Automatic mixing and filling device and method for rod-shaped and tubular medicines

Abstract

The application belongs to the technical field of automatic filling, and particularly relates to a rod-shaped medicine and tubular medicine automatic mixing and filling device and method. The device comprises a rod-shaped medicine and tubular medicine automatic mixing and filling mechanism, a rod-shaped medicine automatic carding and conveying mechanism, a tubular medicine automatic carding and conveying mechanism, a cloth bag automatic feeding mechanism, a filling container automatic conveying mechanism, a first gantry manipulator, a second gantry manipulator and an unqualified product removing mechanism. The rod-shaped medicine and tubular medicine automatic carding and conveying mechanisms are respectively located on one side above the rod-shaped medicine and tubular medicine automatic mixing and filling mechanism, and the filling container automatic conveying mechanism is located at the tail of the rod-shaped medicine and tubular medicine automatic mixing and filling mechanism. The application has a reasonable structure, and can realize the automation of the whole process of rod-shaped medicine and tubular medicine automatic mixing and filling, achieve the purpose of man-machine isolation, effectively control the production quality, improve the production efficiency, and reduce the threat to personal safety caused by combustion or explosion.

Description

Technical Field

[0001] This invention belongs to the field of automated filling technology, specifically relating to an automatic mixing and filling device and method for rod-shaped and tubular drugs. Background Technology

[0002] Each cartridge case requires a large amount of propellant, and the length of the rods must meet design standards. To ensure compliance with design requirements, the rods must be screened during the loading process. Traditional loading methods require manual operation, which presents problems such as a large volume of hazardous materials at the work site, a large number of workers, high labor intensity, and the batch product's propellant quality being greatly affected by subjective factors.

[0003] To this end, the patent specification with publication number CN109723575B discloses a free-loading method and technique for tubular propellant to achieve multiple thrust schemes. This belongs to the field of solid rocket motor propellant technology and is applicable to solid rocket motors used for simulating the dynamic armor-piercing velocity of armor-piercing warheads. It is mainly used to achieve the thrust schemes required for different simulated velocities of dynamic armor-piercing warheads. This method and technique includes a baffle plate and two sets of propellant grains. The baffle plate has five mounting holes on one side, for a total of ten mounting holes on both sides. By using two tubular propellant grains of different lengths, combined with the baffle plate, and selecting different combination methods, multiple thrust schemes can be achieved with a single engine. The outstanding advantages of this invention are its simple structure, safe assembly, and convenient use. The newly designed baffle plate can realize various combinations of multiple sets / multiple propellant grains, while avoiding many disadvantages of traditional multi-tube propellant mounting or insertion. It achieves the requirement of using a single engine to realize different thrust schemes and has great potential for widespread application.

[0004] However, this filling device still has shortcomings; it cannot automatically mix and fill rod-shaped and tubular drugs. Therefore, it needs to be optimized and improved. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned problems existing in the conventional technology and to provide an automatic mixing and filling device and method for rod-shaped and tubular drugs.

[0006] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0007] An automatic mixing and filling device for rod-shaped and tubular drugs includes an automatic mixing and filling mechanism for rod-shaped and tubular drugs, an automatic sorting and conveying mechanism for rod-shaped drugs, an automatic sorting and conveying mechanism for tubular drugs, an automatic bag feeding mechanism, an automatic filling container conveying mechanism, a first gantry robot, a second gantry robot, and a defective product rejection mechanism. The automatic sorting and conveying mechanism for rod-shaped and tubular drugs is located on one side above the automatic mixing and filling mechanism, and the automatic sorting and conveying mechanism for tubular drugs is located on the other side above the automatic mixing and filling mechanism. The automatic filling container conveying mechanism is located at the tail end of the automatic mixing and filling mechanism. The automatic bag feeding mechanism is located on one side of the first gantry robot, which is directly above the automatic filling container conveying mechanism. The second gantry robot is also directly above the automatic filling container conveying mechanism. Each of the automatic sorting and conveying mechanism for rod-shaped and tubular drugs has a defective product rejection mechanism installed near its output end.

[0008] Furthermore, in the aforementioned automatic mixing and filling device for rod-shaped and tubular drugs, the automatic mixing and filling mechanism for rod-shaped and tubular drugs includes a first motor, a first horizontal push rod, a push plate, a hopper, a vertical push rod, a pressure cap, a filling container, a blocking block, a first gripper cylinder, a baffle, a star wheel, a second horizontal push rod, a first frame, a second motor, a crank-rocker mechanism, and a movable platform. The first frame is equipped with a crank-rocker mechanism and a filling container with a hopper. The crank of the crank-rocker mechanism is driven to rotate by the second motor. The outer ends of the rockers of the crank-rocker mechanism are connected to the movable platform. One end of the movable platform is equipped with the first motor. The output end of the machine is equipped with a first transverse push rod, and the movable end of the first transverse push rod is equipped with a push plate. The other end of the movable platform is equipped with a second transverse push rod, and the movable end of the second transverse push rod is connected to a first gripper cylinder. The gripper of the first gripper cylinder is equipped with a blocking block for limiting the backward movement of the filling container. A vertical frame is fixed to the side end of the first frame, and a vertical push rod is installed on the vertical frame. The movable end of the vertical push rod is equipped with a pressure cap located directly above the hopper. A star wheel is installed inside the hopper, and the star wheel divides the inner cavity of the hopper into six filling zones. The specifications of the filling zones are the same as the inner cavity specifications of the filling container.

[0009] Furthermore, in the aforementioned automatic mixing and filling device for rod-shaped and tubular drugs, the automatic sorting and conveying mechanism for rod-shaped drugs includes a first conveyor chain, a first synchronous belt, a rod-shaped drug hopper, a first brush, and a third motor. The third motor drives the first conveyor chain to circulate through the first synchronous belt. The first conveyor chain has a Z-shaped structure including a horizontal low section, a lifting section, and a horizontal high section. The rod-shaped drug hopper is installed above the horizontal low section of the first conveyor chain, and the first brush is installed above the lifting section of the first conveyor chain. The automatic sorting of the rod-shaped drugs is completed by removing material overlap through the first brush.

[0010] Furthermore, in the aforementioned automatic mixing and filling device for rod-shaped and tubular drugs, the automatic sorting and conveying mechanism for tubular drugs includes a second conveyor chain, a second synchronous belt, a tubular drug hopper, a second brush, and a fourth motor. The fourth motor drives the second conveyor chain to circulate through the second synchronous belt. The second conveyor chain has a Z-shaped structure including a horizontal low section, a lifting section, and a horizontal high section. A tubular drug hopper is installed above the horizontal low section of the second conveyor chain, and a second brush is installed above the lifting section of the second conveyor chain. The automatic sorting of tubular drugs is completed by removing material overlap through the second brush.

[0011] Furthermore, in the above-mentioned automatic mixing and filling device for rod-shaped and tubular drugs, the automatic bag feeding mechanism includes a second frame, a first vertical linear guide pair, a movable pallet, and a bag roll rack. The second frame is equipped with the first vertical linear guide pair, and the movable pallet is fixed on the slider of the first vertical linear guide pair. The movable pallet is equipped with a bag roll rack for loading bag rolls.

[0012] Furthermore, in the above-mentioned automatic mixing and filling device for rod-shaped and tubular drugs, the automatic conveying mechanism for the filling container includes a third frame, a first horizontal linear slide rail, a first horizontal slider, a tray, and a second filling container. Two first horizontal linear slide rails are fixed side by side on the third frame. A first horizontal slider that forms a horizontal linear guide pair with the first horizontal linear slide rail is installed on the first horizontal linear slide rail. The first horizontal sliders, in turn, support the tray for placing the filling container.

[0013] Furthermore, in the aforementioned automatic mixing and filling device for rod-shaped and tubular drugs, the first truss manipulator includes a fourth frame, a second horizontal linear guide rail, a second slider, a second vertical push rod, a second vertical linear guide rail pair, a first suction cup bracket, and a first vacuum suction cup. The second horizontal linear guide rail is fixed on the fourth frame, and a second slider forming a horizontal linear guide rail pair with it is installed on the second horizontal linear guide rail. The second vertical linear guide rail pair is installed on the second slider, and a second vertical push rod is fixed on the slider of the second vertical linear guide rail pair. The movable end of the second vertical push rod is fitted with a first vacuum suction cup via the first suction cup bracket.

[0014] Furthermore, in the aforementioned automatic mixing and filling device for rod-shaped and tubular drugs, the second truss manipulator includes a fifth frame, a third horizontal linear guide rail, a third slider, a third vertical push rod, a third vertical linear guide rail, a fourth slider, a gripper bracket, a second gripper cylinder, and a second gripper. The fifth frame is fixed with the third horizontal linear guide rail, and the third slider, which forms a horizontal linear guide rail pair with the third horizontal linear guide rail, is mounted on the third horizontal linear guide rail. The third vertical linear guide rail is mounted on the third slider, and the fourth slider of the third vertical linear guide rail is fixed with the third vertical push rod. The movable end of the third vertical push rod is equipped with a gripper bracket, and the gripper bracket is equipped with a second gripper cylinder with a second gripper.

[0015] Furthermore, in the aforementioned automatic mixing and filling device for rod-shaped and tubular drugs, the defective product rejection mechanism includes a sixth frame, a support platform, a vision inspection system bracket, a vision inspection system support, a vision inspection system support block, a vision inspection system support shaft, a vision inspection system support block, a vision inspection system, a vision inspection system baffle, an image device protective cover, a rejection cylinder, and a defective product hopper. A support platform with a wire-passing hole is fixed to the upper end of the sixth frame. The vision inspection system bracket and the defective product hopper are fixedly installed on the support platform. The vision inspection system bracket... The vision inspection system is mounted on a support, a support block, a support shaft, and a support block. A baffle with a protective cover for the imaging device is installed at the lower end of the vision inspection system. A material sliding ramp is provided at one end of the non-conforming material hopper. A rejection cylinder is installed above the sliding ramp on the side opposite to the non-conforming material hopper. The rejection cylinder is connected to an air pump via an air pipe. When the vision inspection system detects non-conforming material, the rejection cylinder pushes the non-conforming product into the non-conforming material hopper.

[0016] The present invention also provides an automatic mixing and filling method for rod-shaped and tubular drugs, which is based on the above-mentioned automatic mixing and filling device for rod-shaped and tubular drugs, and includes the following steps:

[0017] 1) The rod-shaped drugs are loaded into the rod-shaped drug bin of the automatic rod-shaped drug sorting and conveying mechanism, and the tubular drugs are loaded into the tubular drug bin of the automatic tubular drug sorting and conveying mechanism. The first conveyor chain in the automatic rod-shaped drug sorting and conveying mechanism only allows a single piece of material from the rod-shaped drug bin to enter, and the second conveyor chain in the automatic tubular drug sorting and conveying mechanism only allows a single piece of material from the tubular drug bin to enter. When the rod-shaped or tubular drug material reaches the inspection station, it is inspected by the vision inspection system in the non-conforming product rejection mechanism. If the current material is detected as non-conforming, the movable rod of the rejection cylinder extends and pushes the material into the non-conforming product bin.

[0018] 2) The automatic mixing and filling mechanism for rod-shaped and tubular drugs is reset. At this time, one of the six filling zones separated by the star wheel is located directly below the cap, and another filling zone is connected to the discharge port of the hopper.

[0019] 3) The filling container with the bottom bag is placed in the designated position by the second gantry robot and held by the second gripper of the second gripper cylinder, while the blocking block restricts the filling container from moving backward.

[0020] 4) Rod-shaped and tubular drugs are fed into the filling area located directly below the pressure cap through the hopper in a certain quantity. After the filling area is filled, the first motor drives the star wheel to rotate 60 degrees, so that the new filling area is located directly below the pressure cap, realizing cyclic filling.

[0021] 5) The first horizontal push rod pulls the star wheel out of the filling container cylinder. After a certain amount of rod-shaped and tubular medicines are fed into the filling container cylinder through the hopper, the vertical push rod drives the pressure cap to move down and slowly press it against the discharge port at the top of the filling container cylinder. At the same time, the second motor drives the crank rocker mechanism to start, so as to ensure that the last filling material completely enters the filling container cylinder.

[0022] 6) After all the material has entered the filling container cylinder, the second transverse push rod drives the push plate to retract, thereby sending all the material in the filling container cylinder into the filling container.

[0023] 7) Fill the first layer of material in sequence according to the above steps. After filling is completed, the second gripper cylinder of the second truss robot opens, the second truss robot grabs the filling container and rotates it 90 degrees, places it on the tray, and transports it to the bag filling station. Then the first truss robot fills the top bag. At this point, the entire filling process is completed.

[0024] The beneficial effects of this invention are:

[0025] The present invention has a reasonable structural design, which automates the entire process of automatic mixing and loading of rod-shaped and tubular drugs, achieving the purpose of human-machine isolation, effectively controlling production quality, improving production efficiency, and reducing the threat to personal safety in the event of combustion or explosion.

[0026] Of course, any product implementing this invention does not necessarily need to achieve all of the above advantages at the same time. Attached Figure Description

[0027] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0029] Figure 2 This is a schematic diagram of the automatic mixing and filling mechanism for rod-shaped and tubular drugs in this invention;

[0030] Figure 3 This is a schematic diagram of the automatic combing and conveying mechanism for rod-shaped medicines in this invention;

[0031] Figure 4 This is a schematic diagram of the automatic tubular drug sorting and conveying mechanism of the present invention;

[0032] Figure 5 This is a schematic diagram of the automatic bag feeding mechanism in this invention;

[0033] Figure 6 This is a schematic diagram of the automatic container conveying mechanism in this invention.

[0034] Figure 7 This is a schematic diagram of the structure of the first gantry robot in this invention;

[0035] Figure 8 This is a schematic diagram of the structure of the second gantry robot in this invention;

[0036] Figure 9 This is a schematic diagram of the defective product rejection mechanism in this invention. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] like Figure 1As shown, this embodiment provides an automatic mixing and filling device for rod-shaped and tubular drugs, including an automatic mixing and filling mechanism 1 for rod-shaped and tubular drugs, an automatic sorting and conveying mechanism 2 for rod-shaped drugs, an automatic sorting and conveying mechanism 3 for tubular drugs, an automatic bag feeding mechanism 4, an automatic conveying mechanism for filling containers 5, a first gantry robot 6, a second gantry robot 7, and a defective product rejection mechanism 8. The automatic sorting and conveying mechanism 2 for rod-shaped and tubular drugs is located on one side above the automatic mixing and filling mechanism 1, and the automatic sorting and conveying mechanism 3 for tubular drugs is located on... On the other side above the automatic mixing and filling mechanism 1 for rod-shaped and tubular drugs, the automatic container conveying mechanism 5 is located at the tail of the automatic mixing and filling mechanism 1 for rod-shaped and tubular drugs. The automatic bag feeding mechanism 1 is located on one side of the first gantry robot 6. The first gantry robot 6 is located directly above the automatic container conveying mechanism 5. The second gantry robot 7 is located directly above the automatic container conveying mechanism 5. The automatic sorting and conveying mechanism 2 for rod-shaped drugs and the automatic sorting and conveying mechanism 3 for tubular drugs are each equipped with a defective product rejection mechanism 8 near the output end.

[0039] like Figure 2 As shown, the automatic mixing and filling mechanism 1 for rod-shaped and tubular drugs includes a first motor 101, a first horizontal push rod 102, a push plate 103, a hopper 104, a vertical push rod 105, a pressure cap 106, a filling container 107, a blocking block 108, a first gripper cylinder 109, a baffle 110, a star wheel 111, a second horizontal push rod 112, a first frame 113, a second motor 114, a crank-rocker mechanism 115, and a movable table 116. The crank-rocker mechanism 115 and the filling container 107 with the hopper 104 are mounted on the first frame 113. The crank of the crank-rocker mechanism 115 is driven to rotate by the second motor 114. The outer ends of the rockers of the crank-rocker mechanism 115 are connected to the movable table 116. The first motor 101 is mounted on one end of the movable table 116. The output end of the first motor 101 is equipped with a first transverse push rod 102, and the movable end of the first transverse push rod 102 is equipped with a push plate 103. The other end of the movable table 116 is equipped with a second transverse push rod 112, and the movable end of the second transverse push rod 112 is connected to a first gripper cylinder 109. The gripper of the first gripper cylinder 109 is equipped with a blocking block 108 for limiting the backward movement of the filling container 107. The side end of the first frame 113 is fixed with a vertical frame, and a vertical push rod 105 is installed on the vertical frame. The movable end of the vertical push rod 105 is equipped with a pressure cap located directly above the hopper 104. The inside of the hopper 104 is equipped with a star wheel 111, which divides the inner cavity of the hopper 104 into six filling zones. The specifications of the filling zones are the same as the inner cavity specifications of the filling container.

[0040] like Figure 3As shown, the automatic combing and conveying mechanism 2 for rod-shaped medicines includes a first conveyor chain 201, a first synchronous belt 202, a rod-shaped medicine bin 203, a first brush 204, and a third motor 205. The third motor 205 drives the first conveyor chain 201 to circulate through the first synchronous belt 202. The first conveyor chain 201 has a Z-shaped structure including a horizontal low section, a lifting section, and a horizontal high section. The rod-shaped medicine bin 203 is installed above the horizontal low section of the first conveyor chain 201, and the first brush 204 is installed above the lifting section of the first conveyor chain 201. The first brush 204 removes material overlap to complete the automatic combing of the rod-shaped medicines.

[0041] like Figure 4 As shown, the automatic sorting and conveying mechanism 3 for tubular medicine includes a second conveyor chain 301, a second synchronous belt 302, a tubular medicine bin 303, a second brush 304, and a fourth motor 305. The fourth motor 305 drives the second conveyor chain 301 to circulate through the second synchronous belt 302. The second conveyor chain 301 has a Z-shaped structure including a horizontal low section, a lifting section, and a horizontal high section. The tubular medicine bin 303 is installed above the horizontal low section of the second conveyor chain 301, and the second brush 304 is installed above the lifting section of the second conveyor chain 301. The second brush 304 removes material overlap to complete the automatic sorting of tubular medicine.

[0042] like Figure 5 As shown, the automatic bag feeding mechanism 4 includes a second frame 401, a first vertical linear guide pair 402, a movable pallet 403, and a bag roll rack 404. The first vertical linear guide pair 402 is installed on the second frame 401. The movable pallet 403 is fixed on the slider of the first vertical linear guide pair 402. The bag roll rack 404 for loading bag rolls is installed on the movable pallet 403.

[0043] like Figure 6 As shown, the automatic container conveying mechanism 5 includes a third frame 501, a first horizontal linear slide rail 502, a first horizontal slider 503, a tray 504, and a second filling container 505. Two first horizontal linear slide rails 502 are fixed side by side on the third frame 501. The first horizontal slider 503, which forms a horizontal linear guide pair with the first horizontal linear slide rail 502, is installed on the first horizontal linear slide rail 502. The opposing first horizontal sliders 503 together support the tray 504 for placing the filling container 107.

[0044] like Figure 7As shown, the first truss manipulator 6 includes a fourth frame 601, a second horizontal linear guide rail 602, a second slider 603, a second vertical push rod 604, a second vertical linear guide rail pair 605, a first suction cup bracket 606, and a first vacuum suction cup 607. The second horizontal linear guide rail 602 is fixed on the fourth frame 601. The second slider 603, which forms a horizontal linear guide rail pair with the second horizontal linear guide rail 602, is installed on the second horizontal linear guide rail 602. The second vertical linear guide rail pair 605 is installed on the second slider 603. The second vertical push rod 604 is fixed on the slider of the second vertical linear guide rail pair 605. The movable end of the second vertical push rod 604 is connected to the first vacuum suction cup 607 via the first suction cup bracket 606.

[0045] like Figure 8 As shown, the second gantry robot 7 includes a fifth frame 701, a third horizontal linear guide rail 702, a third slider 703, a third vertical push rod 704, a third vertical linear guide rail 705, a fourth slider 706, a gripper bracket 707, a second gripper cylinder 708, and a second gripper 709. The third horizontal linear guide rail 702 is fixed on the fifth frame 701. The third slider 703, which forms a horizontal linear guide rail pair with the third horizontal linear guide rail 702, is installed on the third horizontal linear guide rail 702. The third vertical linear guide rail 705 is installed on the third slider 703. The third vertical push rod 704 is fixed on the fourth slider 706 of the third vertical linear guide rail 705. The gripper bracket 707 is installed on the movable end of the third vertical push rod 704. The second gripper cylinder 708 with the second gripper 709 is installed on the gripper bracket 707.

[0046] like Figure 9As shown, the non-conforming product rejection mechanism 8 includes a sixth frame 801, a support platform 802, a vision inspection system bracket 803, a vision inspection system support 804, a vision inspection system support block 805, a vision inspection system support shaft 806, a vision inspection system support block 807, a vision inspection system 808, a vision inspection system baffle 809, an imaging device protective cover 810, a rejection cylinder 811, and a non-conforming product hopper 812. A support platform 802 with a wire hole is fixed to the upper end of the sixth frame 801. The vision inspection system bracket 803 and the non-conforming product hopper are fixedly installed on the support platform 802. The vision inspection system bracket 803 sequentially passes through the vision... The vision inspection system 808 is mounted on the inspection system support 804, vision inspection system support block 805, vision inspection system support shaft 806, and vision inspection system support block 807. A vision inspection system baffle 809 with an image device protective cover 810 is installed at the lower end of the vision inspection system 808. A material sliding ramp is provided at one end of the non-conforming material bin 812. A rejection cylinder 811 is installed above the sliding ramp on the side opposite to the non-conforming material bin 812. The rejection cylinder 811 is connected to an air pump via an air pipe. When the vision inspection system 808 detects non-conforming material, the rejection cylinder 811 pushes the non-conforming product into the non-conforming material bin 812. The related components of the vision inspection system 808 include an industrial camera, a light source, a switch, a workstation, and a server. The industrial camera observes the material, and the image data is transmitted to the workstation for processing via the switch before being uploaded to the server.

[0047] This embodiment also provides an automatic mixing and filling method for rod-shaped and tubular drugs, including the following steps:

[0048] 1) The rod-shaped medicine is loaded into the rod-shaped medicine bin 203 of the automatic rod-shaped medicine sorting and conveying mechanism 2, and the tubular medicine is loaded into the tubular medicine bin 303 of the automatic tubular medicine sorting and conveying mechanism 3. The first conveying chain 201 in the automatic rod-shaped medicine sorting and conveying mechanism 2 only allows a single piece of material from the rod-shaped medicine bin 203 to enter, and the second conveying chain 301 in the automatic tubular medicine sorting and conveying mechanism 3 only allows a single piece of material from the tubular medicine bin 303 to enter. When the rod-shaped or tubular medicine material reaches the inspection station, it is inspected by the vision inspection system 808 in the non-conforming product rejection mechanism 8. If the current material is detected as a non-conforming product, the movable rod of the rejection cylinder 811 extends and pushes the material into the non-conforming product bin 812.

[0049] 2) The automatic mixing and filling mechanism 1 for rod-shaped and tubular drugs is reset. At this time, one of the six filling areas separated by the star wheel 111 is located directly below the pressure cap 106, and one filling area is connected to the discharge port of the hopper 104.

[0050] 3) The filling container 107, after the bottom bag is filled, is placed in the designated position by the second gantry robot 7 and held by the second gripper 709 of the second gripper cylinder 708. At the same time, the blocking block 108 restricts the filling container 107 from moving backward.

[0051] 4) Rod-shaped and tubular drugs are fed into the filling area located directly below the pressure cap 106 through the feeding hopper 104 in a certain quantity. When the filling area is filled, the first motor 101 drives the star wheel 11 to rotate 60 degrees, so that the new filling area is located directly below the pressure cap 106, realizing cyclic filling.

[0052] 5) The first horizontal push rod 102 pulls the star wheel 111 out of the filling container 107 cylinder, and then a certain amount of rod-shaped and tubular medicines enter the filling container 107 cylinder through the feeding hopper 104. The vertical push rod 105 drives the pressure cap 106 to move down and slowly press it against the feeding port at the top of the filling container 107 cylinder. At the same time, the second motor 114 drives the crank rocker mechanism 115 to start, so as to ensure that the last filling material completely enters the filling container 107 cylinder.

[0053] 6) After all the material has entered the filling container 107 cylinder, the second transverse push rod 112 drives the push plate 103 to retract, thereby sending all the material in the filling container 107 cylinder into the filling container 107.

[0054] 7) Fill the 2nd to 4th layers of material in sequence according to the above steps. After filling is completed, the second gripper cylinder 708 of the second truss robot 7 opens, the second truss robot 7 grabs the filling container 107 and rotates it 90 degrees, places it on the tray 504, and transports it to the bag filling station. Then the first truss robot 6 fills the top bag. At this point, the entire filling process is completed.

[0055] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to specific implementations. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic mixing and filling device for rod-shaped and tubular drugs, characterized in that: The device includes an automatic mixing and filling mechanism for rod-shaped and tubular drugs, an automatic sorting and conveying mechanism for rod-shaped drugs, an automatic sorting and conveying mechanism for tubular drugs, an automatic bag feeding mechanism, an automatic filling container conveying mechanism, a first gantry robot, a second gantry robot, and a defective product rejection mechanism. The automatic sorting and conveying mechanism for rod-shaped and tubular drugs is located on one side above the automatic mixing and filling mechanism, and the automatic sorting and conveying mechanism for tubular drugs is located on the other side above the automatic mixing and filling mechanism. The automatic filling container conveying mechanism is located at the tail of the automatic mixing and filling mechanism. The automatic bag feeding mechanism is located on one side of the first gantry robot, which is located directly above the automatic filling container conveying mechanism. The second gantry robot is located directly above the automatic filling container conveying mechanism. Each of the automatic sorting and conveying mechanism for rod-shaped and tubular drugs has a defective product rejection mechanism installed near its output end. The automatic mixing and filling mechanism for rod-shaped and tubular drugs includes a first motor, a first horizontal push rod, a push plate, a hopper, a vertical push rod, a pressure cap, a filling container, a blocking block, a first gripper cylinder, a baffle, a star wheel, a second horizontal push rod, a first frame, a second motor, a crank-rocker mechanism, and a movable platform. The first frame is equipped with the crank-rocker mechanism and a filling container with a hopper. The crank of the crank-rocker mechanism is driven to rotate by the second motor. The outer ends of the rockers of the crank-rocker mechanism are connected to the movable platform. One end of the movable platform is equipped with the first motor, and the output end of the first motor is equipped with the first horizontal push rod. The first transverse push rod has a push plate installed at its movable end, and a second transverse push rod is installed at the other end of the movable platform. The movable end of the second transverse push rod is connected to a first gripper cylinder. A blocking block for limiting the backward movement of the filling container is installed on the gripper of the first gripper cylinder. A vertical frame is fixed to the side end of the first frame, and a vertical push rod is installed on the vertical frame. A pressure cover located directly above the hopper is installed at the movable end of the vertical push rod. A star wheel is installed inside the hopper, and the star wheel divides the inner cavity of the hopper into six filling zones. The specifications of the filling zones are the same as the inner cavity specifications of the filling container.

2. The automatic mixing and filling device for rod-shaped and tubular drugs according to claim 1, characterized in that: The automatic combing and conveying mechanism for rod-shaped medicines includes a first conveyor chain, a first synchronous belt, a rod-shaped medicine bin, a first brush, and a third motor. The third motor drives the first conveyor chain to circulate through the first synchronous belt. The first conveyor chain has a Z-shaped structure including a horizontal low section, a lifting section, and a horizontal high section. The rod-shaped medicine bin is installed above the horizontal low section of the first conveyor chain, and the first brush is installed above the lifting section of the first conveyor chain. The automatic combing of the rod-shaped medicines is completed by removing material overlap through the first brush.

3. The automatic mixing and filling device for rod-shaped and tubular drugs according to claim 2, characterized in that: The automatic sorting and conveying mechanism for tubular medicines includes a second conveyor chain, a second synchronous belt, a tubular medicine bin, a second brush, and a fourth motor. The fourth motor drives the second conveyor chain to circulate through the second synchronous belt. The second conveyor chain has a Z-shaped structure including a horizontal low section, a lifting section, and a horizontal high section. The tubular medicine bin is installed above the horizontal low section of the second conveyor chain, and the second brush is installed above the lifting section of the second conveyor chain. The automatic sorting of tubular medicines is completed by removing overlapping materials through the second brush.

4. The automatic mixing and filling device for rod-shaped and tubular drugs according to claim 3, characterized in that: The automatic bag feeding mechanism includes a second frame, a first vertical linear guide pair, a movable tray, and a bag roll rack. The second frame is equipped with the first vertical linear guide pair, and the movable tray is fixed on the slider of the first vertical linear guide pair. The movable tray is equipped with a bag roll rack for loading bag rolls.

5. The automatic mixing and filling device for rod-shaped and tubular drugs according to claim 4, characterized in that: The automatic container conveying mechanism includes a third frame, a first horizontal linear slide rail, a first horizontal slider, a tray, and a second filling container. Two first horizontal linear slide rails are fixed side by side on the third frame. A first horizontal slider is installed on the first horizontal linear slide rail to form a horizontal linear guide pair with it. The opposing first horizontal sliders together support the tray for placing the filling container.

6. The automatic mixing and filling device for rod-shaped and tubular drugs according to claim 5, characterized in that: The first truss manipulator includes a fourth frame, a second horizontal linear guide rail, a second slider, a second vertical push rod, a second vertical linear guide rail pair, a first suction cup bracket, and a first vacuum suction cup. The second horizontal linear guide rail is fixed on the fourth frame. A second slider, which forms a horizontal linear guide rail pair with the second horizontal linear guide rail, is installed on the second horizontal linear guide rail. A second vertical linear guide rail pair is installed on the second slider. A second vertical push rod is fixed on the slider of the second vertical linear guide rail pair. The movable end of the second vertical push rod is mounted with a first vacuum suction cup through the first suction cup bracket.

7. The automatic mixing and filling device for rod-shaped and tubular drugs according to claim 6, characterized in that: The second truss manipulator includes a fifth frame, a third horizontal linear guide rail, a third slider, a third vertical push rod, a third vertical linear guide rail, a fourth slider, a gripper bracket, a second gripper cylinder, and a second gripper. The fifth frame is fixed with the third horizontal linear guide rail. The third slider, which forms a horizontal linear guide rail pair with the third horizontal linear guide rail, is mounted on the third horizontal linear guide rail. The third vertical linear guide rail is mounted on the third slider. The fourth slider of the third vertical linear guide rail is fixed with the third vertical push rod. The movable end of the third vertical push rod is equipped with the gripper bracket. The gripper bracket is equipped with a second gripper cylinder with a second gripper.

8. The automatic mixing and filling device for rod-shaped and tubular drugs according to claim 7, characterized in that: The defective product rejection mechanism includes a sixth frame, a support platform, a vision inspection system bracket, a vision inspection system support base, a vision inspection system support block, a vision inspection system support shaft, a vision inspection system support block, a vision inspection system, a vision inspection system baffle, an imaging device protective cover, a rejection cylinder, and a defective product hopper. A support platform with a wire hole is fixed to the upper end of the sixth frame. The vision inspection system bracket and the defective product hopper are fixedly installed on the support platform. The vision inspection system is mounted on the vision inspection system bracket via the vision inspection system support base, vision inspection system support block, vision inspection system support shaft, and vision inspection system support block in sequence. A vision inspection system baffle with an imaging device protective cover is installed at the lower end of the vision inspection system. A sliding ramp is provided at one end of the defective product hopper. A rejection cylinder is installed above the sliding ramp on the side opposite to the defective product hopper. The rejection cylinder is connected to an air pump via an air pipe. When the vision inspection system detects defective material, the rejection cylinder pushes the defective product into the defective product hopper.

9. An automatic mixing and filling method for rod-shaped and tubular drugs, implemented based on the automatic mixing and filling device for rod-shaped and tubular drugs as described in claim 8, characterized in that, Includes the following steps: 1) The rod-shaped drugs are loaded into the rod-shaped drug bin of the automatic rod-shaped drug sorting and conveying mechanism, and the tubular drugs are loaded into the tubular drug bin of the automatic tubular drug sorting and conveying mechanism. The first conveyor chain in the automatic rod-shaped drug sorting and conveying mechanism only allows a single piece of material from the rod-shaped drug bin to enter, and the second conveyor chain in the automatic tubular drug sorting and conveying mechanism only allows a single piece of material from the tubular drug bin to enter. When the rod-shaped or tubular drug material reaches the inspection station, it is inspected by the vision inspection system in the non-conforming product rejection mechanism. If the current material is detected as non-conforming, the movable rod of the rejection cylinder extends and pushes the material into the non-conforming product bin. 2) The automatic mixing and filling mechanism for rod-shaped and tubular drugs is reset. At this time, one of the six filling areas at the star wheel separator is located directly below the cap, and one filling area is connected to the discharge port of the hopper. 3) The filling container with the bottom bag is placed in the designated position by the second gantry robot and held by the second gripper of the second gripper cylinder, while the blocking block restricts the filling container from moving backward. 4) Rod-shaped and tubular drugs are fed into the filling area located directly below the pressure cap through the hopper in a certain quantity. After the filling area is filled, the first motor drives the star wheel to rotate 60 degrees, so that the new filling area is located directly below the pressure cap, realizing cyclic filling. 5) The first horizontal push rod pulls the star wheel out of the filling container cylinder. Then, a certain amount of rod-shaped and tubular medicines are fed into the filling container cylinder through the hopper. The vertical push rod drives the pressure cap to move down and slowly press it against the discharge port at the top of the filling container cylinder. At the same time, the second motor drives the crank rocker mechanism to start, so as to ensure that the last filling material completely enters the filling container cylinder. 6) After all the material has entered the filling container cylinder, the second transverse push rod drives the push plate to retract, thereby sending all the material in the filling container cylinder into the filling container. 7) Fill 2 to 4 layers of material in sequence according to the above steps. After filling is completed, the second gripper cylinder of the second truss robot opens, the second truss robot grabs the filling container and rotates it 90 degrees, places it on the tray, and transports it to the bag filling station. Then the first truss robot fills the top bag. At this point, the entire filling process is completed.

Images