A method for filling and stoppering a pre-filled syringe

Abstract

The application discloses a pre-filled needle filling and stoppering method, which comprises the following steps: S1, conveying a pre-filled needle nest disc to a feeding station; S2, feeding: a manipulator grabs the pre-filled needle nest disc and drives the pre-filled needle nest disc to move downwards to the lower end of the pre-filled needle close to a honeycomb platform located at the feeding station, the center of the pre-filled needle nest disc is aligned with the center of the honeycomb platform, the manipulator continues to lower at a low speed, and the honeycomb platform reciprocates at least once to make the lower end of the pre-filled needle enter the hole of the honeycomb platform and pass through a clamping mechanism, and the clamping mechanism clamps the pre-filled needle; S3, filling and stoppering: the honeycomb platform drives the pre-filled needle nest disc to move to a filling and stoppering station to fill and stopper the pre-filled needle. The application has the advantages of good reliability, the pre-filled needle can be smoothly guided into the hole on the honeycomb platform and the like.

Description

Technical Field

[0001] This invention relates to the field of food and pharmaceutical packaging machinery technology, and in particular to a pre-filled syringe filling and stoppering method. Background Technology

[0002] The prior application CN112498767A discloses a sampling and testing method for the filling volume of a filling system. This technical solution involves using a feeding device to transfer pre-filled needle packaging materials between honeycomb platforms (including weighing platforms and filling and plugging platforms, etc.). In order to ensure production efficiency, when the pre-filled needle packaging materials are placed into the honeycomb platform, multiple pre-filled needles are usually placed into the corresponding holes of the honeycomb platform at the same time. Factors such as the small gap between the holes on the honeycomb tray and the pre-filling needles, shaking during transport, and inconsistencies in the structure along the length of the pre-filling needles can all cause the pre-filling needles to tilt slightly. Due to limitations in the spacing and size of the pre-filling needles, the gap between the pre-filling needle channel and the pre-filling needle on the honeycomb platform is smaller than the deviation caused by the tilt of the pre-filling needles on the honeycomb tray. Furthermore, the presence of the clamping mechanism on the honeycomb platform makes the pre-filling needle channel even narrower. When the feeding device places the pre-filling needles into the honeycomb platform, the platform may push out the tilted pre-filling needles. The pushed-out pre-filling needles may block the downward-moving feeding device, causing equipment malfunction and potentially rendering the pre-filling needle packaging unusable. If the pre-filling needles are not fully inserted into the pre-filling needle channel before being clamped by the clamping mechanism, it will cause unevenness among the pre-filling needles, resulting in interference and alarms. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a reliable method for filling and plugging pre-filled needles that can be smoothly introduced into the holes of the honeycomb platform.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A pre-filled needle filling and capping method includes the following steps:

[0006] S1. The pre-filled needle tray is conveyed to the loading station;

[0007] S2, Loading: The robot arm grabs the pre-charged needle tray and moves it downwards until the lower end of the pre-charged needle is close to the honeycomb platform located at the loading station. The center of the pre-charged needle tray is aligned with the center of the honeycomb platform. The robot arm reduces its speed and continues to descend. The honeycomb platform moves back and forth at least once so that the lower end of the pre-charged needle enters the hole of the honeycomb platform and passes through the clamping mechanism. The clamping mechanism clamps the pre-charged needle.

[0008] S3. Filling and capping: The honeycomb platform moves the pre-filled needle tray to the filling and capping station to fill and cap the pre-filled needle.

[0009] As a further improvement of the above technical solution: in step S2, the distance of the reciprocating translation of the honeycomb platform is d, and the radius of the pre-filled needle is r, then d≥r.

[0010] As a further improvement of the above technical solution: in step S2, the honeycomb platform reciprocates to both sides, and the distance of each side is greater than or equal to 0.5r.

[0011] As a further improvement of the above technical solution: in step S2, the speed of the pre-filled needle entering the hole of the honeycomb platform is Vj, and the speed of the reciprocating translation of the honeycomb platform is Vp, then Vp>Vj.

[0012] As a further improvement of the above technical solution: the specific process of step S2 is as follows:

[0013] S2.1, the mechanical hand drives the pre-filled needle nest disc to move above the honeycomb platform;

[0014] S2.2, the mechanical hand drives the pre-filled needle nest disc to move downward at a speed V1 to the lower end of the pre-filled needle close to the honeycomb platform;

[0015] S2.3, the mechanical hand drives the pre-filled needle nest disc to continue to move downward at a speed Vj, and the honeycomb platform keeps reciprocating translation to make the lower end of the pre-filled needle enter the hole of the honeycomb platform, wherein Vj

[0016] S2.4, when the pre-filled needle with a set length enters the hole of the honeycomb platform, the honeycomb platform stops moving;

[0017] S2.5, the mechanical hand drives the pre-filled needle nest disc to continue to move downward at a speed V2 to make the pre-filled needle completely enter the hole of the honeycomb platform, and the clamping mechanism clamps the pre-filled needle, wherein V2>Vj.

[0018] As a further improvement of the above technical solution: in step S2.4, when more than half of the total length of the pre-filled needle enters the hole of the honeycomb platform, the honeycomb platform stops moving.

[0019] As a further improvement of the above technical solution: in step S2.5, V2=V1.

[0020] As a further improvement of the above technical solution: in step S2, when the distance between the lower end of the pre-filled needle and the honeycomb platform is 0-5mm, the honeycomb platform starts to reciprocate.

[0021] Compared with the prior art, the pre-filled needle filling and stoppering method has the advantages that when the pre-filled needle is close to the honeycomb platform in the feeding station, the feeding speed is reduced and the honeycomb platform is moved at least once to the center point, so that even if individual or multiple pre-filled needles on the pre-filled needle nest disc are misaligned with the holes on the honeycomb platform, the pre-filled needles can still be smoothly introduced into the holes on the honeycomb platform, the situation of ejecting the pre-filled needles is avoided, the reliability is good, and the probability of shutdown alarm is greatly reduced. Tests show that under normal operation, the operation efficiency of the pre-filled needle filling and stoppering system is not affected. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a schematic diagram of the three-dimensional structure of the pre-filled needle filling and stoppering system involved in the present application.

[0023] Figure 2 is a schematic diagram of the front structure of the honeycomb platform involved in the present application.

[0024] Figure 3 is a schematic diagram of the cross-sectional structure of the honeycomb platform involved in the present application.

[0025] Figure 4 is a schematic diagram of the process of feeding the pre-filled needle to the honeycomb platform in the present application.

[0026] Figure 5 is a schematic diagram of the process of feeding the pre-filled needle to the honeycomb platform in the present application.

[0027] In the drawings, various reference numerals represent:

[0028] 1, pre-filled needle nest disc; 2, mechanical hand; 3, honeycomb platform; 31, hole; 32, clamping mechanism; 4, filling and stoppering station; 5, pre-filled needle. DETAILED DESCRIPTION

[0029] In the description of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0030] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0031] In this application, unless otherwise clearly specified and limited, the terms "assembly", "connection", "link", "fixation" and the like should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be internal communication of two elements or interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0032] The application will be further described in detail below in combination with the drawings and specific embodiments of the application.

[0033] Figures 3 to 5 An embodiment of the pre-filled needle filling and stoppering method of the application is shown. The pre-filled needle filling and stoppering method of the embodiment includes the following steps:

[0034] S1, the pre-filled needle nest disc 1 is transported to the feeding station;

[0035] S2, feeding: the manipulator 2 grabs the pre-filled needle nest disc 1 and drives the pre-filled needle nest disc 1 to move downward to the lower end of the pre-filled needle 5 close to the honeycomb platform 3 located at the feeding station, the center of the pre-filled needle nest disc 1 is aligned with the center of the honeycomb platform 3, the manipulator 2 continues to lower at a lower speed, the honeycomb platform 3 reciprocates at least once to make the lower end of the pre-filled needle 5 enter the hole 31 of the honeycomb platform 3 and pass through the clamping mechanism 32, the clamping mechanism 32 clamps the pre-filled needle 5; optionally, when the distance between the lower end of the pre-filled needle 5 and the honeycomb platform 3 is 0-5mm (including the end point value), the honeycomb platform 3 starts to reciprocate, preferably, when the lower end of the pre-filled needle 5 contacts the honeycomb platform 3, the honeycomb platform 3 starts to reciprocate.

[0036] S3, filling and stoppering: the honeycomb platform 3 drives the pre-filled needle nest disc 1 to move to the filling and stoppering station 4 to fill and stopper the pre-filled needle 5.

[0037] In the pre-filled needle filling and stoppering method of the embodiment, when the lower end of the pre-filled needle 5 approaches the honeycomb platform 3 located at the feeding station, the lowering speed is reduced and the honeycomb platform 3 reciprocates at least once at the centering point. Even if individual or multiple pre-filled needles 5 on the pre-filled needle nest disc 1 are not aligned with the holes 31 on the honeycomb platform 3, they can still be smoothly introduced into the holes 31 on the honeycomb platform 3, avoiding the situation of ejecting the pre-filled needle 5, having good reliability, greatly reducing the probability of shutdown alarm, and tests show that under normal operation, it does not affect the operation efficiency of the pre-filled needle filling and stoppering system. Of course, in other embodiments, with the difference of the specification of the pre-filled needle 5, the number of reciprocations of the honeycomb platform 3 can also be adjusted.

[0038] Further, in the embodiment, in step S2, the distance of reciprocating translation of the honeycomb platform 3 is d, and the radius of the pre-filling needle 5 is r, so d≥r, that is, the distance of each translation of the honeycomb platform 3 is not less than the radius of the pre-filling needle 5, which can effectively eliminate the distance deviation caused by the inclination of the pre-filling needle 5.

[0039] Further, in the embodiment, in step S2, the honeycomb platform 3 is reciprocatingly translated to both sides, and the distance of each side is greater than or equal to 0.5r. Specifically, referring to Figure 1 , the pre-filling needle nest disc 1 is conveyed from the left side to the feeding station, and the filling and stoppering station 4 is located on the right side of the feeding station. Correspondingly, the honeycomb platform 3 is translated to the left and right sides with the center point as the center, and the distance of each side is not less than 0.5r, so that the pre-filling needle 5 inclined to the left and right can be smoothly introduced into the corresponding hole 31 of the honeycomb platform 3.

[0040] Further, in the embodiment, in step S2, the speed of the pre-filling needle 5 entering the hole 31 of the honeycomb platform 3 is Vj, and the reciprocating translation speed of the honeycomb platform 3 is Vp, so Vp>Vj. The slower the speed of the pre-filling needle 5 entering the hole 31 of the honeycomb platform 3, the faster the reciprocating translation speed of the honeycomb platform 3, which is more conducive to the introduction of the inclined pre-filling needle 5 into the hole 31.

[0041] Further, in the embodiment, the specific process of step S2 is as follows:

[0042] S2.1, the manipulator 2 drives the pre-filling needle nest disc 1 to move above the honeycomb platform 3;

[0043] S2.2, the manipulator 2 drives the pre-filling needle nest disc 1 to move downward at a speed V1 to the lower end of the pre-filling needle 5 close to the honeycomb platform 3;

[0044] S2.3, the manipulator 2 drives the pre-filling needle nest disc 1 to continue to move downward at a speed Vj, and the honeycomb platform 3 keeps reciprocating translation, so that the lower end of the pre-filling needle 5 enters the hole 31 of the honeycomb platform 3, wherein Vj

[0045] S2.4, when the pre-filling needle 5 with a set length enters the hole 31 of the honeycomb platform 3, the honeycomb platform 3 stops moving; after the pre-filling needle 5 with a set length enters the hole 31, it means that the subsequent pre-filling needle 5 can smoothly and completely enter the hole 31, at which time the honeycomb platform 3 stops moving in time to reduce unnecessary actions.

[0046] S2.5, the mechanical hand 2 drives the pre-charging needle nest disc 1 to continue to move downwards at a speed V2 until the pre-charging needle 5 is completely in the hole of the honeycomb platform 3, and the clamping mechanism 32 clamps the pre-charging needle, wherein V2>V1, that is, after the pre-charging needle 5 is set to enter the hole 31, the pre-charging needle 5 is accelerated to move downwards, which is beneficial to shorten the time required by the feeding process and improve the feeding efficiency.

[0047] Further, in the embodiment, in the step S2.4, the honeycomb platform 3 stops moving after more than half of the total length of the pre-charging needle 5 enters the hole 31 of the honeycomb platform 3. Tests show that after more than half of the total length of the pre-charging needle 5 enters the hole 31, the subsequent pre-charging needle 5 can be smoothly and completely in the hole 31.

[0048] Further, in the embodiment, in the step S2.5, V2=V1, that is, the initial process descending speed of the pre-charging needle nest disc 1 is the same as the final process descending speed, which is beneficial to simplify the control process.

[0049] Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art can make many possible changes and modifications to the technical solutions disclosed above, or modify equivalent embodiments with equivalent changes, without departing from the scope of the technical solutions of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, without departing from the content of the technical solutions of the present application, shall fall within the scope of protection of the technical solutions of the present application.

Claims

1. A method of pre-charged needle filling and stoppering, characterized by: The method comprises the following steps: S1, the pre-filled needle nest disc (1) is conveyed to the feeding station; S2, feeding: the mechanical arm (2) grabs the pre-filled needle nest disc (1) and drives the pre-filled needle nest disc (1) to move downward to the lower end of the pre-filled needle (5) close to the honeycomb platform (3) at the feeding station, the center of the pre-filled needle nest disc (1) is aligned with the center of the honeycomb platform (3), the mechanical arm (2) continues to drop at a low speed, the honeycomb platform (3) reciprocates at least once to make the lower end of the pre-filled needle (5) enter the hole (31) of the honeycomb platform (3) and pass through the clamping mechanism (32), and the clamping mechanism (32) clamps the pre-filled needle (5); S3, filling and stoppering: the honeycomb platform (3) drives the pre-filled needle nest disc (1) to move to the filling and stoppering station (4) to fill and stopper the pre-filled needle (5).

2. The pre-charged syringe filling and stoppering method of claim 1, wherein: In step S2, the distance of reciprocating translation of the honeycomb platform (3) is d, and the radius of the pre-filled needle (5) is r, so d≥r.

3. The pre-charged syringe filling and stoppering method of claim 2, wherein: In step S2, the honeycomb platform (3) reciprocates to the two sides, and the distance of reciprocating translation of each side is greater than or equal to 0.5r.

4. The pre-charged syringe filling and stoppering method of claim 1, wherein: In step S2, the speed of the pre-filled needle (5) entering the hole (31) of the honeycomb platform (3) is Vj, and the speed of reciprocating translation of the honeycomb platform (3) is Vp, so Vp>Vj.

5. The pre-charged needle fill and finish method of any one of claims 1 to 4, wherein: The specific process of step S2 is as follows: S2.1, the mechanical arm (2) drives the pre-filled needle nest disc (1) to move above the honeycomb platform (3); S2.2, the mechanical arm (2) drives the pre-filled needle nest disc (1) to move downward at a speed V1 to the lower end of the pre-filled needle (5) close to the honeycomb platform (3); S2.3, the mechanical arm (2) drives the pre-filled needle nest disc (1) to continue to move downward at a speed Vj, and the honeycomb platform (3) keeps reciprocating to make the lower end of the pre-filled needle (5) enter the hole (31) of the honeycomb platform (3), wherein Vj S2.4, when the pre-filled needle (5) enters the hole (31) of the honeycomb platform (3) by a set length, the honeycomb platform (3) stops moving; S2.5, the mechanical arm (2) drives the pre-filled needle nest disc (1) to continue to move downward at a speed V2 to make the pre-filled needle (5) completely enter the hole of the honeycomb platform (3), and the clamping mechanism (32) clamps the pre-filled needle, wherein V2>Vj.

6. The pre-charged syringe filling and stoppering method of claim 5, wherein: In step S2.4, when more than half of the total length of the pre-filled needle (5) enters the hole (31) of the honeycomb platform (3), the honeycomb platform (3) stops moving.

7. The method of filling and stoppering a pre-charged syringe of claim 5, wherein: In step S2.5, V2=V1.

8. The pre-charged needle fill and finish method of any one of claims 1 to 4, wherein: In step S2, when the distance between the lower end of the pre-filled needle (5) and the honeycomb platform (3) is 0-5mm, the honeycomb platform (3) starts to reciprocate.

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