Medicinal product assembling system and method

Abstract

The invention discloses a medicinal product assembling system and method.The assembling system comprises a conveying system, an assembly feeding system, a core material feeding and assembling system, a detecting system and a follow-up processing system, and the assembly feeding system, the core material feeding and assembling system, the detecting system and the follow-up processing system are sequentially arranged in the moving direction of the conveying system; the circulating jig comprises a first assembly mold, a second assembly mold and a circulating carrier which are installed on a fixing assembly, the fixing assembly comprises a first clamping plate, a second clamping plate, a fixing vertical plate and a fixing back plate, and the first clamping plate and the second clamping plate are installed on a track rod between the fixing vertical plate and the fixing back plate which are arranged in a mirroring mode. The first assembly mold is arranged on the first clamping plate and the second clamping plate; and the circulating carrier is connected with the fixed back plate. According to the assembling method, all the assemblies in the assembling system are used for achieving full-automatic operation from raw material feeding to finished product discharging, the production efficiency is effectively improved, the defective rate is reduced, the cleanliness of the production process is ensured, and the high-standard requirement of medicine production is met.

Description

Technical Field

[0001] The present invention relates to the technical field of pharmaceutical packaging machinery and equipment, and in particular to a pharmaceutical product assembly system and an assembly method. Background Art

[0002] With the increasing prevalence of chronic diseases (such as diabetes), pharmaceutical products have broad development prospects in the global market. However, the current production of pharmaceutical products is still highly dependent on manual operation, and this production model has many significant defects.

[0003] Currently, the main problems with manually assembled pharmaceutical products include:

[0004] Low production efficiency; manual work is slow and the production quantity per unit time is limited, which makes it difficult to meet the growing market demand.

[0005] The defective rate is high; manual operation has inevitable randomness and subjectivity, which leads to errors and mistakes in the assembly process, making it difficult to stabilize and control product quality.

[0006] Cleanliness is difficult to ensure; manual operation will introduce a large number of human factors, increase the risk of microbial contamination and cross-contamination, and it is difficult to meet the strict cleanliness standards required for drug production.

[0007] The assembly accuracy is unstable; during the manual assembly process, key parameters such as pressing force and position accuracy are difficult to accurately control, which directly affects the performance and quality of pharmaceutical products.

[0008] These problems not only restrict the production efficiency and quality of pharmaceutical products, but also increase production costs and limit the competitiveness of pharmaceutical manufacturers. Summary of the invention

[0009] The purpose of the present invention is to provide a pharmaceutical product assembly system and assembly method, which solves the technical problems in the prior art of low efficiency, high defective rate and difficulty in ensuring cleanliness of manual assembly of pharmaceutical products.

[0010] In order to solve the above technical problems, on the one hand, the present invention provides a pharmaceutical product assembly system, comprising:

[0011] A conveying system, comprising a circulating conveying system and a plurality of circulating jigs that can be directed and moved along a track of the circulating conveying system;

[0012] A component feeding system, a core material feeding and assembly system, a detection system and a subsequent processing system are sequentially arranged along the movement direction of the circulating conveying system, and are used for the automatic assembly of pharmaceutical products;

[0013] The components of the circulating jig carrying the pharmaceutical products follow the circulating conveying system and move to the component loading system, the core material loading and assembly system, the detection system and the subsequent processing system for corresponding processing;

[0014] Wherein, the circulation fixture comprises a first component mold, a second component mold and a circulation carrier mounted on a fixed component;

[0015] The fixed component includes a first clamping plate, a second clamping plate, a fixed vertical plate, a fixed back plate and a mold seat, the first clamping plate and the second clamping plate are installed on the track rod between the fixed vertical plate and the fixed back plate which are arranged in a mirror image, and the first component mold is arranged on the first clamping plate and the second clamping plate; the circulating carrier is connected to the fixed back plate, the mold seat is arranged on the fixed vertical plate, and the second component mold is fixed on the mold seat.

[0016] Furthermore, the fixing assembly also includes a compression spring surrounding the track rod and located between the first clamping plate and the fixed vertical plate, and between the second clamping plate and the fixed back plate, and a connecting rod mechanism connected to the first clamping plate and the second clamping plate.

[0017] Further, the component loading system includes a component loading mechanical arm and a component loading system arranged above the component loading mechanical arm;

[0018] The component loading robot arm includes a first component loading robot arm and a second component loading robot arm; the component loading system includes a first component loading system and a second component loading system; the first component loading system is arranged above the first component loading robot arm, and the second component loading system is arranged above the second component loading robot arm;

[0019] Among them, the first component loading system and the first component loading robot arm together constitute a group of loading structures, and the second component loading system and the second component loading robot arm together constitute a group of loading structures.

[0020] Furthermore, the first component loading system and the second component loading system both include a pallet loading position, an empty pallet discharging position and a component discharging gripper, the component pallet gripper is used to grab the components in the pallet, and the pallet loading position and the empty pallet discharging position are located at the same position.

[0021] Furthermore, the core material feeding and assembly system includes a component disassembly robot arm, a core material feeding system, a core material pressing system and a component assembly robot arm which are sequentially arranged on the track of the circulating conveying system;

[0022] Among them, the core material loading system includes a core material sorting component, a material picking robot arm, a core material feeding transfer position and a core material bucket; the core material sorting component is used to sort the core material; the material picking robot arm is arranged around the circulating conveying system and is located behind the component disassembly robot arm; the core material feeding transfer position is arranged below the material picking robot arm; the core material bucket is arranged below the core material feeding transfer position.

[0023] Furthermore, the detection system includes a flange damage detection system and an online pressing and detection system; the flange damage detection system is arranged between the core material pressing system and the component assembly robot arm, and is used to detect the integrity of each component of the pharmaceutical product and mark the components that failed to assemble; the online pressing and detection system is used to evenly press each component of the pharmaceutical product and detect the assembly results.

[0024] Furthermore, the subsequent processing system includes a rejection system and a discharging system; the rejection system is used to remove unqualified products from the production line, and the discharging system is responsible for outputting fully assembled and qualified products to the subsequent process.

[0025] Furthermore, it also includes a transfer system and a plurality of controllers arranged on the circulating conveying system, the transfer system is arranged between the component disassembly robot arm and the component assembly robot arm, and the controller is used to output the results of the detection system.

[0026] On the other hand, the present invention also provides a method for assembling a pharmaceutical product, wherein the pharmaceutical product comprises a first component, a core material, and a second component, and the method for assembling the pharmaceutical product comprises the following steps:

[0027] The second component and the first component are transferred to a circulation fixture through a component loading system;

[0028] Transferring the core material to a first component located on the circulation jig through a core material feeding and assembly system for assembly to obtain a first assembly of the first component and the core material;

[0029] Using the flange damage detection system in the detection system to perform detection and mark the unqualified first assembly, and also using the feeding and assembly system to install the second component on the first assembly to obtain the second assembly;

[0030] The online pressing and testing system in the testing system presses the second assembly, detects and marks unqualified medicinal products;

[0031] The unqualified pharmaceutical products will be removed through the subsequent processing system, and the qualified pharmaceutical products will be transferred to the next process.

[0032] Further, a first component loading robot arm in the component loading system is used to grab the first component from the discharge of the first component loading system, and transfer the first component to a first component mold of one of the circulation jigs;

[0033] A second component loading robot arm is used to grab the second component from the discharge of the second component loading system, and transfer the second component to the second component mold of the same circulation fixture.

[0034] Furthermore, a material taking robot arm in a core material feeding system is used to transfer the core material from a core material sorting assembly to the first assembly located on the circulation jig;

[0035] When the circulation jig reaches the core material pressing system, the core material pressing system presses the core material evenly into the first component to obtain a first assembly;

[0036] Using a flange damage detection system in the detection system to detect the integrity of the first assembly and the first assembly that failed to be assembled;

[0037] When the circulation jig reaches the component assembly robot arm, the component assembly robot arm clamps the second component on the circulation jig and places it on the first assembly body, performs pre-assembly of the second component and the first assembly body, and obtains the second assembly body.

[0038] In another aspect of the present invention, a method for assembling a pharmaceutical product is provided. The pharmaceutical product includes a component and a core material. The assembling of the pharmaceutical product includes the following steps:

[0039] Transferring the component to the circulation fixture through a component loading system;

[0040] Using a component disassembling robot arm in a core material feeding and assembly system to disassemble the component into a first component and a second component; using the component disassembling robot arm to clamp the second component and transfer it to a transfer system;

[0041] The core material is transferred to the first component through the core material feeding and assembling system to obtain a first assembly of the core material and the first component;

[0042] Using the flange damage detection system in the detection system to perform detection, marking the unqualified first assembly, and using the core material feeding and assembly system to install the second component on the first assembly to obtain the second assembly;

[0043] The online pressing and testing system in the testing system presses the second assembly, detects and marks unqualified medicinal products;

[0044] The unqualified pharmaceutical products will be removed through the subsequent processing system, and the qualified pharmaceutical products will be transferred to the next process.

[0045] Furthermore, a first component loading robot arm in the component loading system is used to grab the component from the discharge of the first component loading system, and transfer the component to a first component mold of one of the circulation fixtures.

[0046] Furthermore, a material taking robot arm of a core material feeding system is used to transfer the core material from the core material sorting assembly to the first assembly in the circulation fixture;

[0047] When the circulation jig reaches the core material pressing system, the core material pressing system presses the core material evenly into the first component to obtain a first assembly;

[0048] When the circulation jig reaches the component assembly robot arm, the component assembly robot arm clamps the second component on the transfer system and places it on the first assembly body, performs pre-assembly of the second component and the assembly body, and obtains a second assembly body.

[0049] Further, the qualified second assembly is uniformly pressed together by the online pressing and testing system in the testing system to complete the assembly of the pharmaceutical product;

[0050] While pressing, the online pressing and detection system detects the pressing condition and marks the unqualified medicinal products.

[0051] Furthermore, the rejection system in the subsequent processing system is used to reject unqualified medicinal products; and the discharge system in the subsequent processing system is used to transfer qualified medicinal products to the next process.

[0052] Compared with the prior art, the present invention has at least the following beneficial effects:

[0053] The components of the pharmaceutical product assembly system proposed in the present invention are independent of each other and can be disassembled and matched to adapt to pharmaceutical products with different numbers of components; the use of customized molds and core material sorting component design enables the production line to be used for the automatic assembly of pharmaceutical products with different core materials such as needles, bottles or blocks, reducing manual operations and costs. The pharmaceutical product assembly method proposed in the present invention uses an assembly system to achieve automatic assembly, reduces the randomness and subjectivity of manual operations, reduces errors and mistakes in the assembly process, thereby reducing the defective rate, improving the production efficiency of pharmaceutical products, and ensuring the cleanliness of processing and production. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the overall structure of the pharmaceutical product assembly system of the present invention;

[0055] Figure 2 It is a schematic diagram of the structure of the circulation fixture in the pharmaceutical product assembly system of the present invention;

[0056] Figure 3 A schematic cross-sectional view of a circulation fixture in the pharmaceutical product assembly system of the present invention;

[0057] Figure 4 It is a structural schematic diagram of a component feeding system in the pharmaceutical product assembly system of the present invention;

[0058] Figure 5 It is a structural schematic diagram of the core material feeding system in the pharmaceutical product assembly system of the present invention;

[0059] Figure 6 This is a schematic diagram of the assembly process flow of a medicinal product in accordance with an embodiment of the method for assembling a medicinal product of the present invention;

[0060] Figure 7 This is a schematic diagram of the assembly process flow of a medicinal product according to another embodiment of the method for assembling a medicinal product of the present invention.

[0061] Figure numbers: 1. Circulation conveying system; 2. Circulation fixture; 3. First component feeding system; 4. First component feeding robot arm; 5. Second component feeding system; 6. Second component feeding robot arm; 7. Component disassembly robot arm; 8. Core material feeding system; 9. Core material pressing system; 10. Flange damage detection system; 11. Component assembly robot arm; 12. Online pressing and detection system; 13. Rejection system; 14. Discharging system; 15. Transfer system; 16. Controller; 21 , first component mold; 22, second component mold; 23, circulation carrier; 24, first clamp; 25, second clamp; 26, fixed vertical plate; 27, fixed back plate; 28, mold seat; 29, track rod; 30, clamping spring; 31, core material sorting component; 32, material picking robot arm; 33, core material feeding transfer position; 34, core material bucket; 41, tray upper material position; 42, component tray gripper; 51, first component; 52, core material; 53, second component; 54, component. DETAILED DESCRIPTION

[0062] A pharmaceutical product assembly system and assembly method of the present invention will be described in more detail below in conjunction with a schematic diagram, wherein preferred embodiments of the present invention are shown, and it should be understood that those skilled in the art may modify the present invention described herein while still achieving the beneficial effects of the present invention. Therefore, the following description should be understood as being widely known to those skilled in the art and not as a limitation of the present invention.

[0063] The present invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become more apparent from the following description. It should be noted that the accompanying drawings are in very simplified form and are not in exact proportions, and are only used to facilitate and clearly assist in illustrating the purpose of the embodiments of the present invention.

[0064] Embodiment 1

[0065] like Figures 1 to 5 As shown, in the first embodiment, a pharmaceutical product assembly system is proposed, including: a conveying system, including a circulating conveying system 1 and a plurality of circulating fixtures 2 that can be directional moved along the track of the circulating conveying system; a component feeding system, a core material feeding and assembly system, a detection system and a subsequent processing system are sequentially arranged along the movement direction of the circulating conveying system for the automatic assembly of pharmaceutical products. The components of the pharmaceutical products carried by the circulating fixture 2 follow the circulating conveying system 1 and move to the component feeding system, the core material feeding and assembly system, the detection system and the subsequent processing system for corresponding processing.

[0066] The circulation fixture 2 includes a first component mold 21, a second component mold 22 and a circulation carrier 23 installed on a fixed component. The first component mold 21 and the second component mold 22 are customized according to the shape of the pharmaceutical product and the installation process requirements.

[0067] The fixed component includes a first clamping plate 24, a second clamping plate 25, a fixed vertical plate 26, a fixed back plate 27 and a mold seat 28. The first clamping plate 24 and the second clamping plate 25 are installed on a track rod 29 between the fixed vertical plate 26 and the fixed back plate 27 which are mirror-set. The first component mold 21 is arranged on the first clamping plate 24 and the second clamping plate 25; the circulating carrier 23 is connected to the fixed back plate 27; the mold seat 28 is arranged on the fixed vertical plate 26, and the second component mold 22 is fixed on the mold seat 28.

[0068] In this embodiment, the fixing assembly also includes a compression spring 30 that surrounds the track rod and is located between the first clamping plate 24 and the fixed vertical plate 26, and between the second clamping plate 25 and the fixed back plate 27, and a connecting rod mechanism connected to the first clamping plate 24 and the second clamping plate 25.

[0069] In this embodiment, the component loading system includes a component loading robot arm and a component loading system arranged above the component loading robot arm.

[0070] Specifically, the component loading robot arm includes a first component loading robot arm 4 and a second component loading robot arm 6; the component loading system includes a first component loading system 3 and a second component loading system 5; the first component loading system 3 is independently arranged above the first component loading robot arm 4, and the second component loading system 5 is independently arranged above the second component loading robot arm 6; wherein, the first component loading system 3 and the first component loading robot arm 4 together constitute a group of loading structures, and the second component loading system 5 and the second component loading robot arm 6 together constitute a group of loading structures.

[0071] In addition, the first component loading system 3 and the second component loading system 5 both include a tray loading position 41, an empty tray discharging position, and a component tray gripper 42. The component tray gripper 42 is used to grab the components in the tray, and the tray loading position 41 and the empty tray discharging position are located at the same position, so that the user can intermittently load and recycle at the same position, which is simple to operate and saves space and manpower.

[0072] In actual use, the component loading robot arm and the component loading system can be increased or decreased according to the number of components of the pharmaceutical product that needs to be assembled.

[0073] In this embodiment, the core material feeding and assembly system includes a component disassembly robot arm, a core material feeding system, a core material pressing system and a component assembly robot arm which are sequentially arranged on the track of the circulating conveying system.

[0074] Specifically, Figure 5 As shown, the core material feeding system 8 includes a core material sorting component 31, a material picking robot arm 32, a core material feeding transfer station 33 and a core material bucket 34. The core material sorting component 31 is used to sort the core materials so that the core materials are in the correct state and arrangement before entering the subsequent feeding and assembly process, so as to improve the efficiency and accuracy of the assembly line. The material picking robot arm 32 is arranged around the circulating conveying system 1 and is located behind the component disassembly robot arm 7. The core material feeding transfer station 33 is arranged below the material picking robot arm 32 for transferring core materials. The core material bucket 34 is arranged below the core material feeding transfer station 33 to facilitate the collection of core materials that have not been successfully assembled or have fallen due to other reasons during the assembly process.

[0075] The core material sorting assembly 31 can be arranged according to the core material type, and the core material types include a needle body, a bottle body and a block body.

[0076] In one embodiment, the detection system includes a flange damage detection system 10 and an online pressing and detection system 12. The flange damage detection system 10 is arranged between the core material pressing system and the component assembly robot arm, and is used to detect the integrity of each component of the pharmaceutical product and the components that failed to be assembled, thereby improving the quality and reliability of the final product. The online pressing and detection system 12 not only presses each component of the pharmaceutical product evenly to ensure the firmness and consistency of the assembly, but is also responsible for detecting the assembly results and confirming whether the assembly is successful, so that problems can be discovered in time during the production process and the generation of defective products can be reduced.

[0077] The subsequent processing system includes a rejection system 13 and a discharging system 14. The rejection system 13 can automatically identify and remove unqualified products that do not meet the quality standards, thereby ensuring that only qualified products enter the subsequent process. The setting of the rejection system 13 helps to improve product quality. The discharging system 14 is responsible for outputting the assembled and qualified products to the subsequent process.

[0078] In a specific embodiment, the components of the assembly line are detachable, and the positions of the rejection system 13 and the discharge system 14 are interchangeable.

[0079] In a specific example, the assembly line further includes a transfer system 15 and a plurality of controllers 16 disposed on the circulating conveying system. The transfer system 15 is disposed between the component disassembly robot 7 and the component assembly robot 11. The controller 16 is used to output the results of the detection system, the output results including visual images and press displacement pressure curves, and the results can be saved and output.

[0080] In actual use, the component disassembly robot 7, the component assembly robot 11 and the transfer system 15 will be appropriately deleted according to the assembly process requirements of the pharmaceutical product.

[0081] During assembly, the components are generally arranged in a matrix on the pallet. The pallet loading position 41 in the component loading system is the loading port of the pallet. The user places a stack of any number of pallets on the pallet loading position 41 to complete the loading. The empty pallet discharge position is the empty pallet recovery port. The user can collect the empty pallets at the empty pallet discharge position and transfer them to a suitable storage location. The component pallet gripper 42 will grab the components in the pallet in rows in sequence and place them at the discharge port of the component loading system. Among them, the pallet loading position 41 and the empty pallet discharge position are at the same position. The user can intermittently load and recycle at the same position, which is simple to operate and saves space and manpower.

[0082] This embodiment solves the problems of low efficiency, high defective rate, and difficulty in ensuring cleanliness in traditional manual assembly methods by providing an automated, flexible, and efficient pharmaceutical product assembly system, and provides a modern production solution for pharmaceutical manufacturers.

[0083] Embodiment 2

[0084] In the second embodiment, a method for assembling a pharmaceutical product is proposed. The pharmaceutical product assembly system proposed in the first embodiment is used for assembly. The schematic diagram of the pharmaceutical product assembly is shown in FIG. Figure 6 The pharmaceutical product comprises a first component 51, a core material 52 and a second component 53, and the pharmaceutical product assembly method comprises the following steps:

[0085] Transferring the second component 53 and the first component 51 to the circulation jig 2 through the component loading system;

[0086] The core material 52 is transferred to the first component 51 located on the circulation jig 2 through the core material feeding and assembly system for assembly, so as to obtain a first assembly of the first component 51 and the core material 52;

[0087] Using the flange damage detection system 10 in the detection system to perform detection and mark the unqualified first assembly, and also using the core material feeding and assembly system to install the second component 53 on the first assembly to obtain the second assembly;

[0088] The online pressing and testing system 12 in the testing system tests the second assembly, and the second component 53 in the second assembly that passes the test is pressed through the testing system;

[0089] The unqualified pharmaceutical products will be removed through the subsequent processing system, and the qualified pharmaceutical products will be transferred to the next process.

[0090] In the assembly process of the second embodiment, since the pharmaceutical product can be directly assembled, the component disassembly robot arm 7 in the pharmaceutical product assembly system is not used. The assembly process is described in detail below.

[0091] In this embodiment, the first component mold 21 and the second component mold 22 of the circulation fixture 2 are used, the first component loading system 3 is the loading port of the first component 51 of the medicinal product, and the second component loading system 5 is the loading port of the second component 53 of the medicinal product.

[0092] The first component loading robot arm 4 in the component loading system grabs the first component 51 from the discharge of the first component loading system 3 , and transfers the first component 51 to the first component mold 21 of one of the circulation jigs 2 .

[0093] The second component loading robot arm 6 in the component loading system grabs the second component 53 from the discharge of the second component loading system 5 and transfers the second component 53 to the second component mold 22 of the same circulation fixture 2.

[0094] The core material 52 enters the circulation conveying system 1 from the core material sorting component 31. When the circulation jig 2 flows to the core material feeding system 8, the material taking robot arm 32 simultaneously transfers the core material 52 from the core material sorting component 31 to the core material feeding transfer position 33, and transfers the core material 52 from the core material feeding transfer position 33 to the first component 51 on the circulation jig 2, to obtain the first assembly of the first component and the core material. The core material 52 in the failed assembly product will fall into the core material bucket 34 and be collected, so that it can be used again.

[0095] When the circulation jig 2 flows to the core material pressing system 9 , the core material pressing system 9 presses the core material 52 evenly into the first component 51 , thereby obtaining a first assembly of the core material 52 and the first component 51 .

[0096] The circulation jig 2 continues to operate, and when it reaches the position of the flange damage detection system 10, the flange damage detection system 10 detects the first assembly, confirms the integrity of the core material 52 in the first assembly and records the data. At the same time, the flange damage detection system 10 can also identify the first component 51 that has failed to assemble and mark it.

[0097] When the circulation jig 2 flows to the component assembly robot 11, the component assembly robot 11 will clamp the second component 53 in the circulation jig 2 and place it on the first assembly to obtain a second assembly.

[0098] When the circulation jig 2 flows to the online pressing and testing system 12, the online pressing and testing system 12 will press the second assembly evenly to obtain a pharmaceutical product. At the same time, the online pressing and testing system 12 will also inspect the assembly completion of the pharmaceutical product and mark the unqualified pharmaceutical products.

[0099] When the circulation jig 2 flows to the rejection system 13 , the marked unqualified pharmaceutical products will be clamped by the rejection system 13 and placed in the rejection hopper.

[0100] When the circulation jig 2 flows to the discharging system 14 , the three pharmaceutical products that are completely assembled and qualified will be clamped by the discharging system 14 and output to the next process.

[0101] The assembly method proposed in this embodiment is suitable for directly assembling components of a pharmaceutical product. The operation is simple and does not require manual labor, thereby improving assembly efficiency.

[0102] Embodiment 3

[0103] In the third embodiment, a method for assembling a pharmaceutical product is proposed. The present embodiment also uses the pharmaceutical product assembly system proposed in the first embodiment for assembly. The schematic diagram of the pharmaceutical product assembly is shown in FIG. Figure 7 The pharmaceutical product comprises a component 54 and a core material 52, and the pharmaceutical product assembly method comprises the following steps:

[0104] Transferring the component 54 to the circulation fixture 2 through a component loading system;

[0105] The component disassembling robot arm 7 in the core material feeding and assembly system is used to disassemble the component 54 into a first component 51 and a second component 53; the component disassembling robot arm 7 is used to clamp the second component 53 and transfer it to the transfer system 15;

[0106] The core material 52 is transferred to the first component 51 through the core material feeding and assembly system to obtain a first assembly of the core material 52 and the first component 51;

[0107] Using the flange damage detection system 10 in the detection system to perform detection, marking the unqualified first assembly, and using the core material feeding and assembly system to install the second component 53 on the first assembly to obtain the second assembly;

[0108] The online pressing and testing system 12 in the testing system presses the second assembly, detects and marks unqualified medicinal products;

[0109] The unqualified pharmaceutical products will be removed through the subsequent processing system, and the qualified pharmaceutical products will be transferred to the next process.

[0110] For Example 3, the first component mold 21 of the circulation jig 2 is used. The first component loading system 3 is the loading port of the component 54, and the component 54 is added to the equipment system from the feeding port of the first component loading system 3. The first component loading robot arm 4 grabs the component 54 from the discharge of the first component loading system 3 and transfers the component 54 to one of the first component molds 21 of the circulation jig 2.

[0111] When the circulation jig 2 flows to the component disassembling robot arm 7 , the component disassembling robot arm 7 disassembles the component 54 into a first component 51 and a second component 53 , and clamps the second component 53 and places it on the transfer system 15 .

[0112] The core material 52 enters the circulation conveying system 1 from the core material sorting component 31. When the circulation jig 2 carrying the first component 51 flows to the core material feeding system 8, the material taking robot arm 32 simultaneously transfers the core material 52 from the core material sorting component 31 to the core material feeding transfer position 33, and transfers the core material 52 from the core material feeding transfer position 33 to the first component 51 on the circulation jig 2. The core material 52 in the failed assembly product will fall into the core material bucket 34 and be collected so that it can be used again.

[0113] When the circulation jig 2 flows to the core material pressing system 9, the core material pressing system 9 presses the core material 52 evenly into the first component 51, completes the assembly of the core material 52 and the first component 51, and obtains a first assembly of the first component 51 and the core material 52.

[0114] The circulation jig 2 continues to operate, and when it reaches the position of the flange damage detection system 10, the flange damage detection system 10 detects the first assembly, confirms the integrity of the core material 52 in the first assembly and records the data. At the same time, the flange damage detection system 10 can also identify the first component 51 that has failed to assemble and mark it.

[0115] When the circulation jig 2 flows to the component assembly robot 11, the component assembly robot 11 will clamp the second component 53 on the transfer system 15 and place it on the first assembly to obtain a second assembly.

[0116] When the circulation jig 2 flows to the online pressing and testing system 12, the online pressing and testing system 12 presses the second assembly evenly to obtain a pharmaceutical product. At the same time, the online pressing and testing system 12 also checks the assembly completion of the two-component pharmaceutical product and marks the unqualified pharmaceutical products.

[0117] When the circulation jig 2 flows to the rejection system 13 , the marked unqualified pharmaceutical products will be clamped by the rejection system 13 and placed in the rejection hopper.

[0118] When the circulation jig 2 flows to the discharging system 14 , the two-component pharmaceutical product that is completely assembled and qualified will be clamped by the discharging system 14 and output to the next process.

[0119] The assembly method proposed in this embodiment is suitable for situations where components need to be disassembled first and then processed separately, providing higher flexibility to adapt to more complex assembly requirements.

[0120] In summary, the components of the pharmaceutical product assembly system proposed in the present invention are independent of each other and can be disassembled and matched to adapt to pharmaceutical products with different numbers of components; the use of customized molds and core material sorting component designs enables the production line to be used for the automated assembly of pharmaceutical products with different core materials such as needles, bottles or blocks, reducing manual operations and costs. The pharmaceutical product assembly method proposed in the present invention utilizes an assembly system to achieve automated assembly, reduces the randomness and subjectivity of manual operations, reduces errors and mistakes in the assembly process, thereby reducing the defective rate, improving the production efficiency of pharmaceutical products, and ensuring the cleanliness of processing and production.

[0121] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A pharmaceutical product assembly system, characterized in that: include: A conveying system, comprising a circulating conveying system and a plurality of circulating jigs that can be directed and moved along a track of the circulating conveying system; A component feeding system, a core material feeding and assembly system, a detection system and a subsequent processing system are sequentially arranged along the movement direction of the circulating conveying system, and are used for the automatic assembly of pharmaceutical products; The components of the circulating jig carrying the pharmaceutical products follow the circulating conveying system and move to the component loading system, the core material loading and assembly system, the detection system and the subsequent processing system for corresponding processing; Wherein, the circulation fixture comprises a first component mold, a second component mold and a circulation carrier mounted on a fixed component; The fixed component includes a first clamping plate, a second clamping plate, a fixed vertical plate, a fixed back plate and a mold seat, the first clamping plate and the second clamping plate are installed on the track rod between the fixed vertical plate and the fixed back plate which are arranged in a mirror image, and the first component mold is arranged on the first clamping plate and the second clamping plate; the circulating carrier is connected to the fixed back plate, the mold seat is arranged on the fixed vertical plate, and the second component mold is fixed on the mold seat.

2. The pharmaceutical product assembly system according to claim 1, wherein: The fixing assembly also includes a compression spring surrounding the track rod and located between the first clamping plate and the fixed vertical plate, between the second clamping plate and the fixed back plate, and a connecting rod mechanism connected to the first clamping plate and the second clamping plate.

3. The pharmaceutical product assembly system according to claim 1, wherein: The component loading system comprises a component loading mechanical arm and a component loading system arranged above the component loading mechanical arm; The component loading robot arm includes a first component loading robot arm and a second component loading robot arm; the component loading system includes a first component loading system and a second component loading system; the first component loading system is arranged above the first component loading robot arm, and the second component loading system is arranged above the second component loading robot arm; Among them, the first component loading system and the first component loading robot arm together constitute a group of loading structures, and the second component loading system and the second component loading robot arm together constitute a group of loading structures.

4. The pharmaceutical product assembly system according to claim 3, wherein: The first component loading system and the second component loading system both include a pallet loading position, an empty pallet discharging position and a component pallet gripper, the component discharging gripper is used to grab the components in the pallet, and the pallet loading position and the empty pallet discharging position are located at the same position.

5. The pharmaceutical product assembly system according to claim 1, wherein: The core material feeding and assembly system comprises a component disassembly robot arm, a core material feeding system, a core material pressing system and a component assembly robot arm which are sequentially arranged on the track of the circulating conveying system; Among them, the core material loading system includes a core material sorting component, a material picking robot arm, a core material feeding transfer position and a core material bucket; the core material sorting component is used to sort the core material; the material picking robot arm is arranged around the circulating conveying system and is located behind the component disassembly robot arm; the core material feeding transfer position is arranged below the material picking robot arm; the core material bucket is arranged below the core material feeding transfer position.

6. The pharmaceutical product assembly system of claim 1, wherein: The detection system includes a flange damage detection system and an online pressing and detection system; the flange damage detection system is arranged between the core material pressing system and the component assembly robot arm, and is used to detect the integrity of each component of the pharmaceutical product and mark the components that failed to assemble; the online pressing and detection system is used to uniformly press each component of the pharmaceutical product and detect the assembly results.

7. The pharmaceutical product assembly system of claim 1, wherein: The subsequent processing system includes a rejection system and a discharging system; the rejection system is used to remove unqualified products from the production line, and the discharging system is responsible for outputting fully assembled and qualified products to the subsequent process.

8. The pharmaceutical product assembly system of claim 1, wherein: It also includes a transfer system and a plurality of controllers arranged on the circulating conveying system. The transfer system is arranged between the component disassembly robot arm and the component assembly robot arm. The controller is used to output the results of the detection system.

9. A method for assembling a pharmaceutical product, the pharmaceutical product comprising a first component, a core material and a second component, characterized in that: The pharmaceutical product assembly method comprises the following steps: Transferring the second component and the first component to a circulation fixture through a component loading system; Transferring the core material to a first component located on the circulation jig through a core material feeding and assembly system for assembly to obtain a first assembly of the first component and the core material; Using the flange damage detection system in the detection system to perform detection and mark the unqualified first assembly, and also using the core material feeding and assembly system to install the second component on the first assembly to obtain the second assembly; The online pressing and testing system in the testing system presses the second assembly, detects and marks unqualified medicinal products; The unqualified pharmaceutical products will be removed through the subsequent processing system, and the qualified pharmaceutical products will be transferred to the next process.

10. The method for assembling a pharmaceutical product according to claim 9, wherein: Using a first component loading robot arm in the component loading system to grab the first component from a discharge of the first component loading system, and transferring the first component to a first component mold of one of the circulation jigs; A second component loading robot arm is used to grab the second component from the discharge of the second component loading system, and transfer the second component to the second component mold of the same circulation fixture.

11. The method for assembling a pharmaceutical product according to claim 9, wherein: Using a material taking robot arm in a core material feeding system to transfer the core material from a core material sorting assembly to the first assembly located on the circulation jig; When the circulation jig reaches the core material pressing system, the core material pressing system presses the core material evenly into the first component to obtain a first assembly; Using a flange damage detection system in the detection system to detect the integrity of the first assembly and the first assembly that failed to be assembled; When the circulation jig reaches the component assembly robot arm, the component assembly robot arm clamps the second component on the circulation jig and places it on the first assembly body, performs pre-assembly of the second component and the first assembly body, and obtains the second assembly body.

12. A method for assembling a pharmaceutical product, the pharmaceutical product comprising a component and a core material, characterized in that: The pharmaceutical product assembly comprises the following steps: Transferring the component to a circulation fixture through a component loading system; Using a component disassembling robot arm in a core material feeding and assembly system to disassemble the component into a first component and a second component; using the component disassembling robot arm to clamp the second component and transfer it to a transfer system; The core material is transferred to the first component through the core material feeding and assembling system to obtain a first assembly of the core material and the first component; Using the flange damage detection system in the detection system to perform detection, marking the unqualified first assembly, and using the core material feeding and assembly system to install the second component on the first assembly to obtain the second assembly; The online pressing and testing system in the testing system presses the second assembly, detects and marks unqualified medicinal products; The unqualified pharmaceutical products will be removed through the subsequent processing system, and the qualified pharmaceutical products will be transferred to the next process.

13. The method for assembling a pharmaceutical product according to claim 12, wherein: The first component loading robot arm in the component loading system is used to grab the component from the discharge of the first component loading system, and transfer the component to the first component mold of one of the circulation fixtures.

14. The method for assembling a pharmaceutical product according to claim 12, wherein: The core material is transferred from the core material sorting component to the first component in the circulation fixture by using a material taking robot arm of the core material feeding system; When the circulation jig reaches the core material pressing system, the core material pressing system presses the core material evenly into the first component to obtain a first assembly; When the circulation jig reaches the component assembly robot arm, the component assembly robot arm clamps the second component on the transfer system and places it on the first assembly body, performs pre-assembly of the second component and the assembly body, and obtains a second assembly body.

15. The method for assembling a pharmaceutical product according to claim 9 or 12, wherein: Using the online pressing and testing system in the testing system to uniformly press the qualified second assembly to complete the assembly of the pharmaceutical product; While pressing, the online pressing and detection system detects the pressing condition and marks the unqualified medicinal products.

16. The method for assembling a pharmaceutical product according to claim 9 or 12, wherein: Use the rejection system in the subsequent processing system to reject unqualified medicinal products; The qualified pharmaceutical products are transferred to the next process using the discharging system in the subsequent processing system.

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