this embodiment, the packaging bag transfer mechanism 11 includes a turning frame 111, a turning mechanism 112, a translation frame 113, a translation mechanism 114, and a liquid packaging bag placement mechanism 115. The turning frame 111 is rotatably mounted on the frame 1, and the turning mechanism 112 is mounted on the frame 1 and can drive the turning frame 111 to turn. The translation frame 113 is mounted on the turning frame 111 via a translation guide structure 116. The translation mechanism 114 can drive the translation frame 113 to move relative to the turning frame 111 along the guide direction of the translation guide structure 116. The liquid packaging bag placement mechanism 116 is mounted on the translation frame 113. The guiding direction of the translation guide structure 116 is perpendicular to the conveying direction of the packaging bag conveyor belt 9.

[0095] refer to Figure 15 The flip mechanism 112 includes a flip cylinder 1121, a flip sleeve 1122 and a flip swing arm 1123, and the translation mechanism 114 includes a translation servo motor 1141, a flip shaft 1142, a gear 1143 and a rack 1144; the flip shaft 1142 can be rotatably mounted on the frame 1 and is arranged in the horizontal direction (the direction of the flip shaft 1142 is parallel to the conveying direction of the packaging bag conveyor belt 9), the flip sleeve 1122 is sleeved on the flip shaft 1142 and can rotate relative to the flip shaft 1142, and the flip sleeve 1122 is connected to the flip shaft 1142. The frame 111 is fixedly connected to the tilting frame 111, one end of the tilting swing arm 1123 is fixedly connected to the tilting sleeve 1122, and the other end of the tilting swing arm 1123 is hinged to the piston rod of the tilting cylinder 1121. The cylinder body of the tilting cylinder 1121 is hinged to the frame 1; the gear 1143 is mounted on the tilting shaft 1142, and the rack 1144 is fixedly mounted on the translation frame 113 and meshes with the gear 1143. The rack 1144 extends along the guide direction of the translation guide structure 116, and the power output shaft of the translation servo motor 1141 is transmission-connected to the tilting shaft 1142. The translation servo motor 1141 is fixedly mounted on the frame 1, and the power output shaft of the translation servo motor 1141 is transmission-connected to one end of the tilting shaft 1142 through a coupling or a reducer.

[0096] refer to Figure 14 and Figure 15The translation guide structure 116 includes a plurality of linear guide rails 1161 and a plurality of sliders 1162. Each linear guide rail 1161 is fixedly mounted on the translation frame 113 and is parallel to each other. Each slider 116 is fixedly mounted on the flip frame 111. Each linear guide rail 1161 corresponds to at least one slider 1162, and the linear guide rails 1161 and the corresponding slider 1162 slide in cooperation. The linear guide rails 116 are perpendicular to the conveying direction of the packaging bag conveyor belt 9; the extension direction of the linear guide rails 1161 is the guiding direction of the translation guide structure 116. In this embodiment, there are four linear guide rails 1161, two of which are located on each side of the translation frame 113; there are eight sliders 1162, with each linear guide rail 1161 corresponding to two sliders 1162.

[0097] refer to Figure 15 The translation mechanism 114 in this embodiment includes a translation servo motor 1141, a tilting shaft 1142, two gears 1143, and two racks 1144. The two gears 1143 correspond to the two racks 1144 in a one-to-one manner. The two racks 1144 are mounted on either side of the translation frame 113. The tilting shaft 1142 extends through the translation frame 113. Strip-shaped through-holes 1131 and 1132 are provided on the translation frame 113 at positions corresponding to the tilting shaft 1142. The strip-shaped through-holes 1131 and 1132 extend along the guide direction of the translation guide structure 116. The tilting shaft 1142 is located within these strip-shaped through-holes 1131 and 1132. When the translation mechanism 114 drives the translation frame 113, the liquid packaging bag placement mechanism 115, and the liquid packaging bag 10 thereon to translate relative to the tilting frame 111, the tilting shaft 1142 moves relative to the strip-shaped through-holes 1131 and 1132.

[0098] refer to Figure 14 、 Figure 16-19The liquid packaging bag picking and placing mechanism 115 includes at least one (such as four) liquid packaging bag adsorption and positioning units, and the liquid packaging bag adsorption and positioning units include an adsorption and positioning substrate 1151, a suction cup bracket 1152, a suction cup bracket position switching cylinder 1153 and a pipe joint clamping device 1154. The adsorption and positioning substrate 1151 is installed on the translation frame 113, and the suction cup bracket position switching cylinder 1153 is arranged along the guide direction of the translation guide structure 116. The cylinder body of the suction cup bracket position switching cylinder 1153 is installed on the adsorption and positioning substrate 1151, and the suction cup bracket 1152 is connected to the piston rod of the suction cup bracket position switching cylinder 1153. The suction cup bracket 1152 is provided with at least one (such as three) suction cups 1155, and the pipe joint clamping device 1154 is installed on the adsorption and positioning substrate 1151. The suction cup 1155 corresponds to the bag body of the liquid packaging bag 10 and is used to adsorb the side wall of the bag body of the liquid packaging bag 10; the pipe joint clamping device 1154 corresponds to the position of the pipe joint 102 on the liquid packaging bag 10 and is used to clamp the pipe joint 102; the pipe joint clamping device 1154 cooperates with the suction cup 1155 to jointly position the liquid packaging bag 10 on the liquid packaging bag adsorption positioning unit. During operation, after the liquid packaging bag 10 filled with liquid from the filling machine and the liquid packaging bag picking and placing mechanism 115 reach the predetermined positions, the piston rod of the suction cup bracket position switching cylinder 1153 extends, so that each suction cup 1155 is adsorbed on the side wall of the bag body of the liquid packaging bag; then the piston rod of the suction cup bracket position switching cylinder 1153 retracts, so that the liquid packaging bag 10 leaves the filling machine, and at the same time the pipe joint clamping device 1154 clamps the pipe joint 102 on the liquid packaging bag 10; when the liquid packaging bag 10 reaches the packaging bag conveyor belt 9, the suction cup 1155 releases the bag body of the liquid packaging bag 10, and at the same time the pipe joint clamping device 1154 releases the pipe joint 102, and the liquid packaging bag picking and placing mechanism 115 releases the liquid packaging bag 10. Some liquid packaging bags 10 are also provided with a dispensing interface 103, which is arranged side by side with the pipe joint 102. In this case, a liquid packaging bag adsorption and positioning unit includes two pipe joint clamping devices 1154, which are used to clamp the pipe joint 102 and the dispensing interface 103 respectively.

[0099] The pipe joint clamping device 1154 includes an upper clamping device 11541, a lower clamping device 11542 and a pushing mechanism 11543; the upper clamping device 11541 includes a pipe joint clamping finger cylinder 115411 and two upper pipe joint clamping claws 115412, the pipe joint clamping finger cylinder 115411 is installed on the adsorption positioning base plate 1151, the pipe joint clamping finger cylinder 115411 has two fingers, and the two upper pipe joint clamping claws 115412 are respectively connected to the pipe joint clamping finger cylinder The two fingers of 115411 are connected; the lower clamping device 11542 includes a lower clamping device seat 115421, a lower pipe joint clamping claw opening and closing mechanism and two lower pipe joint clamping claws 115422. The lower clamping device seat 115421 is installed on the adsorption positioning base plate 1151. The two lower pipe joint clamping claws 115422 are arranged side by side. The middle part of the lower pipe joint clamping claw 115422 is hinged to the lower clamping device seat 115421. The lower pipe joint clamping claw opening and closing mechanism includes a first push rod 115423 and an energy A first push rod position switching cylinder 115424 is configured to drive a first push rod 115423 to reciprocate. Guide curved surfaces 115425 (similar to a cam profile) are provided on two side surfaces of the first push rod 115423. A lower pipe joint clamping jaw 115422 has a top contact portion 115426 at one end and a clamping portion 115427 at the other end. The top contact portions 115426 of the two lower pipe joint clamping jaws respectively contact and cooperate with the two guide curved surfaces 115425. The push mechanism 11543 includes a push plate 115431 and a push plate position switching cylinder 115432. The push plate position switching cylinder 115432 is positioned along the guide direction of the translation guide structure 116. The cylinder body of the push plate position switching cylinder 115432 is fixedly mounted on the adsorption positioning base plate 1151. The push plate 115431 is connected to the piston rod of the push plate position switching cylinder 115432 and is positioned between the upper clamping device 11541 and the lower clamping device 11542. The upper pipe joint clamping jaw 115422 is made of silicone. This silicone upper pipe joint clamping jaw is elastic and helps prevent damage to the pipe joint. Typically, a tension spring is connected between the two lower pipe joint clamping jaws 115422. The tension spring causes the contact portions 115426 of the two lower pipe joint clamping jaws to tend to move toward each other, thereby maintaining close contact between the contact portions 115426 of the two lower pipe joint clamping jaws and the two guide curved surfaces 115425. A first push rod 115423 is inserted between the two lower pipe joint clamping jaws 115422. When the first push rod position switching cylinder 115424 drives the first push rod 115423 to move, the two guide curved surfaces 115425 push the contact portions 115426 of the two lower pipe joint clamping jaws, causing the two lower pipe joint clamping jaws 115422 to rotate about their respective centers, thereby controlling the clamping portions 115427 of the two lower pipe joint clamping jaws to clamp or separate.

[0100] The liquid bag placement mechanism 115 of this embodiment includes four liquid bag suction and positioning units, arranged sequentially along the conveying direction of the bag conveyor. This allows four liquid bags 10 filled with liquid to be simultaneously received from the filling machine and placed onto the bag conveyor 9. The spacing between the liquid bag suction and positioning units is adjustable. For example, a horizontal guide rail 1156 extending in the guiding direction of the translation guide structure is provided on the translation frame 113, and a slider 1157 slidably engaged with the horizontal guide rail 1156 is provided on the suction and positioning base plate 1151, enabling the liquid bag suction and positioning units to be moved along the horizontal guide rail 1156 to a desired position. (The positions of the liquid bag suction and positioning units can be adjusted manually or mechanically.)

[0101] refer to Figure 3 In the pipe joint positioning mechanism of this embodiment, on the straight conveying section of the ring chain 81, the clamping portion 316 of the fixed positioning clamping jaw 311 and the clamping portion 317 of the movable positioning clamping jaw 312 are both facing upward. Figure 20 A support guide plate 12 is provided between the bag conveyor belt 9 and the movable positioning mechanism. This support guide plate 12 extends along the conveying direction of the bag conveyor belt 9, and its top surface forms a support guide surface. The portion of the support guide surface from the bag transfer mechanism 11 to the tube expansion and insertion mechanism is a horizontal surface 121, while the portion behind the tube expansion and insertion mechanism is an inclined surface 122 that gradually rises from front to back. The support guide surface corresponds to the end of the pipe connector 102 near the body of the liquid bag 10. After the tube expansion and insertion mechanism completes the connection between the plastic tube end 1011 and the pipe connector 102, as the liquid bag 10 continues to be conveyed backward, the pipe connector 102 is gradually lifted by the inclined surface and eventually disengages from the positioning fixture 31.

[0102] The following is a brief description of the working principle of this intubation machine:

[0103] The packaging bag transfer mechanism 11 receives the liquid packaging bag 10 filled with liquid from the filling machine and places the liquid packaging bag 10 on the packaging bag conveyor belt 9, while positioning the pipe joint 102 on the liquid packaging bag 10 on the pipe joint positioning mechanism 3; then the packaging bag conveyor belt 9 transports the liquid packaging bag 10 filled with liquid toward the pipe expansion and insertion mechanism, and the plastic pipe positioning mechanism 2 and the pipe joint positioning mechanism 3 in the mobile positioning mechanism move synchronously with the liquid packaging bag 10 under the drive of the conveying mechanism; In front of the mechanism, the infusion tube end 1011 is pre-positioned on the plastic tube positioning mechanism 2 (it can be operated manually or mechanically to position the tube end of the infusion tube on the empty drainage bag on the plastic tube positioning mechanism, and the empty drainage bag can be stacked on the liquid packaging bag); when the packaging bag conveyor belt 9 and the movable positioning mechanism jointly transport the liquid packaging bag 10 (such as a liquid medicine packaging bag), the empty drainage bag, the pipe joint positioning mechanism and the pipe joint, the plastic tube positioning mechanism and the infusion tube to the predetermined position, the tube expansion and intubation operations are performed by the tube expansion and intubation mechanism.

[0104] The plastic tube positioning mechanism 2 positions the plastic tube 101 to be connected, facilitating the plastic tube clamping mechanism 5 to grip the plastic tube 101 at a predetermined position. The clamping position of the plastic tube clamping mechanism 5 on the plastic tube 101 is close to the location where the tube opening is to be expanded, typically a short distance from the plastic tube end 1011. The pipe joint positioning mechanism 3 positions the pipe joint 102 to be connected, maintaining the pipe joint 102 at a predetermined position. This allows the plastic tube clamping mechanism 5 to accurately fit the expanded plastic tube end 1011 onto the pipe joint 102. The expanding mechanism 4 expands the tube end 1011.

[0105] Working principle of the packaging bag transfer mechanism 11: When the packaging bag transfer mechanism 11 is working, after the liquid packaging bag 10 filled with liquid from the filling machine reaches the predetermined position (the pipe joint 102 on the liquid packaging bag 10 filled with liquid from the filling machine is facing upward), the liquid packaging bag pick-up and placement mechanism 115 removes the liquid packaging bag 10 from the predetermined position, and the liquid packaging bag 10 is positioned on the liquid packaging bag pick-up and placement mechanism 115; then the translation mechanism 114 drives the translation frame 113, the liquid packaging bag pick-up and placement mechanism 115 and the liquid packaging bag 10 thereon together. The liquid packaging bag 10 is moved horizontally for a certain distance relative to the turning frame 111; then the turning mechanism 112 drives the turning frame 111 to turn over, and at this time the translation frame 113, the liquid packaging bag pick-up and placement mechanism 115 and the liquid packaging bag 10 thereon are also turned over together (for example, turned 90 degrees), so that the liquid packaging bag 10 reaches the top of the packaging bag conveyor belt 9, and the liquid packaging bag 10 is under the liquid packaging bag pick-up and placement mechanism 115; then the translation mechanism 114 drives the translation frame 113, the liquid packaging bag pick-up and placement mechanism 115 and the liquid packaging bag 10 thereon to be horizontally moved relative to the turning frame 111 again The liquid packaging bag 10 is moved a certain distance, so that the liquid packaging bag 10 descends and reaches the packaging bag conveyor belt 9, and at the same time, the pipe joint 102 on the liquid packaging bag 10 is positioned on the pipe joint positioning mechanism 3, and the liquid packaging bag picking and placing mechanism 115 releases the liquid packaging bag 10 (the suction cup 1155 releases the bag body of the liquid packaging bag 10, and at the same time, the pipe joint clamping device 1154 releases the pipe joint 102; when the pipe joint clamping device 1154 releases the pipe joint 102, the two upper pipe joint clamping claws 115422 separate, and the clamping parts 115427 of the two lower pipe joint clamping claws separate, and the push plate position The piston rod of the switching cylinder 115432 extends and pushes the push plate 115431, which pushes the pipe joint 102 out from between the two upper pipe joint clamps 115422 and the clamping parts 115427 of the two lower pipe joint clamps). The liquid packaging bag 10 is placed flat on the packaging bag conveyor belt 9, with its bag side wall in contact with the packaging bag conveyor belt 8, and the pipe joint 102 is on one side of the bag body; then the liquid packaging bag picking and placing mechanism 115 is reset by the translation mechanism 114 and the flipping mechanism 112, preparing for the next round of liquid packaging bag picking and placing operations.

[0106] The working principle of the pipe expansion and insertion mechanism: the plastic pipe position switching mechanism 6 can switch the position of the plastic pipe clamping mechanism 5 and the plastic pipe 101 thereon. Under the drive of the plastic pipe position switching mechanism 6, the plastic pipe clamping mechanism 5 and the plastic pipe 101 thereon move in sequence between the plastic pipe positioning mechanism 2, the pipe expansion mechanism 4 and the pipe joint positioning mechanism 3. Specifically, the plastic pipe clamping mechanism 5 first moves to the plastic pipe positioning mechanism 2 that has reached the predetermined position, clamps the plastic pipe 101 on the plastic pipe positioning mechanism 2, and removes it from the plastic pipe positioning mechanism 2; then the plastic pipe 101 is transferred to the pipe expansion mechanism 4, and the pipe expansion mechanism 4 expands the pipe mouth of the plastic pipe end 1011. Pipe expansion operation; after the pipe expansion mechanism 4 completes the pipe expansion operation, the plastic pipe 101 that has completed the pipe expansion operation is removed from the pipe expansion mechanism 4; then the plastic pipe 101 is transferred so that the pipe mouth of the plastic pipe end 1011 is aligned with the position of the pipe joint 102 to be connected on the pipe joint positioning mechanism 3 that has reached the predetermined position, and then the plastic pipe end 1011 is sleeved onto the pipe joint 102, thereby realizing the connection between the plastic pipe end and the pipe joint; after completing the connection between the plastic pipe end and the pipe joint, the plastic pipe clamping mechanism 5 releases the plastic pipe 101, and under the drive of the plastic pipe position switching mechanism 6, it returns to the position of the plastic pipe positioning mechanism 2, and starts the next round of pipe expansion and insertion operations. After the plastic tube clamping mechanism 5 clamps the plastic tube 101 on the plastic tube positioning mechanism 2 and removes it, during the entire process from the tube mouth of the plastic tube end 1011 to the pipe joint 102, the plastic tube clamping mechanism 5 keeps clamping the plastic tube 101 until the connection between the plastic tube end and the pipe joint is completed and then releases the plastic tube.

[0107] Working principle of the expansion nozzle mechanism: When expanding the nozzle of the plastic tube end, first, the expansion nozzle assembly 42 is in a closed state (the expansion nozzle components 421 and 422 are close to each other). At this time, the plastic tube can be clamped with the help of the plastic tube clamping and moving mechanism of the intubation machine, and then the plastic tube end is sleeved on the outside of the expansion nozzle assembly 42. At this time, gas is introduced from the air inlet end of the air inlet channel 44, and the gas enters the plastic tube through the air inlet channel 44 and the inflation channel 43 (when the plastic tube is an infusion tube connected to an empty drainage bag, the gas enters the empty drainage bag through the air inlet channel 44, the inflation channel 43, and the infusion tube); After that, the expansion nozzle component seat position switching mechanism switches the position of the expansion nozzle component seats 41-1 and 41-2, so that the expansion nozzle assembly 42 opens. At this time, the expansion nozzle components 421 and 422 separate from each other and respectively apply outward forces to the inner walls of the plastic tube ends to expand the nozzle size of the plastic tube ends; then the expansion nozzle assembly 42 is reclosed, and the plastic tube end is removed from the expansion nozzle assembly 42 with the help of the plastic tube clamping and moving mechanism of the intubation machine, and then the plastic tube end is moved to the position corresponding to the pipe joint of the liquid medicine packaging bag, and the plastic tube end is sleeved onto the pipe joint of the liquid medicine packaging bag to complete the intubation operation.

[0108] Example 2, reference Figure 21 41-2.

[0109] The remaining structures of this embodiment can be set with reference to embodiment 1.

[0110] When the driving motor 414 drives the screw 415 to rotate, it also drives the two sliders 417 to translate along the guide rail 416. Since the spiral directions of the first thread segment 4151 and the second thread segment 4152 are opposite, the two sliders 417 can move toward or away from each other, thereby causing the two expansion nozzle component seats 41-1 and 41-2 to move toward or away from each other, switching the positions of the two expansion nozzle components 421 and 422, and making the expansion nozzle components 421 and 422 move closer or apart.

[0111] Example 3, reference Figure 22In this embodiment, the pipe expansion mechanism includes two pipe expansion component seats 41-1 and 41-2; the pipe expansion component seat position switching mechanism includes a support (not shown), a guide rail 441, a first connecting rod 442, a second connecting rod 443 and a cylinder 444. The guide rail 441 and the cylinder 444 are both fixedly mounted on the support. A slider 445 is provided at the bottom of the pipe expansion component seat 41-1, and a slider 446 is provided at the bottom of the pipe expansion component seat 41-2. The two sliders 445 and 446 are both mounted on the guide rail 441 and slidably cooperate with the guide rail 441. The cylinder 444 and the guide rail 441 are perpendicular to each other. A connecting block 447 is installed on the piston rod of the cylinder 444. The first end of the first connecting rod 442 is hinged to the slider 445, the second end of the first connecting rod 442 is hinged to the connecting block 447, the first end of the second connecting rod 443 is hinged to another slider 446, and the second end of the second connecting rod 443 is hinged to the connecting block 447. When the piston rod of the cylinder 444 is extended or retracted, the second end of the first connecting rod 442 and the second end of the second connecting rod 443 are driven to move through the connecting block 447, so that the first end of the first connecting rod 442 and the first end of the second connecting rod 443 are moved closer to or apart from each other, and the two sliders 445 and 446 are driven to move toward or away from each other, so that the two expansion nozzle component seats 41-1 and 41-2 can move toward or away from each other, switching the positions of each expansion nozzle component and making each expansion nozzle component move closer to or away from each other.

Claims

1. A cannula machine, characterized in that The packaging bag delivery mechanism comprises a frame, a packaging bag delivery mechanism, a packaging bag conveyor belt, a movable positioning mechanism and a tube expansion and insertion mechanism; the packaging bag conveyor belt and the movable positioning mechanism are arranged side by side on the frame and have the same delivery direction; the movable positioning mechanism comprises a delivery mechanism, a plurality of plastic tube positioning mechanisms capable of positioning the plastic tubes to be connected, and a plurality of pipe joint positioning mechanisms capable of positioning the pipe joints to be connected, the number of the plastic tube positioning mechanisms and the pipe joint positioning mechanisms being the same, and the plastic tube positioning mechanisms and the pipe joint positioning mechanisms being arranged alternately on the delivery mechanism; the packaging bag delivery mechanism can receive the liquid packaging bags filled with liquid from the filling machine and place the liquid packaging bags on the packaging machine The bag conveyor belt positions the pipe joint on the liquid packaging bag on the pipe joint positioning mechanism at the same time; along the conveying direction of the packaging bag conveyor belt, the pipe expansion and insertion mechanism is located behind the packaging bag handover mechanism; the pipe expansion and insertion mechanism includes a plastic pipe clamping mechanism capable of clamping the plastic pipe, a pipe opening expansion mechanism capable of expanding the pipe opening of the plastic pipe end, and a plastic pipe position switching mechanism, which can switch the position of the plastic pipe clamping mechanism and the plastic pipe thereon between the plastic pipe positioning mechanism that reaches a predetermined position, the pipe opening expansion mechanism, and the pipe joint positioning mechanism that reaches a predetermined position; the pipe opening expansion mechanism and the plastic pipe position switching mechanism are both installed on the frame.

2. The intubation machine according to claim 1, characterized in that: The packaging bag delivery mechanism includes a turning frame, a turning mechanism, a translation frame, a translation mechanism and a liquid packaging bag taking and placing mechanism; the turning frame is rotatably mounted on the frame, the turning mechanism is mounted on the frame and can drive the turning frame to turn; the translation frame is mounted on the turning frame via a translation guide structure, and the translation mechanism can drive the translation frame to move relative to the turning frame along the guide direction of the translation guide structure; the liquid packaging bag taking and placing mechanism is mounted on the translation frame; The guiding direction of the translation guide structure is perpendicular to the conveying direction of the packaging bag conveyor belt.

3. The intubation machine according to claim 2, characterized in that: The flip mechanism includes a flip cylinder, a flip sleeve and a flip swing arm, and the translation mechanism includes a translation servo motor, a flip shaft, a gear and a rack; the flip shaft can be rotatably mounted on the frame and is arranged in the horizontal direction, the flip sleeve is sleeved on the flip shaft and can rotate relative to the flip shaft, the flip sleeve is fixedly connected to the flip frame, one end of the flip swing arm is fixedly connected to the flip sleeve, the other end of the flip swing arm is hinged to the piston rod of the flip cylinder, and the cylinder body of the flip cylinder is hinged to the frame; the gear is mounted on the flip shaft, the rack is fixedly mounted on the translation frame and meshes with the gear, the rack extends along the guide direction of the translation guide structure, and the power output shaft of the translation servo motor is transmission-connected to the flip shaft; The translation guide structure includes a plurality of linear guide rails and a plurality of sliders, each linear guide rail is fixedly mounted on the translation frame and is parallel to each other, each slider is fixedly mounted on the flip frame, one linear guide rail corresponds to at least one slider, and the linear guide rail and the corresponding slider are slidably engaged; The liquid packaging bag picking and placing mechanism includes at least one liquid packaging bag adsorption and positioning unit, which includes an adsorption and positioning substrate, a suction cup bracket, a suction cup bracket position switching cylinder and a pipe joint clamping device. The adsorption and positioning substrate is installed on the translation frame, the suction cup bracket position switching cylinder is arranged along the guide direction of the translation guide structure, the cylinder body of the suction cup bracket position switching cylinder is installed on the adsorption and positioning substrate, the suction cup bracket is connected to the piston rod of the suction cup bracket position switching cylinder, the suction cup bracket is provided with at least one suction cup, and the pipe joint clamping device is installed on the adsorption and positioning substrate.

4. The intubation machine according to claim 3, characterized in that: The pipe joint clamping device includes an upper clamping device, a lower clamping device and a pushing mechanism; the upper clamping device includes a pipe joint clamping finger cylinder and two upper pipe joint claws, the pipe joint clamping finger cylinder is installed on the adsorption positioning base plate, the pipe joint clamping finger cylinder has two fingers, and the two upper pipe joint claws are respectively connected to the two fingers of the pipe joint clamping finger cylinder; the lower clamping device includes a lower clamping device seat, a lower pipe joint claw opening and closing mechanism and two lower pipe joint claws, the lower clamping device seat is installed on the adsorption positioning base plate, the two lower pipe joint claws are arranged side by side, the middle part of the lower pipe joint claw is hinged to the lower clamping device seat, and the lower pipe joint claw opening and closing mechanism includes a first push rod and a first push rod capable of driving the first push rod to move The push rod position switching cylinder has guide curved surfaces on the two side surfaces of the first push rod respectively, one end of the lower pipe joint clamping jaw constitutes a top contact part, and the other end of the lower pipe joint clamping jaw constitutes a clamping part, and the top contact parts of the two lower pipe joint clamping jaws respectively contact and cooperate with the two guide curved surfaces; a tension spring is connected between the two lower pipe joint clamping jaws, and the tension spring makes the top contact parts of the two lower pipe joint clamping jaws tend to move closer to each other; the pushing mechanism includes a push plate and a push plate position switching cylinder, the push plate position switching cylinder is arranged along the guide direction of the translation guide structure, the cylinder body of the push plate position switching cylinder is fixedly installed on the adsorption positioning base plate, the push plate is connected to the piston rod of the push plate position switching cylinder, and the push plate is located between the upper clamping device and the lower clamping device.

5. The intubation machine according to any one of claims 1 to 4, characterized in that: The plastic pipe positioning mechanism includes a positioning column and a positioning column seat, and the positioning column is installed on the positioning column seat; The pipe joint positioning mechanism includes a positioning clamp and a positioning clamp seat. The positioning clamp includes a fixed positioning jaw, a movable positioning jaw and a first tension spring. The fixed positioning jaw is installed on the positioning clamp seat. A transverse guide groove is provided on the fixed positioning jaw. A slider is provided on the movable positioning jaw. The slider is located in the transverse guide groove and slides with the transverse guide groove. The two ends of the first tension spring are respectively connected to the fixed positioning jaw and the movable positioning jaw. Under the action of the first tension spring, the fixed positioning jaw and the movable positioning jaw have a tendency to clamp each other.

6. The intubation machine according to claim 5, characterized in that: The conveying mechanism in the mobile positioning mechanism includes a positioning structure transmission chain, which includes a driving sprocket, a driven sprocket and an endless chain. The driving sprocket and the driven sprocket are respectively rotatably mounted on the frame, and the driving sprocket and the driven sprocket jointly tension the endless chain; each plastic pipe positioning mechanism and each pipe joint positioning mechanism are mounted on the endless chain, and multiple plastic pipe positioning mechanisms on the endless chain are arranged at equal intervals, and multiple pipe joint positioning mechanisms on the endless chain are arranged at equal intervals, and the plastic pipe positioning mechanisms and the pipe joint positioning mechanisms are alternately arranged on the endless chain, and the positioning column seat in the plastic pipe positioning mechanism is connected to the endless chain, and the positioning fixture seat in the pipe joint positioning mechanism is connected to the endless chain; Alternatively, the conveying mechanism in the mobile positioning mechanism includes a positioning structure transmission belt, the positioning structure transmission belt includes a driving pulley, a driven pulley and an annular synchronous belt, the driving pulley and the driven pulley are respectively rotatably mounted on the frame, and the driving pulley and the driven pulley jointly tension the annular synchronous belt; each plastic pipe positioning mechanism and each pipe joint positioning mechanism are mounted on the annular synchronous belt, the multiple plastic pipe positioning mechanisms on the annular synchronous belt are arranged at equal intervals, the multiple pipe joint positioning mechanisms on the annular synchronous belt are arranged at equal intervals, the plastic pipe positioning mechanisms and the pipe joint positioning mechanisms are alternately arranged on the annular synchronous belt, the positioning column seat in the plastic pipe positioning mechanism is connected to the annular synchronous belt, and the positioning fixture seat in the pipe joint positioning mechanism is connected to the annular synchronous belt; Alternatively, the conveying mechanism in the movable positioning mechanism includes an annular guide rail, on which are provided a plurality of sliders arranged in sequence on the annular guide rail and movable along the annular guide rail, each slider being equipped with a plastic pipe positioning mechanism and a pipe joint positioning mechanism; two adjacent sliders are hinged by a connecting rod, so that all the sliders are connected in sequence to form a closed loop.

7. The intubation machine according to any one of claims 1 to 4, characterized in that: The pipe expansion and insertion mechanism also includes a pipe joint auxiliary positioning mechanism, which includes an auxiliary clamping mechanism, an auxiliary clamping lifting seat, and an auxiliary clamping lifting mechanism capable of driving the auxiliary clamping lifting seat to rise and fall. The auxiliary clamping lifting mechanism is fixedly mounted on the frame, and the auxiliary clamping mechanism is mounted on the auxiliary clamping lifting seat. The auxiliary clamping mechanism is located above the movable positioning mechanism and corresponds to the position of the pipe joint positioning mechanism that has reached a predetermined position. The auxiliary clamping mechanism includes an auxiliary clamping seat and two auxiliary clamping claws, the two auxiliary clamping claws are mounted on the auxiliary clamping seat, and the auxiliary clamping seat is provided with an auxiliary clamping claw opening and closing mechanism capable of controlling the opening and closing of the two auxiliary clamping claws. The two auxiliary clamping jaws are arranged side by side, the middle part of the auxiliary clamping jaws is hinged to the auxiliary clamping base, and the lower part of the auxiliary clamping jaws constitutes a clamping part; the auxiliary clamping jaw opening and closing mechanism includes a second push rod and a second push rod lifting mechanism capable of driving the second push rod to rise and fall, and the two side surfaces of the second push rod are respectively provided with guide curved surfaces, and the upper ends of the auxiliary clamping jaws constitute a top contact part, and the top contact parts of the two auxiliary clamping jaws respectively contact and cooperate with the two guide curved surfaces; A second tension spring is connected between the upper ends of the two auxiliary clamping jaws, and the second tension spring makes the upper ends of the two auxiliary clamping jaws tend to move closer to each other; The plastic tube clamping mechanism comprises a plastic tube clamping finger cylinder and two plastic tube clamping claws, wherein the plastic tube clamping finger cylinder has two fingers, and the two plastic tube clamping claws are respectively connected to the two fingers of the plastic tube clamping finger cylinder; The plastic pipe clamp is provided with a plurality of clamping pieces arranged in sequence, with a clamping piece insertion gap between two adjacent clamping pieces; the clamping piece and the clamping piece insertion gap on one plastic pipe clamp respectively correspond to the clamping piece insertion gap and the clamping piece on the other plastic pipe clamp.

8. The intubation machine according to any one of claims 1 to 4, characterized in that: The plastic pipe position switching mechanism includes a lifting mechanism, a lifting seat, an X-direction translation mechanism, an X-direction translation seat, a Y-direction translation mechanism, a Y-direction translation seat, and a second flipping mechanism. The lifting mechanism is installed on the frame and can drive the lifting seat to rise and fall. The X-direction translation mechanism is installed on the lifting seat and can drive the X-direction translation seat to translate in the X direction. The Y-direction translation mechanism is installed on the X-direction translation seat and can drive the Y-direction translation seat to translate in the Y direction. The second flipping mechanism is installed on the Y-direction translation seat and can drive the plastic pipe clamping mechanism to flip. Alternatively, the plastic pipe position switching mechanism includes a lifting mechanism, a lifting seat, a Y-direction translation mechanism, a Y-direction translation seat, an X-direction translation mechanism, an X-direction translation seat, and a second flipping mechanism; the lifting mechanism is mounted on the frame and can drive the lifting seat to rise and fall; the Y-direction translation mechanism is mounted on the lifting seat and can drive the Y-direction translation seat to translate in the Y direction; the X-direction translation mechanism is mounted on the Y-direction translation seat and can drive the X-direction translation seat to translate in the X direction; the second flipping mechanism is mounted on the X-direction translation seat and can drive the plastic pipe clamping mechanism to flip; Alternatively, the plastic pipe position switching mechanism includes a lifting mechanism, a lifting seat, a Y-direction translation mechanism, a Y-direction translation seat, an X-direction translation mechanism and an X-direction translation seat. The lifting mechanism is installed on the frame and can drive the lifting seat to rise and fall, the Y-direction translation mechanism is installed on the lifting seat and can drive the Y-direction translation seat to translate in the Y direction, the X-direction translation mechanism is installed on the Y-direction translation seat and can drive the X-direction translation seat to translate in the X direction, and the plastic pipe clamping mechanism is installed on the X-direction translation seat.

9. The intubation machine according to any one of claims 1 to 4, characterized in that: The pipe expansion mechanism includes a pipe expansion assembly and at least two pipe expansion component seats. The pipe expansion assembly is composed of at least two pipe expansion components. The pipe expansion components are equal in number to the pipe expansion component seats and correspond one to one. The pipe expansion components are arranged on the corresponding pipe expansion component seats. The pipe expansion mechanism also includes a pipe expansion component seat position switching mechanism that can switch the position of each pipe expansion component seat to close or open the pipe expansion assembly. An inflation channel is provided in the expansion nozzle assembly, and an air inlet channel is provided in an expansion nozzle component seat. The air inlet end of the air inlet channel opens on the surface of the expansion nozzle component seat, the air outlet end of the air inlet channel is connected to the inflation channel, and the air outlet end of the inflation channel is provided on the surface of the expansion nozzle assembly.

10. The intubation machine according to claim 9, characterized in that: The expansion nozzle component seat position switching mechanism includes an expansion nozzle finger cylinder, which has at least two fingers. The number of fingers of the expansion nozzle finger cylinder is the same as the number of the expansion nozzle component seat, and the expansion nozzle component seat and the fingers of the expansion nozzle finger cylinder are connected one-to-one; Alternatively, the position switching mechanism of the expansion nozzle component seat includes at least two expansion nozzle component seat translation units, and the expansion nozzle component seat translation units are the same in number and correspond one to one with the expansion nozzle component seats; the expansion nozzle component seat translation unit includes a support, a drive motor, a screw and a guide rail, the drive motor and the guide rail are fixedly mounted on the support, a slider is provided at the bottom of the expansion nozzle component seat, the slider is mounted on the guide rail and slidably cooperates with the guide rail, the screw is rotatably mounted on the support and is parallel to the guide rail, the slider is provided with a screw hole that meshes with the screw, and the power output shaft of the drive motor is transmission-connected to the screw; Alternatively, the pipe expansion mechanism includes two pipe expansion component seats; the pipe expansion component seat position switching mechanism includes a support, a drive motor, a screw and a guide rail, the drive motor and the guide rail are fixedly mounted on the support, a slider is respectively provided at the bottom of the two pipe expansion component seats, the two sliders are mounted on the guide rail and slide in cooperation with the guide rail, the screw is rotatably mounted on the support and is parallel to the guide rail, the power output shaft of the drive motor is transmission-connected to the screw, the screw has a first thread segment and a second thread segment with opposite spiral directions, a screw hole is provided on one slider that engages with the first thread segment, and a screw hole is provided on the other slider that engages with the second thread segment; Alternatively, the pipe expansion mechanism includes two pipe expansion component seats; the pipe expansion component seat position switching mechanism includes a support, a guide rail, a first connecting rod, a second connecting rod and a cylinder, the guide rail and the cylinder are fixedly mounted on the support, a slider is respectively provided at the bottom of the two pipe expansion component seats, the two sliders are mounted on the guide rail and slide with the guide rail, the cylinder and the guide rail are perpendicular to each other, a connecting block is installed on the piston rod of the cylinder, the first end of the first connecting rod is hinged to a slider, the second end of the first connecting rod is hinged to the connecting block, the first end of the second connecting rod is hinged to another slider, and the second end of the second connecting rod is hinged to the connecting block.

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