Automatic boxing and withdrawing device for pre-filled syringes

Abstract

The invention provides an automatic boxing and withdrawing device for pre-filled syringes, and belongs to the technical field of transportation and storage of pre-filled syringes, the automatic boxing and withdrawing device comprises an empty box conveying assembly, a boxing assembly, a withdrawing assembly, a grabbing assembly and a control panel, the empty box conveying assembly is used for conveying empty boxes, the boxing assembly is used for loading pre-filled syringes into packaging boxes, and the withdrawing assembly is used for withdrawing the pre-filled syringes. The box withdrawing assembly is used for conveying the packaging boxes filled with the pre-filled syringes; the grabbing assembly is used for grabbing the packaging boxes without the pre-filled syringes from the empty box conveying assembly and further used for taking out the packaging boxes full of the pre-filled syringes and placing the packaging boxes on the box withdrawing assembly. The control panel controls the empty box conveying assembly, the boxing assembly, the box withdrawing assembly and the grabbing assembly to operate. The automatic boxing and withdrawing device for the pre-filled syringes has the technical effects that automatic boxing and withdrawing of the pre-filled syringes can be achieved, the production speed and efficiency are improved, and the requirement for boxing and withdrawing operation of the pre-filled syringes on a large scale is met.

Description

Technical Field

[0001] The invention belongs to the technical field of transportation and storage of prefilled syringes, and more specifically, relates to an automatic box loading and unloading device for prefilled syringes. Background Art

[0002] After the production and processing of sterile, prefilled prefilled syringes is completed, they need to be placed in a packaging box for storage in preparation for subsequent filling, transportation and other processes. The packaging box used to contain prefilled syringes is generally plate-shaped and made of plastic. A plurality of grooves arranged in parallel are provided on the upper end of the packaging box. A prefilled syringe is placed in a corresponding groove. A packaging box can accommodate multiple prefilled syringes arranged in a row. After the packaging box is filled with prefilled syringes, multiple packaging boxes are placed in a stacked state in a packing box for easy supply to pharmaceutical companies. The boxing operation process of prefilled syringes in the prior art is: place an empty packaging box on a workbench, and then place multiple prefilled syringes in multiple grooves one by one (i.e., boxing). When a packaging box is filled, take the packaging box out of the workbench (i.e., return the box) and place it in a packing box; when there are multiple filled packaging boxes, place the multiple packaging boxes in a stacked state.

[0003] Therefore, there is an urgent need to study an automated operating device that can automatically place prefilled syringes in packaging boxes and stack packaging boxes filled with prefilled syringes in a stacked shape, so as to improve the operational efficiency of box loading and unboxing of prefilled syringes and meet the box loading and unboxing operations of large quantities of prefilled syringes. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic box loading and unloading device for prefilled syringes, aiming to solve the technical problems that when prefilled syringes are loaded into a packaging box and when the packaging box is full of prefilled syringes and needs to be unpacked, the box loading and unpacking operations are slow and inefficient, and it is difficult to realize automated box loading and unpacking operations.

[0005] To achieve the above object, the technical solution adopted by the present invention is to provide an automatic box loading and unloading device for prefilled syringes, comprising: An empty box conveying assembly is used to convey a packaging box without a prefilled syringe toward a position to be loaded, the empty box conveying assembly having an input end and an output end, and the packaging box is placed from the input end to the upper end of the empty box conveying assembly; A box loading assembly is arranged near the output end of the empty box conveying assembly, and has a box placing area for accommodating boxes without prefilled syringes and a box loading area for loading prefilled syringes into the boxes without prefilled syringes. The box loading assembly drives the boxes to switch and move between the box placing area and the box loading area. In the box loading area, the box loading assembly is used to load prefilled syringes into the boxes without prefilled syringes. The box loading assembly is used to drive the boxes filled with prefilled syringes to move back to the box placing area. A box-returning assembly, arranged near the box-putting area of ​​the box-loading assembly, for conveying the packaging box filled with prefilled syringes toward a packaging area; A grabbing assembly, arranged near the box loading assembly, for grabbing the packaging box without prefilled syringes from the empty box conveying assembly and placing it on the box placing area, and for taking out the packaging box filled with prefilled syringes from the box placing area and placing it on the box withdrawing assembly; A control panel is electrically connected to the empty box conveying assembly, the box loading assembly, the box unloading assembly and the grabbing assembly respectively and is used to control the operation respectively.

[0006] In a possible implementation, the empty box conveying component includes: A first conveying mechanism comprises a frame, a driving roller connected to the frame, a driven roller, a conveying belt wrapped around the driving roller and the driven roller, and a driver for driving the driving roller to rotate, wherein a power output end of the driver is connected to the driving roller and drives the driving roller to rotate, and the driver is electrically connected to the control panel and its operation is controlled by the control panel; A plurality of limiting members are arranged on the outer surface of the conveyor belt at equal intervals along the length direction of the conveyor belt, the packaging box is placed between two adjacent limiting members, and the limiting members abut against one side of the packaging box and are used to push the packaging box to move.

[0007] In a possible implementation, the box-packing component includes: A second conveying mechanism, wherein the conveying direction of the second conveying mechanism is perpendicular to the conveying direction of the empty box conveying assembly, one end of the second conveying mechanism is disposed near the output end of the empty box conveying assembly, and the second conveying mechanism is electrically connected to the control panel and its operation is controlled by the control panel; A first three-dimensional adjustment platform, having a mobile end capable of being adjusted in three dimensions, the mobile end being provided with a first magnetic attraction member, the first three-dimensional adjustment platform being electrically connected to the control panel and its operation being controlled by the control panel; A suction cup, magnetically attracted to the first magnetic attraction member, the suction cup is used to generate suction and attract multiple prefilled syringes, the bottom of the suction cup is provided with multiple suction ports for attracting multiple prefilled syringes, the suction cup attracts the prefilled syringes and then moves with the help of the first three-dimensional adjustment platform, and the prefilled syringes are placed in the packaging box, and the spacing between the multiple suction ports is the same as the spacing between the grooves in the packaging box; Among them, the suction cup is used to connect to the vacuum generator, and the vacuum generator is used to control the suction cup to attract the prefilled syringe. The vacuum generator is electrically connected to the control panel and its operation is controlled by the control panel. The box placing area is close to the output end of the empty box conveying assembly, and the box loading area is arranged close to the first three-dimensional adjustment platform; the box placing area is placed on the second conveying mechanism, and after the packaging box is placed on the second conveying mechanism, the control panel controls the operation of the second conveying mechanism to move the packaging box to the box loading area.

[0008] In a possible implementation, the grabbing component includes: A second three-dimensional adjustment platform, having a mobile end capable of adjusting in three-dimensional directions, the mobile end being provided with a second magnetic attraction member, the second three-dimensional adjustment platform being electrically connected to the control panel and its operation being controlled by the control panel; A rotating table, the upper end of which is magnetically attracted to the second magnetic attraction member, the lower end of which has a degree of freedom of circumferential rotation in a horizontal plane, the rotating table being electrically connected to the control panel and its operation being controlled by the control panel; A clamping assembly, the upper end of which is connected to the bottom end of the rotating table, the clamping assembly is used to clamp the packaging box, the circumferential rotation of the packaging box is adjusted by means of the rotating table, and the movement of the packaging box is adjusted by means of the second three-dimensional adjustment platform and the rotating table. The clamping assembly is used to clamp the packaging box and move it from the empty box conveying assembly to the box placement area, and is also used to clamp the packaging box filled with prefilled syringes from the box placement area and move it to the box return assembly. The clamping assembly is electrically connected to the control panel and its operation is controlled by the control panel.

[0009] In a possible implementation, the clamping assembly includes: The box body is connected to the bottom end of the rotating table, is hollow inside and has through holes on two opposite sides; Two groups of ejectors, each having an axially retractable push rod, the two groups of push rods correspondingly pass through the through holes on both sides of the box body respectively, the ejectors are used to control the extension and retraction of the push rods, the two groups of push rods are arranged in an L shape and are symmetrically arranged with the center line of the box body as the symmetry axis, the two groups of ejectors are combined to form a clamping structure suitable for clamping the packaging box, the ejectors are electrically connected to the control panel and the operation is controlled by the control panel; Two groups of clamping plates are respectively connected to the outer ends of the two groups of push rods, and the two groups of clamping plates are used to clamp the side parts of the packaging box.

[0010] In one possible implementation, the automatic box loading and unloading device for prefilled syringes also includes a lifting and rotating platform, which is arranged near the input end of the empty box conveying component or the box unloading component, and has the freedom to rotate in a circular direction in a horizontal plane and to lift and lower vertically. The lifting and rotating platform is used to hold the packaging box and adjust the position of the packaging box, and is also used to convey the packaging box in a straight direction. The lifting and rotating platform is electrically connected to the control panel and its operation is controlled by the control panel.

[0011] In a possible implementation, the lifting and rotating platform includes: A lifting platform, having the freedom of vertical extension and retraction, the lifting platform is electrically connected to the control panel and its operation is controlled by the control panel; A rotating body connected to the upper end of the lifting platform, the upper end of which has a circumferential rotational freedom in a horizontal plane, the rotating body is electrically connected to the control panel and its operation is controlled by the control panel; A frame connected to the upper end of the rotating body, the frame being used to place the packaging box; The third conveying mechanism is connected to the inside of the frame and has a conveying portion for conveying the packaging box in a straight direction. The upper end of the conveying portion is exposed at the upper end of the frame. After the packaging box is placed on the upper end of the frame, it can be moved with the help of the third conveying mechanism. The third conveying mechanism is electrically connected to the control panel and its operation is controlled by the control panel. The height and position of the packaging box are adjusted with the help of the lifting platform, the rotating body and the third conveying mechanism.

[0012] In one possible implementation, the automatic box loading and unloading device for prefilled syringes also includes a trimming component, which is used to remove burrs from the sides of the packaging box without the prefilled syringe or the packaging box with the prefilled syringe, and the trimming component is electrically connected to the control panel and its operation is controlled by the control panel.

[0013] In a possible implementation, the trimming component includes: A placing table, used for placing the packaging box or a plurality of packaging boxes in a stacked state; A rotating part, the upper end of which has a circumferential rotational freedom in a horizontal plane, the rotating part is electrically connected to the control panel and its operation is controlled by the control panel; A vertical plate is arranged vertically and the bottom end of the middle part is connected to the upper end of the rotating part, and the vertical plate can rotate in a circular direction with the help of the rotating part; Two slide rails are connected to the side of the vertical plate and arranged in parallel up and down, and the length direction of the slide rails is along the horizontal direction; A slider is slidably connected to the slide rail and is arranged in a vertical strip shape; A plurality of scrapers are connected to the slider and are arranged at equal intervals in the vertical direction. The packaging box is arranged close to the scrapers. The scrapers move along the side of the packaging box with the help of the sliding of the slider to scrape off the burrs on the side of the packaging box. The spacing between the packaging boxes is the same as the spacing between the scrapers. A power unit, whose power output end is connected to the slider and used to drive the slider to move, and the power unit is electrically connected to the control panel and its operation is controlled by the control panel.

[0014] In a possible implementation, a lifting column is connected to the bottom of the placing table, and the lifting column can be extended and retracted vertically and is used to adjust the height of the placing table to adapt to the height of the scraper; a long strip through hole is provided in the middle of the vertical plate and between the two slide rails, and the length direction of the long strip through hole is along the horizontal direction, the slide rail and the power unit are respectively arranged on both sides of the vertical plate, and a lever is passed through the long strip through hole, one end of the lever is connected to the slider, and the other end is connected to the power output end of the power unit, and the power output end of the power unit has the freedom to slide back and forth along the sliding direction of the slider.

[0015] The beneficial effects of the automatic box loading and unpacking device for prefilled syringes provided by the present invention are as follows: compared with the prior art, the automatic box loading and unpacking device for prefilled syringes provided by the present invention comprises an empty box conveying component, a box loading component, a box unpacking component, a gripping component and a control panel, the empty box conveying component is used to convey the packaging box without prefilled syringes toward the position to be loaded, the empty box conveying component has an input end and an output end, and the packaging box is placed from the input end to the upper end of the empty box conveying component; the box loading component is arranged near the output end of the empty box conveying component, and has a box placing area for accommodating packaging boxes without prefilled syringes and a box loading area for loading prefilled syringes into packaging boxes without prefilled syringes, the box loading component drives the packaging box to switch and move between the box placing area and the box loading area, the box loading component in the box loading area is used to load prefilled syringes into packaging boxes without prefilled syringes, and the box loading component is used to drive the The packaging box returns and moves to the box placing area; the box returning component is arranged near the box placing area of ​​the box loading component, and is used for conveying the packaging box filled with prefilled syringes toward the packaging area; the grabbing component is arranged near the box loading component, and is used for grabbing the packaging box without prefilled syringes from the empty box conveying component and placing it in the box placing area, and is also used for taking out the packaging box filled with prefilled syringes from the box placing area and placing it on the box returning component; the control panel is electrically connected to the empty box conveying component, the box loading component, the box returning component and the grabbing component respectively and is used for controlling the operation respectively, so as to solve the technical problems that the box loading and box returning operations are slow and inefficient when the prefilled syringes are loaded into the packaging box and when the packaging box is full of prefilled syringes and needs to be returned, and it is difficult to realize the automatic box loading and box returning operations, so as to realize the automatic production of the box loading and box returning of the prefilled syringes, improve the production speed and efficiency, and meet the technical effect of the box loading and box returning operations of large quantities of prefilled syringes. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the structure of an automatic box loading and unloading device for prefilled syringes provided in an embodiment of the present invention; Figure 2 A schematic structural diagram of an empty box conveying assembly of an automatic box loading and unloading device for prefilled syringes provided in an embodiment of the present invention; Figure 3 A schematic diagram of the structure of a grabbing component of an automatic box loading and unloading device for prefilled syringes provided in an embodiment of the present invention; Figure 4 for Figure 3 A schematic diagram of the structure of a clamping assembly of a grabbing assembly of an automatic box loading and unloading device for prefilled syringes is shown; Figure 5 for Figure 4 The schematic diagram of the state of a grabbing component of an automatic box loading and unloading device for prefilled syringes after grabbing a packaging box; Figure 6 A schematic diagram of the structure of a box loading component of an automatic box loading and unloading device for prefilled syringes provided in an embodiment of the present invention; Figure 7 A schematic structural diagram of an automatic box loading and unloading device for prefilled syringes provided in another embodiment of the present invention; Figure 8 for Figure 7 Schematic diagram of the lifting and rotating platform structure; Fig. 9 A schematic diagram of the structure of a trimming component of an automatic box loading and unloading device for prefilled syringes provided by an embodiment of the present invention; Fig.10 for Fig. 9 Schematic diagram of the structure of the trimming component without the prefilled syringe.

[0018] Description of reference numerals: 1. Empty box conveying assembly; 11. First conveying mechanism; 111. Frame; 112. Driving roller; 113. Driven roller; 114. Conveyor belt; 115. Driver; 12. Limiting member; 2. Cartoning assembly; 21. Carton placing area; 22. Cartoning area; 23. Second conveying mechanism; 24. First three-dimensional adjustment platform; 25. Suction cup; 26. First magnetic suction piece; 27. Suction port; 3. Box return assembly; 4. Grabbing assembly; 41. Second three-dimensional adjustment platform; 411. Column; 412. First crossbeam; 413. Slide plate; 414. Second crossbeam; 415. Vertical beam; 42. Rotating table; 43. Clamping assembly; 431. Box body; 432. Ejector; 433. Clamping plate; 434. Push rod; 44. Second magnetic attraction member; 5. Control panel; 6. Packing box; 7. Lifting and rotating platform; 71. Lifting platform; 72. Rotating body; 73. Frame; 74. Third conveying mechanism; 8. Dressing assembly; 81. Placing table; 82. Rotating part; 83. Vertical plate; 84. Slide rail; 85. Sliding block; 86. Scraper; 87. Power unit; 88. Lifting column; 89. Long strip through hole; 810. Push rod. DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0020] Please also read Figures 1 to 8 , an automatic box loading and unloading device for prefilled syringes provided by the present invention is now described. The automatic box loading and unloading device for prefilled syringes comprises an empty box conveying component 1, a box loading component 2, a box unloading component 3, a grabbing component 4 and a control panel 5. The empty box conveying component 1 is used to convey a packaging box 6 that does not contain a prefilled syringe toward a position to be loaded. The empty box conveying component 1 has an input end and an output end, and the packaging box 6 is placed from the input end to the upper end of the empty box conveying component 1; the box loading component 2 is arranged near the output end of the empty box conveying component 1, and has a box placing area 21 for accommodating packaging boxes 6 that do not contain prefilled syringes and a box loading area 22 for loading prefilled syringes into packaging boxes 6 that do not contain prefilled syringes. The box loading component 2 drives the packaging box 6 to switch and move between the box placing area 21 and the box loading area 22, and the packaging box 6 is loaded in the box loading area 22. The box assembly 2 is used to load prefilled syringes into a packaging box 6 that does not contain prefilled syringes, and the box loading assembly 2 is used to drive the packaging box 6 filled with prefilled syringes to return and move to the box placement area 21; the box withdrawal assembly 3 is arranged close to the box placement area 21 of the box loading assembly 2, and is used to transport the packaging box 6 filled with prefilled syringes toward the packaging area; the grabbing assembly 4 is arranged close to the box loading assembly 2, and is used to grab the packaging box 6 that does not contain prefilled syringes from the empty box conveying assembly 1 and place it in the box placement area 21, and is also used to take out the packaging box 6 filled with prefilled syringes from the box placement area 21 and place it on the box withdrawal assembly 3; the control panel 5 is electrically connected to the empty box conveying assembly 1, the box loading assembly 2, the box withdrawal assembly 3 and the grabbing assembly 4 respectively, and is used to control the operation respectively.

[0021] The present invention provides an automatic box loading and unloading device for prefilled syringes. Compared with the prior art, an empty box conveying component 1 is provided to transport empty boxes (i.e., a packaging box 6 without a prefilled syringe), a prefilled syringe can be loaded into the packaging box 6 through a box loading component 2, and a loaded packaging box 6 can be taken out through a box unloading component 3, so as to facilitate the box loading and unloading operations of the next packaging box 6. A gripping component 4 can carry and move the packaging box 6, thereby solving the technical problems of slow box loading and unloading speed, low efficiency, and difficulty in realizing automated box loading and unloading operations when the prefilled syringe is loaded into the packaging box 6 and when the packaging box 6 is full of prefilled syringes and needs to be unloaded. The present invention has the technical effect of enabling automated production of box loading and unloading of prefilled syringes, improving production speed and efficiency, and meeting the box loading and unloading operations of large quantities of prefilled syringes.

[0022] In this embodiment, the control panel 5 includes a PLC controller, a control circuit, control buttons, etc., and the coordination parameters between the various components can be preset to realize the automatic box loading and unloading operations of the prefilled syringes. The control panel 5 is provided with control circuits and control buttons that can respectively control the operation of the empty box conveying component 1, the box loading component 2, the box unloading component 3 and the grabbing component 4. Through manipulation, the operation can be controlled separately to realize automatic operation or production.

[0023] In some embodiments, see Figure 1 to Figure 2 The empty box conveying assembly 1 includes a first conveying mechanism 11 and a plurality of stoppers 12. The first conveying mechanism 11 includes a frame 111, a driving roller 112 connected to the frame 111, a driven roller 113, a conveyor belt 114 wrapped around the driving roller 112 and the driven roller 113, and a driver 115 for driving the driving roller 112 to rotate. The power output end of the driver 115 is connected to the driving roller 112 and drives the rotation. The driver 115 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5. The plurality of stoppers 12 are arranged on the outer surface of the conveyor belt 114 at equal intervals along the length direction of the conveyor belt 114. The packaging box 6 is placed between two adjacent stoppers 12. The stoppers 12 abut against one side of the packaging box 6 and are used to push or drive the packaging box 6 to move. When the packaging box 6 is located on the conveyor belt 114, the transmission energy of the conveyor belt 114 drives the packaging box 6 to move to a position close to the box placement area 21, so as to facilitate the grabbing assembly 4 to grab. The plurality of limiters 12 can prevent the packaging box 6 from slipping during the conveying process, so as to prevent the packaging box 6 from failing to reach the position to be grasped by the grasping assembly 4. The limiters 12 can effectively ensure that the packaging box 6 can be moved into position, which is convenient for the grasping assembly 4 to perform the grasping operation and is conducive to improving the automated production efficiency.

[0024] Preferably, a plurality of sensors are arranged on the frame 111, including a sensor capable of detecting whether the packaging box 6 reaches the position to be grasped by the grasping component 4, a sensor capable of detecting whether the packaging box 6 is located on the conveyor belt 114, etc. The plurality of sensors are electrically connected to the control panel 5, respectively, and send signals to the control panel 5 to instruct the control panel 5 to operate. The driver 115 is a motor or other power source in the prior art. The limiting member 12 is a plastic product in the shape of a long strip, bonded to the conveyor belt 114, and capable of driving the packaging box 6 to move.

[0025] In some embodiments, see Figure 1 and Figure 6The box loading component 2 includes a second conveying mechanism 23, a first three-dimensional adjustment platform 24 and a suction cup 25. The conveying direction of the second conveying mechanism 23 is arranged perpendicular to the conveying direction of the empty box conveying component 1. One end of the second conveying mechanism 23 is arranged near the output end of the empty box conveying component 1. The second conveying mechanism 23 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5; the first three-dimensional adjustment platform 24 has a mobile end with a degree of freedom that can be adjusted in three directions, and the mobile end is provided with a first magnetic suction component 26. The first three-dimensional adjustment platform 24 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5; the suction cup 25 is magnetically attracted to the first magnetic suction component 26. The suction cup 25 is used to generate suction and attract multiple prefilled syringes. A plurality of suction ports for attracting multiple prefilled syringes are arranged at the bottom of the suction cup 25. 27, the suction cup 25 attracts the prefilled syringe and moves with the help of the first three-dimensional adjustment platform 24, and places the prefilled syringe in the packaging box 6, and the spacing of the multiple suction ports 27 is the same as the spacing of the grooves in the packaging box 6; wherein, the suction cup 25 is used to connect to the vacuum generator (which is the prior art and is not shown in the figure), and the vacuum generator is used to control the suction cup 25 to attract the prefilled syringe, and the vacuum generator is electrically connected to the control panel 5 and its operation is controlled by the control panel 5, the box placing area 21 is close to the output end of the empty box conveying component 1, and the box loading area 22 is close to the first three-dimensional adjustment platform 24; the box placing area 21 is placed on the second conveying mechanism 23, and after the packaging box 6 is placed on the second conveying mechanism 23, the control panel 5 controls the second conveying mechanism 23 to operate so that the packaging box 6 moves to the box loading area 22. The second conveying mechanism 23 has the same structure as the first conveying mechanism 11, and the description is not repeated here. It should be noted that the length of the second conveying mechanism 23 is greater than the length of the first conveying mechanism 11, and the first three-dimensional adjustment platform 24 can adjust the position in the three-dimensional direction, which is convenient for adjusting the position of the suction cup 25. The first magnetic member 26 and the suction cup 25 form a detachable connection, which is convenient for disassembly and not easy to fall off during the connection process. The suction cup 25 is set in a rectangular shape. The suction force of the suction cup 25 can be controlled by the vacuum generator, so that multiple prefilled syringes can be attracted and released. After attraction, the prefilled syringes can be moved into the packaging box 6 by moving the suction cup 25. When the suction force decreases, the suction cup 25 releases the prefilled syringes, and the prefilled syringes automatically fall into the packaging box 6. The vacuum generator and the suction cup 25 are connected by a pipeline, and a valve is set on the pipeline to conveniently control the on and off of the gas path.

[0026] The box placing area 21 is located on the left side of the conveyor belt 114 of the second conveying mechanism 23, and the box loading area 22 is located near the first three-dimensional adjustment platform 24. The operation steps or principles of the present invention are: first, the empty box conveying component 1 is operated to stop the second conveying mechanism 23, and then the grabbing component 4 is operated to move the prefilled syringe to the box placing area 21, and then the second conveying mechanism 23 is started to move the box placing area 21 to the box loading area 22, so that the packaging box 6 moves to the box loading area 22, and the second conveying mechanism 23 is stopped, and the box loading component 2 is started to load the box, and then the second conveying mechanism 23 is started to return the packaging box 6 from the box loading area 22 to the box placing area 21, and then the grabbing component 4 is started again to move the packaging box 6 to the box unloading component 3, and a cycle is completed. Continue to the next cycle.

[0027] In some embodiments, see Figure 1 , Figures 3 to 5 The grabbing assembly 4 includes a second three-dimensional adjustment platform 41, a rotating table 42 and a clamping assembly 43. The second three-dimensional adjustment platform 41 has a mobile end with a degree of freedom that can be adjusted in three-dimensional directions. The mobile end is provided with a second magnetic attraction component 44. The second three-dimensional adjustment platform 41 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5. A rectangular parallelepiped magnet is provided at the upper end of the rotating table 42, and the magnet is magnetically attracted to the second magnetic attraction component 44. The lower end of the rotating table 42 has a degree of freedom that can rotate circumferentially in a horizontal plane. The rotating table 42 is electrically connected to the control panel 5 and its operation is controlled by Controlled by the control panel 5; the upper end of the clamping assembly 43 is connected to the bottom end of the rotating table 42, and the clamping assembly 43 is used to clamp the packaging box 6. The circumferential rotation of the packaging box 6 is adjusted by the rotating table 42, and the movement of the packaging box 6 is adjusted by the second three-dimensional adjustment platform 41 and the rotating table 42. The clamping assembly 43 is used to clamp the packaging box 6 from the empty box conveying assembly 1 to the box placing area 21, and is also used to clamp the packaging box 6 filled with prefilled syringes from the box placing area 21 and move it to the box withdrawing assembly 3. The clamping assembly 43 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5. The rotating table 42 is an electric rotating table 42 in the prior art, which can rotate circumferentially after control, thereby adjusting the clamping position or direction of the packaging box 6, facilitating the clamping of the packaging box 6 and improving the clamping speed and efficiency. The clamping assembly 43 is equivalent to a clamp, which can clamp the packaging box 6 after control, and clamp or clamp the packaging box 6 for movement. During actual use, the magnet and the second magnetic component 44 will not separate, which will not affect the use effect. When the magnet is pulled out with force, it can be separated from the second magnetic component 44. By setting a magnetic connection structure, it is equivalent to a detachable connection method, which is convenient for disassembly and assembly.

[0028] Among them, the structure of the second three-dimensional adjustment platform 41 is the same as that of the first three-dimensional adjustment platform 24, and both can realize movement in three-dimensional space, thereby adjusting the position. In the figure, both include two spaced columns 411, and the upper ends of the two columns 411 are provided with first beams 412, and the relative inner sides of the two first beams 412 are slidably connected with slide plates 413, and the two slide plates 413 are respectively connected to the two ends of the second beam 414, so that the second beam 414 can slide along the length direction of the second conveying mechanism 23, and the slide plate 413 is slidably connected to the side of the second beam 414, and the slide plate 413 is connected to the vertical beam 415, and the vertical beam 415 can slide along the width direction of the second conveying mechanism 23, and the first magnetic attraction member 26 or the second magnetic attraction member 44 is slidably connected to the vertical beam 415, so that the first magnetic attraction member 26 or the second magnetic attraction member 44 can slide vertically, that is, slide in the height direction of the second conveying mechanism 23, so that the first magnetic attraction member 26 or the second magnetic attraction member 44 can adjust the position in three dimensions. Among them, the sliding of the first beam 412, the sliding of the second beam 414, and the sliding of the first magnetic member 26 or the second magnetic member 44 are all achieved by setting an electric cylinder (which is the prior art) to push and slide, and the control panel 5 is electrically connected to the electric cylinder and used to control the operation, thereby realizing the adjustment of the position of the first magnetic member 26 or the second magnetic member 44 in the three-dimensional direction.

[0029] In some embodiments, see Figure 1 , Figures 3 to 5 The clamping assembly 43 includes a box body 431, two sets of pushers 432 and two sets of clamping plates 433. The box body 431 is connected to the bottom end of the rotating table 42, is hollow inside and has through holes on two opposite sides; the two sets of pushers 432 both have axially retractable push rods 434, and the two sets of push rods 434 pass through the through holes on both sides of the box body 431 respectively. The pushers 432 are used to control the extension and retraction of the push rods 434. The two sets of push rods 434 are L-shaped and symmetrically arranged with the center line of the box body 431 as the symmetry axis. The two sets of pushers 432 are combined to form a clamping structure suitable for clamping the packaging box 6. The pushers 432 are electrically connected to the control panel 5 and their operation is controlled by the control panel 5; the two sets of clamping plates 433 are respectively connected to the outer ends of the two sets of push rods 434, and the two sets of clamping plates 433 are used to clamp the side of the packaging box 6. The box body 431 contains one end of the ejector 432, which is an electric push rod in the prior art. The push rod 434 extends out of the box body 431 and can be extended and retracted by control. The two push rods 434 cooperate with each other to clamp and fix the packaging box 6. The simultaneous operation of the two ejectors 432 can clamp and release the packaging box 6. The clamping plate 433 is arranged in a long strip shape, and the contact area between the clamping plate 433 and the packaging box 6 is large, so the clamping stability of the packaging box 6 is high, and the phenomenon of slipping and falling of the packaging box 6 during the clamping and moving process is prevented.

[0030] In order to facilitate the transportation of the packaging box 6 and facilitate the smooth connection between the various processes of the packaging box 6, in some embodiments, please refer to Figures 7 and 8 The automatic box loading and unloading device for prefilled syringes also includes a lifting and rotating platform 7. The lifting and rotating platform 7 is arranged near the input end of the empty box conveying component 1 or the box unloading component 3. The lifting and rotating platform 7 has the freedom to rotate in the circumferential direction in the horizontal plane and to lift and lower in the vertical direction. The lifting and rotating platform 7 is used to hold the packaging box 6 and adjust the position of the packaging box 6. It is also used to transport the packaging box 6 in a straight line. The lifting and rotating platform 7 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5. The lifting and rotating platform 7 can lift and lower, rotate and adjust, and transport the packaging box 6, which improves the convenience of operations such as the transfer, transportation, and position adjustment of the packaging box 6. The operation can be controlled by the control panel 5, thereby improving the efficiency of the box loading and unloading operations of the packaging box 6. There is no restriction on the location of the lifting and rotating platform 7. It can be reasonably set according to the actual situation in production, and it can facilitate the transportation, loading, and unloading of the packaging box 6.

[0031] In some embodiments, see Figures 7 and 8The lifting and rotating platform 7 includes a lifting platform 71, a rotating body 72, a frame 73 and a third conveying mechanism 74. The lifting platform 71 has the freedom of vertical telescopic lifting and lowering. The lifting platform 71 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5; the rotating body 72 is connected to the upper end of the lifting platform 71, and the upper end has the freedom of circumferential rotation in the horizontal plane. The rotating body 72 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5; the frame 73 is connected to the upper end of the rotating body 72, and the frame 73 is used to place the packaging box 6; the third conveying mechanism 74 is connected to the inside of the frame 73, and has a conveying part (i.e., a conveyor belt) for conveying the packaging box 6 in a straight direction. The upper end of the conveying part is exposed at the upper end of the frame 73. After the packaging box 6 is placed on the upper end of the frame 73, it can be moved with the help of the third conveying mechanism 74. The third conveying mechanism 74 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5. The height and position of the packaging box 6 are adjusted with the help of the lifting platform 71, the rotating body 72 and the third conveying mechanism 74. The lifting platform 71 can be adjusted vertically to adjust the height of the packaging box 6. Generally, its height is consistent with the height of the empty box conveying assembly 1. The rotating body 72 is an electric rotating table 42 in the prior art, which can drive the frame 73 and the third conveying mechanism 74 to rotate in the circumferential direction, thereby adjusting the direction of the length direction of the packaging box 6, so as to facilitate the staff to operate and transport, take, load and unload the packaging box 6. The frame 73 is a two-layer structure, the upper end is plate-shaped and has two through holes, the lower end is a cross-shaped structure and is connected to the upper end of the rotating body 72, and four pillars are connected between the upper end and the lower end, and the third conveying mechanism 74 is arranged in the frame 73 and the upper end of the conveyor belt 114 extends out of the through hole and is placed on the upper end of the frame 73. When the packaging box 6 is located at the upper end of the conveyor belt 114, it is convenient to transport the packaging box 6. The third conveying mechanism 74 has the same structure as the first conveying mechanism 11, and its volume is small and is installed inside the frame 73.

[0032] The structure of the box-returning assembly 3 in the present invention is the same as that of the empty box-transporting assembly 1 , and will not be described in detail herein.

[0033] The packaging box 6 is generally a plastic product. After it is manufactured, there will be rough edges on its side. In order to improve the appearance quality of the packaging box 6, in some embodiments, refer to Figures 9 and 10 The automatic box loading and unloading device for prefilled syringes also includes a trimming assembly 8, which is used to remove burrs from the sides of the packaging box 6 that does not contain the prefilled syringe or the packaging box 6 that contains the prefilled syringe. The trimming assembly 8 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5. The outer burrs of the packaging box 6 can be removed by operating the control panel 5, which is easy to operate and can be removed before or after box loading.

[0034] In some embodiments, see Figures 9 and 10The trimming assembly 8 includes a placement table 81, a rotating part 82, a vertical plate 83, two slide rails 84, a slider 85, a plurality of scrapers 86 and a power part 87. The placement table 81 is used to place a packaging box 6 or a plurality of packaging boxes 6 in a stacked state; the upper end of the rotating part 82 has a circumferential rotation freedom in a horizontal plane, and the rotating part 82 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5; the vertical plate 83 is arranged vertically and the middle bottom end is connected to the upper end of the rotating part 82, and the vertical plate 83 can rotate circumferentially with the help of the rotating part 82; the two slide rails 84 are connected to the side of the vertical plate 83 and are arranged in parallel up and down, and the length of the slide rail 84 is square. The slider 85 is connected to the slide rail 84 in a horizontal direction; the slider 85 is slidably connected to the slide rail 84 and is arranged in a vertical strip shape; multiple scrapers 86 are connected to the slider 85 and are arranged at equal intervals in the vertical direction. The packaging box 6 is arranged near the scraper 86. The scraper 86 moves along the side of the packaging box 6 with the help of the sliding of the slider 85 to scrape off the burrs on the side of the packaging box 6. The layout spacing of multiple packaging boxes 6 is the same as the layout spacing of multiple scrapers 86, so that the burrs of multiple packaging boxes 6 can be removed at the same time; the power output end of the power unit 87 is connected to the slider 85 and is used to drive the slider 85 to move. The power unit 87 is electrically connected to the control panel 5 and its operation is controlled by the control panel 5. The placement table 81 can place one or more packaging boxes 6. As a preferred embodiment, the packaging box 6 can be placed at an end position close to the placement table 81, so that the scraper 86 can be cut and removed. The rotating part 82 is an electric rotating table 42 in the prior art, which can be adjusted in the circumferential direction to adjust the scraping position or direction of the packaging box 6. The slider 85 slides on the slide rail 84, and can slide along the outer edge of the packaging box 6 in a straight line direction, so that the scraper 86 can scrape off the burrs. The scraper 86 is a prior art product, which is sharp and has a good use effect. The power part 87 is a push rod in the prior art, which can drive the slider 85 to slide.

[0035] It should be noted that the number and height of the packaging boxes 6 should be reasonably set according to the number of scrapers 86, so that the scrapers 86 can simultaneously cut and remove the burrs on one side of all the packaging boxes 6 after one cutting, and then scrape and cut the other side of the packaging boxes 6 on the rotating vertical plate 83 or the placement table 81, so that the burrs can be removed from multiple packaging boxes 6 at the same time, improving the operation efficiency. It should be noted that in order to prevent the packaging boxes 6 from moving during the cutting process, a counterweight can be set at the upper end of the packaging box 6 to form a downward pressure on the packaging box 6, so as to avoid movement and achieve the cutting effect of the scraper 86.

[0036] In some embodiments, see Figures 9 and 10, a lifting column 88 is connected to the bottom of the placement table 81, which can be extended and retracted vertically and is used to adjust the height of the placement table 81 to match the height of the scraper 86; a long strip through hole 89 is provided in the middle of the vertical plate 83 and between the two slide rails 84, the length direction of the long strip through hole 89 is along the horizontal direction, the slide rails 84 and the power unit 87 are respectively provided on both sides of the vertical plate 83, and a lever 810 is passed through the long strip through hole 89, one end of the lever 810 is connected to the slider 85, and the other end is connected to the power output end of the power unit 87, and the power output end of the power unit 87 has the freedom to slide back and forth along the sliding direction of the slider 85. Place the packaging box 6 on the placement table 81, and by adjusting the height of the lifting column 88, the height of the packaging box 6 can be adjusted to match the height of the scraper 86, so that the scraper 86 can be cut easily. The lifting column 88 is a prior art product that can be raised, lowered, telescopically adjusted. The lever 810 slides in the long strip through hole 89, so that the long strip through hole 89 limits the sliding stroke or range of the lever 810. The sliding length of the lever 810 is greater than the length and width of the packaging box 6.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic box loading and unloading device for prefilled syringes, characterized in that: include: An empty box conveying assembly is used to convey a packaging box without a prefilled syringe toward a position to be loaded, the empty box conveying assembly having an input end and an output end, and the packaging box is placed from the input end to the upper end of the empty box conveying assembly; A box loading assembly is arranged near the output end of the empty box conveying assembly, and has a box placing area for accommodating boxes without prefilled syringes and a box loading area for loading prefilled syringes into the boxes without prefilled syringes. The box loading assembly drives the boxes to switch and move between the box placing area and the box loading area. In the box loading area, the box loading assembly is used to load prefilled syringes into the boxes without prefilled syringes. The box loading assembly is used to drive the boxes filled with prefilled syringes to move back to the box placing area. A box-returning assembly, arranged near the box-putting area of ​​the box-loading assembly, and used for conveying the packaging box filled with prefilled syringes toward the packaging area; A grabbing assembly, arranged near the box loading assembly, for grabbing the packaging box without prefilled syringes from the empty box conveying assembly and placing it on the box placing area, and for taking out the packaging box filled with prefilled syringes from the box placing area and placing it on the box withdrawing assembly; A control panel is electrically connected to the empty box conveying assembly, the box loading assembly, the box unloading assembly and the grabbing assembly respectively and is used to control the operation respectively.

2. The automatic box loading and unloading device for prefilled syringes according to claim 1, characterized in that: The empty box conveying assembly comprises: A first conveying mechanism comprises a frame, a driving roller connected to the frame, a driven roller, a conveying belt wrapped around the driving roller and the driven roller, and a driver for driving the driving roller to rotate, wherein a power output end of the driver is connected to the driving roller and drives the driving roller to rotate, and the driver is electrically connected to the control panel and its operation is controlled by the control panel; A plurality of limiting members are arranged on the outer surface of the conveyor belt at equal intervals along the length direction of the conveyor belt, the packaging box is placed between two adjacent limiting members, and the limiting members abut against one side of the packaging box and are used to push the packaging box to move.

3. The automatic box loading and unloading device for prefilled syringes according to claim 1, characterized in that: The box packing assembly comprises: A second conveying mechanism, wherein the conveying direction of the second conveying mechanism is perpendicular to the conveying direction of the empty box conveying assembly, one end of the second conveying mechanism is disposed near the output end of the empty box conveying assembly, and the second conveying mechanism is electrically connected to the control panel and its operation is controlled by the control panel; A first three-dimensional adjustment platform, having a mobile end capable of being adjusted in three dimensions, the mobile end being provided with a first magnetic attraction member, the first three-dimensional adjustment platform being electrically connected to the control panel and its operation being controlled by the control panel; A suction cup, magnetically attracted to the first magnetic attraction member, the suction cup is used to generate suction and attract multiple prefilled syringes, the bottom of the suction cup is provided with multiple suction ports for attracting multiple prefilled syringes, the suction cup attracts the prefilled syringes and then moves with the help of the first three-dimensional adjustment platform, and the prefilled syringes are placed in the packaging box, and the spacing between the multiple suction ports is the same as the spacing between the grooves in the packaging box; Among them, the suction cup is used to connect to the vacuum generator, and the vacuum generator is used to control the suction cup to attract the prefilled syringe. The vacuum generator is electrically connected to the control panel and its operation is controlled by the control panel. The box placing area is close to the output end of the empty box conveying assembly, and the box loading area is arranged close to the first three-dimensional adjustment platform; the box placing area is placed on the second conveying mechanism, and after the packaging box is placed on the second conveying mechanism, the control panel controls the operation of the second conveying mechanism to move the packaging box to the box loading area.

4. The automatic box loading and unloading device for prefilled syringes according to claim 1, characterized in that: The grabbing component comprises: A second three-dimensional adjustment platform, having a mobile end capable of adjusting in three-dimensional directions, the mobile end being provided with a second magnetic attraction member, the second three-dimensional adjustment platform being electrically connected to the control panel and its operation being controlled by the control panel; A rotating table, the upper end of which is magnetically attracted to the second magnetic attraction member, the lower end of which has a degree of freedom of circumferential rotation in a horizontal plane, the rotating table being electrically connected to the control panel and its operation being controlled by the control panel; A clamping assembly, the upper end of which is connected to the bottom end of the rotating table, the clamping assembly is used to clamp the packaging box, the circumferential rotation of the packaging box is adjusted by means of the rotating table, and the movement of the packaging box is adjusted by means of the second three-dimensional adjustment platform and the rotating table. The clamping assembly is used to clamp the packaging box and move it from the empty box conveying assembly to the box placement area, and is also used to clamp the packaging box filled with prefilled syringes from the box placement area and move it to the box return assembly. The clamping assembly is electrically connected to the control panel and its operation is controlled by the control panel.

5. The automatic box loading and unloading device for prefilled syringes according to claim 4, characterized in that: The clamping assembly comprises: The box body is connected to the bottom end of the rotating table, is hollow inside and has through holes on two opposite sides; Two groups of ejectors, each having an axially retractable push rod, the two groups of push rods correspondingly pass through the through holes on both sides of the box body respectively, the ejectors are used to control the extension and retraction of the push rods, the two groups of push rods are arranged in an L shape and are symmetrically arranged with the center line of the box body as the symmetry axis, the two groups of ejectors are combined to form a clamping structure suitable for clamping the packaging box, the ejectors are electrically connected to the control panel and the operation is controlled by the control panel; Two groups of clamping plates are respectively connected to the outer ends of the two groups of push rods, and the two groups of clamping plates are used to clamp the side parts of the packaging box.

6. The automatic box loading and unloading device for prefilled syringes according to claim 1, characterized in that: The automatic box loading and unloading device for prefilled syringes also includes a lifting and rotating platform, which is arranged near the input end of the empty box conveying component or the box unloading component. The lifting and rotating platform has the freedom to rotate circumferentially in a horizontal plane and to lift and lower vertically. The lifting and rotating platform is used to hold the packaging box and adjust the position of the packaging box, and is also used to convey the packaging box in a straight direction. The lifting and rotating platform is electrically connected to the control panel and its operation is controlled by the control panel.

7. The automatic box loading and unloading device for prefilled syringes according to claim 6, characterized in that: The lifting and rotating platform comprises: A lifting platform, having the freedom of vertical extension and retraction, the lifting platform is electrically connected to the control panel and its operation is controlled by the control panel; A rotating body connected to the upper end of the lifting platform, the upper end of which has a circumferential rotational freedom in a horizontal plane, the rotating body is electrically connected to the control panel and its operation is controlled by the control panel; A frame connected to the upper end of the rotating body, the frame being used to place the packaging box; The third conveying mechanism is connected to the inside of the frame and has a conveying portion for conveying the packaging box in a straight direction. The upper end of the conveying portion is exposed at the upper end of the frame. After the packaging box is placed on the upper end of the frame, it can be moved with the help of the third conveying mechanism. The third conveying mechanism is electrically connected to the control panel and its operation is controlled by the control panel. The height and position of the packaging box are adjusted with the help of the lifting platform, the rotating body and the third conveying mechanism.

8. The automatic box loading and unloading device for prefilled syringes according to claim 1, characterized in that: The automatic box loading and unloading device for prefilled syringes also includes a trimming component, which is used to remove burrs from the sides of the packaging box without prefilled syringes or the packaging box with prefilled syringes. The trimming component is electrically connected to the control panel and its operation is controlled by the control panel.

9. The automatic box loading and unloading device for prefilled syringes according to claim 8, characterized in that: The trimming assembly comprises: A placing table, used for placing the packaging box or a plurality of packaging boxes in a stacked state; A rotating part, the upper end of which has a circumferential rotational freedom in a horizontal plane, the rotating part is electrically connected to the control panel and its operation is controlled by the control panel; A vertical plate is arranged vertically and the bottom end of the middle part is connected to the upper end of the rotating part, and the vertical plate can rotate in a circular direction with the help of the rotating part; Two slide rails are connected to the side of the vertical plate and arranged in parallel up and down, and the length direction of the slide rails is along the horizontal direction; A slider is slidably connected to the slide rail and is arranged in a vertical strip shape; A plurality of scrapers are connected to the slider and are arranged at equal intervals in the vertical direction. The packaging box is arranged close to the scrapers. The scrapers move along the side of the packaging box with the help of the sliding of the slider to scrape off the burrs on the side of the packaging box. The spacing between the packaging boxes is the same as the spacing between the scrapers. A power unit, whose power output end is connected to the slider and used to drive the slider to move, and the power unit is electrically connected to the control panel and its operation is controlled by the control panel.

10. The automatic box loading and unloading device for prefilled syringes according to claim 9, characterized in that: A lifting column is connected to the bottom of the placing table, and the lifting column can be extended and retracted vertically and is used to adjust the height of the placing table to adapt to the height of the scraper; a long strip through hole is provided in the middle of the vertical plate and between the two slide rails, and the length direction of the long strip through hole is along the horizontal direction, the slide rail and the power part are respectively arranged on both sides of the vertical plate, and a lever is passed through the long strip through hole, one end of the lever is connected to the slider, and the other end is connected to the power output end of the power part, and the power output end of the power part has the freedom to slide back and forth along the sliding direction of the slider.

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