Filling, weighing and conveying device for pre-filled injection filling and conveying method of filling, weighing and conveying device

Abstract

The invention discloses a filling, weighing and conveying device for pre-filled injection filling and a conveying method of the filling, weighing and conveying device, which are applied to the technical field of filling, weighing and conveying devices for pre-filled injection filling, comprise a machine body, a filling conveying mechanism and an abnormal conveying mechanism, and are characterized in that the filling conveying mechanism and the abnormal conveying mechanism are arranged in the machine body; the filling transmission mechanism is arranged on one side of the abnormal transmission mechanism; the machine body comprises a rack, a shell and an operation table, and the operation table is in signal connection with an identification module and a weighing module; the filling conveying mechanism comprises a first conveying part, a filling assembly, a first clamping assembly, a weighing assembly and a transferring assembly. The abnormal conveying mechanism comprises an abnormal processing assembly, a rotating table and a classification conveying assembly, and the abnormal processing assembly, the rotating table and the classification conveying assembly are all fixed to the top of the rack. Online lossless sampling and weighing can be carried out in the conveying process of pre-filled injection filling.

Description

Technical Field

[0001] The present invention relates to the technical field of filling, weighing and transferring devices for prefilled injections, and specifically provides a filling, weighing and transferring device for prefilled injections and a transferring method thereof. Background Art

[0002] A prefilled injection uses a sterilized prefilled syringe as the container for the injection solution. The liquid medicine is directly filled into the syringe for storage, replacing traditional ampoules and vials. It is a new type of advanced pharmaceutical packaging form. Prefilled injections are divided into two types: with a needle and without a needle, and both are produced in a purification workshop with a cleanliness level of 10,000 and local 100. The type with a needle can be directly used for injection, and the type without a needle requires a sterilized needle to be installed before use.

[0003] When using prefilled injections, they are simple and convenient, and the syringe itself has good sealing performance, so the liquid medicine can be stored for a long time. Due to their convenience in filling and use, and high safety, they can avoid possible secondary contamination during use, and are rapidly replacing traditional ampoules and vials in some pharmaceutical injections.

[0004] However, existing prefilled needle filling machines do not have an online weighing function during production and transfer. Only manual sampling at irregular intervals can be used for off-line weighing. This method overly relies on the responsibility and skill level of the staff, easily increases the workload, and may lead to a decrease in the yield due to errors in the skill level of the staff and destructive sampling. Not only is the sampling efficiency low, but it may also cause secondary contamination.

[0005] Therefore, it is necessary to provide a filling, weighing and transferring device for prefilled injections and a transferring method thereof to solve the above problems. Summary of the Invention

[0006] The purpose of the present invention is to provide a filling, weighing and transferring device for prefilled injections and a transferring method thereof, which can perform online non-destructive sampling and weighing without relying on manual labor during the transfer process of prefilled injection filling, improve the sampling frequency and do not affect the product yield, so as to solve the problems raised in the above background art.

[0007] To solve the above technical problems, the present invention provides the following technical solution: A filling, weighing and transferring device for prefilled injections, including a machine body, a filling and transferring mechanism and an abnormal transferring mechanism. The filling and transferring mechanism and the abnormal transferring mechanism are arranged inside the machine body, and the filling and transferring mechanism is arranged on one side of the abnormal transferring mechanism; The machine body includes a frame, a housing and an operating platform, and the operating platform is signal-connected to an identification module and a weighing module; The filling and transfer mechanism includes a first conveyor section, a filling assembly, a first clamping assembly, a weighing assembly, and a transfer assembly. The first conveyor section includes a first conveyor belt and a support frame for supporting the first conveyor belt. The support frame is disposed on the top of the frame. The filling assembly, the weighing assembly, and the transfer assembly are arranged on the top of the frame along the arrangement direction of the first conveyor belt. The first clamping assembly is disposed on the filling assembly. The abnormal transfer mechanism includes an abnormal handling assembly, a rotating table, and a sorting and transfer assembly. The abnormal handling assembly, the rotating table, and the sorting and transfer assembly are all fixed on the top of the frame.

[0008] According to the above technical solution, the housing is disposed on the top of the frame, and the operating platform is disposed on the side of the housing.

[0009] According to the above technical solution, the filling assembly includes a base and a filling head. The base is fixed on the top of the frame. At the edge of the top of the base, a column and two groups of first cylinders are fixedly connected. The two groups of first cylinders are located on both sides of the column. A sliding sleeve is slidably connected to the column, and the filling head is fixed to the side of the sliding sleeve.

[0010] According to the above technical solution, the first clamping assembly includes a limit seat and two groups of clamping blocks. A first chute is provided on the top of the limit seat. A lifting seat and a lead screw are arranged in the first chute. The lifting seat is slidably connected to the limit seat. The lead screw is connected to the limit seat by a bearing. The lifting seat is threadedly connected to the lead screw. A first motor is fixedly connected to the side of the limit seat. The output end of the first motor is connected to the lead screw by bevel gear transmission. Two groups of second chutes are provided on the top of the lifting seat. The two groups of clamping blocks are respectively arranged in the two groups of second chutes. The clamping blocks are slidably connected to the lifting seat. A rotating shaft is connected to the clamping blocks by a bearing. On the opposite sides of the top of the clamping blocks, two groups of elastic seats are connected. Each elastic seat includes two groups of springs and a clamping seat. Two groups of limit blocks are fixedly connected to the top of the limit seat. The two groups of limit blocks are located on both sides of the clamping blocks along the arrangement direction of the first conveyor belt. Two groups of arc-shaped grooves are formed in the limit blocks. The rotating shaft is located in the arc-shaped grooves. Two groups of fixed blocks are fixedly connected to the side of the limit blocks away from the clamping blocks. The rotating shaft is connected to the fixed blocks by gear transmission.

[0011] According to the above technical solution, the weighing assembly includes a second clamping assembly, a first weighing sensor, and a camera. A first rotating table and a first support are fixedly connected to the top of the frame. The first support is in an inverted U shape. The first rotating table is located directly below the first conveyor belt. The first support is disposed outside the first conveyor belt. The second clamping assembly is fixed to the top of the first rotating table. A through groove and a weighing groove are provided on the top of the first support. The first weighing sensor is disposed in the weighing groove. The camera is electrically connected to the recognition module. The first weighing sensor is electrically connected to the weighing module. The structure and connection method of the second clamping assembly are the same as those of the first clamping assembly.

[0012] According to the above technical solution, the transfer assembly includes a double-axis moving seat I, a rotating seat, and a scanner I. The double-axis moving seat I is fixed to the top of the frame. The rotating seat is fixed to the output end of the double-axis moving seat I. A plurality of suction cups I are fixedly connected to the bottom of the rotating seat. The scanner I is fixed to the support frame of the conveying part I. The scanner I is electrically connected to the recognition module. The camera is fixed to one side of the double-axis moving seat I close to the filling assembly.

[0013] According to the above technical solution, the abnormal handling assembly includes a supplementary filling part, a suction part, and a reweighing part. The supplementary filling part, the suction part, and the reweighing part are arranged counterclockwise around the rotating table. The structure and connection method of the supplementary filling part are the same as those of the filling assembly; The suction part includes a column II and two groups of suction heads. The suction heads are fixed to the column II; The reweighing part includes a connecting block and two groups of weighing sensors II. A double-axis moving seat II and a column III are fixedly connected to the top of the frame. The column III is located below the double-axis moving seat II. The connecting block is fixed to the output end of the double-axis moving seat II. A plurality of suction cups II are fixedly connected to the bottom of the connecting block. The weighing sensors II are arranged on the top of the connecting block.

[0014] According to the above technical solution, a plurality of transfer grooves are equidistantly arranged around the rotating table, and two groups of suction cups III are arranged inside the transfer grooves.

[0015] According to the above technical solution, the classification and transmission assembly includes a slideway and a conveying part II. The slideway and the conveying part II are fixed to the top of the frame. The slideway and the conveying part II are arranged around the rotating table; Two groups of cylinders are fixedly connected to the bottom of the rotating table. A push plate is fixedly connected to the output end of the cylinders. The positions of the two groups of cylinders correspond to the slideway and the conveying part II respectively.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: In the present invention, by setting up a filling and transmission mechanism and an abnormal transmission mechanism, it is possible to integrate filling, weighing, visual inspection, and abnormal handling, solve the problem of low efficiency in traditional step-by-step operations and the dependence on the sense of responsibility and skill level of workers during manual sampling and reweighing. At the same time, it is possible to separate abnormal handling from normal filling and transmission, avoiding affecting normal filling and transmission during abnormal handling on the same filling and transmission line; By setting up the clamping assembly I, it can adapt to the size differences of prefilled syringe injectables, and can simultaneously clamp when driving the prefilled syringe injectables to rise, ensuring that the prefilled syringe injectables are separated from the conveyor belt during filling and reducing the transmission fluctuations caused by liquid impact; By setting up the weighing assembly, it can weigh the prefilled syringe injectables after filling, and at the same time arrange the prefilled syringe injectables neatly after weighing to ensure that subsequent transmission can proceed normally; By setting up an abnormal handling component, it is possible to supplement and aspirate the pre-filled syringe injectables with weighing abnormalities, and re-weigh the pre-filled syringe injectables that have completed the handling or those that need to be randomly inspected, ensuring that the weights of the pre-filled syringe injectables that have completed the handling meet the standards. At the same time, it is possible to monitor the accuracy of the weighing sensors in the weighing component and the re-weighing part. Brief Description of the Drawings

[0017] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation to the present invention. In the drawings: Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of a partial structure of the present invention; Figure 3 is the Figure 2 schematic diagram of the enlarged structure of area A in the present invention; Figure 4 is the Figure 2 schematic diagram of the enlarged structure of area B in the present invention; Figure 5 is the schematic diagram of the top view and cross-section of the clamping block of the present invention; Figure 6 is the schematic diagram of the cross-section of the partial structure test of the present invention; Figure 7 is the Figure 6 schematic diagram of the enlarged structure of area C in the present invention; Figure 8 is the rear view schematic diagram of the partial structure of the present invention; Figure 9 is the rear view and cross-section schematic diagram of the partial structure of the present invention; Figure 10 is the Figure 9 schematic diagram of the enlarged structure of area D in the present invention; Figure 11 is the Figure 9 schematic diagram of the enlarged structure of area E in the present invention; Figure 12 is the Figure 8 schematic diagram of the enlarged structure of area F in the present invention; Figure 13 is the top view and cross-section schematic diagram of the partial structure of the present invention; Figure 14 is the Figure 13 schematic diagram of the enlarged structure of area G in the present invention; In the figure: 1, machine body; 11, frame; 12, housing; 13, operating table; 2, conveyor belt 1; 3. Filling assembly; 31. Column; 32. Cylinder 1; 33. Sliding sleeve; 34. Filling head 4. Clamping assembly 1; 41. Limit seat; 42. Motor 1; 43. Lifting seat; 44. Clamping block; 45. Rotating shaft; 46. Limit block; 47. Fixed block; 48. Lead screw; 49. Elastic seat; 491. Spring; 492. Clamping seat 5. Weighing assembly; 51. Rotating table 1; 52. Clamping assembly 2; 53. Support 1; 54. Weighing sensor 1; 55. Camera 6. Transfer assembly; 61. Double-axis moving seat 1; 62. Rotating seat; 63. Scanner 1 7. Abnormal handling assembly; 71. Supplementary filling part; 72. Suction part; 721. Column 2; 722. Suction head; 73. Reweighing part; 731. Double-axis moving seat 2; 732. Connecting block; 733. Column 3; 734. Weighing sensor 2; 735. Suction cup 2; 736. Scanner 2 8. Rotating table; 81. Transfer groove; 82. Suction cup 3 9. Classification and transmission assembly; 91. Slideway; 92. Cylinder; 93. Pushing plate; 94. Transmission part 2 101. Contour line; 102. Reference line; 103. Maximum length line Detailed implementation manners

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.

[0019] Please refer to Figure 1-14 , the present invention provides a technical solution: a filling, weighing and transmission device for prefilled syringes, including a machine body 1, a filling and transmission mechanism and an abnormal transmission mechanism. The filling and transmission mechanism and the abnormal transmission mechanism are arranged inside the machine body 1. The filling and transmission mechanism is arranged on one side of the abnormal transmission mechanism. The filling and transmission mechanism is used to transmit, fill, weigh and visually detect the prefilled syringe injection agent after filling, and transfer the prefilled syringe injection agent with detected abnormalities to the abnormal transmission mechanism. The abnormal transmission mechanism is used to perform supplementary filling, extraction, reweighing on the prefilled syringe injection agent with abnormal weighing, and classify and transmit the prefilled syringe injection agent with abnormal reweighing and abnormal visual detection.

[0020] It should be noted that a feeding device and a spacing device (not shown in the figure) are arranged at the entrance of the filling and transmission mechanism. The feeding device is used for vibrating feeding, and the spacing device is used for controlling the spacing during feeding.

[0021] Specifically, as Figure 1 shown, the body 1 includes a frame 11, a housing 12 and an operating platform 13. The housing 12 is arranged on the top of the frame 11, and the operating platform 13 is arranged on the side of the housing 12. The housing 12 is used to form a relatively sealed space to reduce the influence of the external environment on the filling and transmission. The operating platform 13 is used to set and display the operation parameters of each link, and the operating platform 13 is signal-connected with an identification module and a weighing module.

[0022] Specifically, as Figure 2 shown, the filling and transmission mechanism is arranged on the top of the frame 11. The filling and transmission mechanism includes a first conveyor part, a filling assembly 3, a first clamping assembly 4, a weighing assembly 5 and a transfer assembly 6. The first conveyor part includes a first conveyor belt 2 and a support frame for supporting the first conveyor belt 2. The support frame is arranged on the top of the frame 11. The filling assembly 3, the weighing assembly 5 and the transfer assembly 6 are arranged on the top of the frame 11 along the setting direction of the first conveyor belt 2. The first clamping assembly 4 is arranged on the filling assembly 3. The first conveyor belt 2 is used to convey the pre-filled syringe injection. The filling assembly 3 is used to fill the pre-filled syringe injection clamped by the first clamping assembly 4. The weighing assembly 5 is used to weigh the pre-filled syringe injection after filling. The transfer assembly 6 is used for visual inspection of the pre-filled syringe injection and transfer of the pre-filled syringe injection with abnormal weighing and visual inspection.

[0023] Furthermore, as Figure 3 and Figure 4 shown, the filling assembly 3 includes a base and a filling head 34. The base is fixed on the top of the frame 11. Columns 31 and two groups of first cylinders 32 are fixedly connected to the top edge of the base. The two groups of first cylinders 32 are located on both sides of the column 31. A sliding sleeve 33 is slidably connected to the column 31. The filling head 34 is fixed to the side of the sliding sleeve 33. The expansion and contraction of the first cylinder 32 is used to drive the sliding sleeve 33 to move up and down on the column 31, so that the filling head 34 adapts to the liquid level height required during filling, avoiding splashing of the filling liquid.

[0024] Furthermore, as Figure 3-Figure 5 shown, the first clamping assembly 4 includes a limit seat 41 and two groups of clamping blocks 44. A first chute is arranged on the top of the limit seat 41. A lifting seat 43 and a lead screw 48 are arranged in the first chute. The lifting seat 43 is slidably connected to the limit seat 41. The lead screw 48 is connected to the limit seat 41 by a bearing. The lifting seat 43 is threadedly connected to the lead screw 48. A first motor 42 is fixedly connected to the side of the limit seat 41. The output end of the first motor 42 is connected to the lead screw 48 by bevel gear transmission; At the top of the lifting seat 43, there are two groups of chutes two. Two clamping blocks 44 are respectively arranged in the two groups of chutes two. The clamping block 44 is slidably connected with the lifting seat 43. A rotating shaft 45 is connected to the clamping block 44 by a bearing. On the opposite sides of the top of the clamping block 44, two elastic seats 49 are connected. The elastic seat 49 includes two springs 491 and a clamping seat 492. The elastic seat 49 is used to clamp the pre-filled needle injection agent and can contract adaptively through the spring 491. At the top of the limit seat 41, two limit blocks 46 are fixedly connected. The two limit blocks 46 are located on both sides of the clamping block 44 along the setting direction of the conveyor belt one 2. Two arc-shaped grooves are opened on the limit block 46. The distance between the tops of the two arc-shaped grooves is less than the distance between the bottoms. The rotating shaft 45 is located in the arc-shaped groove. On the side of the limit block 46 away from the clamping block 44, two fixing blocks 47 are fixedly connected. The two fixing blocks 47 correspond to the positions of the two clamping blocks 44 respectively. The rotating shaft 45 is connected to the fixing block 47 by a gear drive.

[0025] In actual operation, when the first motor 42 starts to rotate forward, it drives the lead screw 48 to rotate forward through the bevel gear drive, so that the lifting seat 43 slides upward inside the limit seat 41. Since the clamping block 44 is in the chute two of the lifting seat 43, when the lifting seat 43 slides upward, it can synchronously drive the clamping block 44 to move upward. Since the rotating shaft 45 is limited in the arc-shaped groove of the fixing block 47, when the clamping block 44 is driven to move upward synchronously, the distance between the two clamping blocks 44 is reduced and shows a tendency to approach. Also, due to the gear drive between the rotating shaft 45 and the fixing block 47, when the clamping block 44 moves upward and approaches, it can be relatively stable. Thus, the first motor 42 can drive the elastic seat 49 on the clamping block 44 to clamp the pre-filled needle injection agent on the conveyor belt one 2 and drive it upward, releasing the contact with the conveyor belt one 2. On the contrary, when the first motor 42 starts to rotate reversely, the clamped pre-filled needle injection agent returns to the conveyor belt one 2, and the conveyor belt one 2 continues to transport the pre-filled needle injection agent, which is convenient for the filling head 34 to fill it. At the same time, it avoids the impact of the liquid during filling by the filling head 34 from causing fluctuations in the conveyor belt one 2 and affecting the transmission effect.

[0026] Further, as Figure 3 、 Figure 4 、 Figure 7 and Figure 8As shown in the figure, the weighing assembly 5 includes the second clamping assembly 52, the first weighing sensor 54, and the camera 55. A first rotating table 51 and a first bracket 53 are fixedly connected to the top of the frame 11. The first bracket 53 is in an inverted U shape. The first rotating table 51 is located directly below the first conveyor belt 2, and the first bracket 53 is arranged on the periphery of the first conveyor belt 2. The second clamping assembly 52 is fixed to the top of the first rotating table 51. A through groove and a weighing groove are provided at the top of the first bracket 53. The first weighing sensor 54 is arranged in the weighing groove. The camera 55 is electrically connected to the recognition module. The recognition module is used for visual inspection to judge the shape of the top of the prefilled syringe injection, the deflection angle, and the color and bubble conditions of the liquid after the prefilled syringe injection is filled. Furthermore, it controls the rotation of the first rotating table 51 and the second clamping assembly 52 to drive the prefilled syringe injection to move up and down. The first weighing sensor 54 is electrically connected to the weighing module. The weighing module is used to judge whether the weight of the prefilled syringe injection meets the standard during the first weighing and the repeated weighing. The structure and connection method of the second clamping assembly 52 are the same as those of the first clamping assembly 4. The first rotating table 51 is used to drive the second clamping assembly 52 to rotate. The camera 55 is used to photograph the shape and position of the top of the prefilled syringe injection.

[0027] It should be noted that the first rotating table 51 is a platform driven by a motor to rotate. The length direction of the through groove is perpendicular to the transmission direction of the first conveyor belt 2.

[0028] During actual operation, the second clamping assembly 52 starts to rotate forward, so that the elastic seat 49 on the clamping block 44 clamps the prefilled syringe injection on the first conveyor belt 2 and drives it to rise, releasing the contact between the prefilled syringe injection and the first conveyor belt 2. Since a spring 491 is arranged in the elastic seat 49, the spring 491 can, by means of contraction, apply a greater clamping force to the prefilled syringe injection as the height of the prefilled syringe injection rises during clamping, and at the same time, it can be applicable to prefilled syringe injections of different sizes. Then the first rotating table 51 rotates, driving the second clamping assembly 52 to rotate, so that the top of the prefilled syringe injection first passes through the through groove at the top of the first bracket 53, and then the first rotating table 51 rotates again, so that the protruding part of the top of the prefilled syringe injection is located above the first weighing sensor 54. The second clamping assembly 52 rotates in reverse to release the clamping of the prefilled syringe injection, and the first weighing sensor 54 weighs the prefilled syringe injection after filling is completed. After weighing, the second clamping assembly 52 starts to rotate forward to clamp the prefilled syringe injection. Then the first weighing sensor 54 rotates in reverse, so that the protruding part of the top of the prefilled syringe injection is located in the through groove at the top of the first bracket 53. Then the second clamping assembly 52 starts to rotate in reverse, driving the prefilled syringe injection to descend until it is located on the first conveyor belt 2, and the first conveyor belt 2 continues to transport it.

[0029] Furthermore, as Figure 2 、 Figure 6 、 Figure 7 and Figure 11As shown in the figure, the transfer component 6 includes a dual-axis moving seat 61, a rotating seat 62, and a scanner 63. The dual-axis moving seat 61 is fixed to the top of the frame 11. The rotating seat 62 is fixed to the output end of the dual-axis moving seat 61. A number of suction cups 621 are fixedly connected to the bottom of the rotating seat 62. The scanner 63 is fixed to the support frame of the first conveying part. The scanner 63 is electrically connected to the recognition module. The dual-axis moving seat 61 is used to drive the rotating seat 62 adsorbed with the prefilled syringe injection to transfer the prefilled syringe injection to the abnormal transmission mechanism. The camera 55 is fixed to one side of the dual-axis moving seat 61 close to the filling component 3. The scanner 63 is used to scan and identify the internal color and bubble conditions of the prefilled syringe injection filled with liquid.

[0030] It should be noted that the dual-axis moving seat 61 is driven by a cylinder to perform lifting and movement in the vertical direction along the transmission direction of the first conveyor belt 2. The rotating seat 62 is a rotating seat driven by a motor.

[0031] Specifically, as Figure 2 and Figure 8 shown, the abnormal transmission mechanism includes an abnormal processing component 7, a rotating table 8, and a classification transmission component 9. The abnormal processing component 7, the rotating table 8, and the classification transmission component 9 are all fixed to the top of the frame 11. The abnormal processing component 7 is used to fill, extract, and reweigh the prefilled syringe injection with abnormal weighing. The rotating table 8 is used to drive the prefilled syringe injection to rotate in position. The classification transmission component 9 is used to classify and transmit the prefilled syringe injection.

[0032] Furthermore, as Figure 8-Figure 10 shown, the abnormal processing component 7 includes a supplementary filling part 71, a suction part 72, and a reweighing part 73. The supplementary filling part 71, the suction part 72, and the reweighing part 73 are arranged counterclockwise around the periphery of the rotating table 8. The structure and connection method of the supplementary filling part 71 are the same as those of the filling component 3. The supplementary filling part 71 is used for supplementary filling; The suction part 72 includes a second column 721 and two groups of suction heads 722. The suction heads 722 are fixed to the second column 721. The suction heads 722 are used to quantitatively extract the liquid filled in the prefilled syringe injection; The reweighing part 73 includes a connecting block 732 and two groups of second weighing sensors 734. A dual-axis moving seat 731 and a third column 733 are fixedly connected to the top of the frame 11. The third column 733 is located below the dual-axis moving seat 731. The connecting block 732 is fixed to the output end of the dual-axis moving seat 731. A number of suction cups 735 are fixedly connected to the bottom of the connecting block 732. The second weighing sensors 734 are arranged on the top of the connecting block 732. A scanner 736 is fixedly connected to one side of the third column 733 close to the rotating table 8. The scanner 736 is electrically connected to the recognition module. The scanner 736 is used to scan and identify the internal color and bubble conditions of the prefilled syringe injection filled with liquid, so as to facilitate repeated visual inspection.

[0033] It should be noted that the double-axis moving seat two 731 is driven by a cylinder to lift and drive the connecting block 732 to approach or move away from the turntable 8.

[0034] Furthermore, as Figure 8 and Figure 12 shown, a number of transfer grooves 81 are equidistantly arranged around the turntable 8. Two groups of suction cups three 82 are arranged inside the transfer grooves 81. The suction cups three 82 are used to adsorb the pre-filled syringe injectable agents located in the transfer grooves 81 to prevent them from moving.

[0035] Furthermore, as Figure 8 and Figure 10 shown, the classification transmission component 9 includes a slideway 91 and a conveyor part two 94. The slideway 91 and the conveyor part two 94 are fixed to the top of the frame 11. The slideway 91 and the conveyor part two 94 are arranged on the periphery of the turntable 8. The inlet ends of the slideway 91 and the conveyor part two 94 are close to the turntable 8. The outlet end of the slideway 91 is connected to an abnormal product recovery area. The outlet end of the conveyor part two 94 is close to the outlet end of the conveyor belt one 2, and both are connected to a normal product collection area, which is convenient for unified subsequent packaging processing; Two groups of cylinders 92 are fixedly connected to the bottom of the turntable 8. The output ends of the cylinders 92 are fixedly connected with push plates 93. The positions of the two groups of cylinders 92 correspond to the slideway 91 and the conveyor part two 94 respectively. After determining the classification of the pre-filled syringe injectable agents, the suction cups three 82 in the corresponding transfer grooves 81 contact and release the adsorption of the pre-filled syringe injectable agents. At the same time, the cylinders 92 are started to extend, so that the push plates 93 push the pre-filled syringe injectable agents onto the slideway 91 or the conveyor part two 94 to complete the classification transmission.

[0036] It should be noted that the suction cup one, the suction cup two 735, and the suction cup three 82 are all connected to an air pump to control them to adsorb the pre-filled syringe injectable agents; the conveyor part two 94 has the same structure as the conveyor part one and is both driven by a motor for transmission.

[0037] Transmission method of the filling, weighing and transmission device for pre-filled injectable agents: Step 1: Control the conveyor belt one 2 to transmit the pre-filled syringe injectable agents after loading.

[0038] Step 2: Control the clamping component one 4 to clamp and fix the clamping component one, and the filling component 3 fills the pre-filled syringe injectable agents.

[0039] Step 3: The recognition module recognizes the shape and position of the top of the pre-filled syringe injectable agents after filling, controls the weighing component 5 to weigh the pre-filled syringe injectable agents, and the weighing module makes a classification judgment according to the weighing result.

[0040] Specifically, as Figure 13 and Figure 14As shown, when the conveyor belt 2 transports the pre-filled syringe injection to below the camera 55, the camera 55 takes a picture of the top of the pre-filled syringe injection. The recognition module recognizes the top shape contour line 101 of the pre-filled syringe injection, the reference line 102 perpendicular to the conveying direction of the conveyor belt 2 where the center of the pre-filled syringe injection is located, and the maximum length line 103 passing through the center in the top shape contour of the pre-filled syringe injection. Then, the recognition module recognizes the angle between the reference line 102 and the maximum length line 103, and the angle is denoted as α, where α ∈ [0, 90]; If α = 0, it is the standard position of the pre-filled syringe injection. When the pre-filled syringe injection is transported by the conveyor belt 2 to above the clamping assembly 2 52, the clamping assembly 2 52 rotates forward to clamp the pre-filled syringe injection, and the turntable 1 51 does not start; If α ∈ (0, 90), it means that the position of the pre-filled syringe injection has a slight deviation. When the pre-filled syringe injection is transported by the conveyor belt 2 to above the clamping assembly 2 52, the clamping assembly 2 52 rotates forward to clamp the pre-filled syringe injection. Then, the turntable 1 51 is controlled to rotate towards the side with α and close to the reference line 102, and the rotation angle is α; When α = 90, it means that the position of the pre-filled syringe injection has a serious deviation. When the pre-filled syringe injection is transported by the conveyor belt 2 to above the clamping assembly 2 52, the clamping assembly 2 52 rotates forward to clamp the pre-filled syringe injection. Then, the turntable 1 51 is controlled to rotate clockwise by 90°;

[0041] After that, when the top of the pre-filled syringe injection is above the weighing sensor 1 54, the turntable 1 51 starts to rotate clockwise by 90°, so that the maximum length line 103 at the top of the pre-filled syringe injection is perpendicular to the reference line 102. Then, the clamping assembly 2 52 rotates in reverse, driving the pre-filled syringe injection to descend and releasing the clamping on it. The actual weight of the pre-filled syringe injection weighed by the weighing sensor 1 54 is obtained by the weighing module, and the actual weight is denoted as g.

[0042] After weighing, the clamping assembly 2 52 rotates forward to re-clamp the pre-filled syringe injection, driving the pre-filled syringe injection to rise until it disengages from the weighing sensor 1 54. Then, the turntable 1 51 starts to rotate counterclockwise by 90° to make the maximum length line 103 coincide with the reference line 102. Then, the clamping assembly 2 52 rotates in reverse, driving the pre-filled syringe injection to descend and releasing the clamping on it, so that the pre-filled syringe injection is located on the conveyor belt 2 and is continuously transported by the conveyor belt 2.

[0043] The weighing module is set with a standard weight and a weighing error. The standard weight is G, and the weighing error is n.

[0044] When g ∈ [G - n, G + n], it means that the weight of the pre-filled syringe injection meets the standard, and the conveyor belt 2 continues to transport the pre-filled syringe injection, and the transfer assembly 6 does not operate; When g ∉ [G - n, G + n], the weight of the pre-filled syringe injection is not up to standard. The conveyor belt 2 continues to transport the pre-filled syringe injection. When the pre-filled syringe injection is directly below the transfer assembly 6, it is classified and transferred.

[0045] The classification and transfer method is as follows: The dual-axis moving seat 61 controls the rotating seat 62 to be directly above the pre-filled syringe injection. The suction cup 1 on the rotating seat 62 adsorbs the top of the pre-filled syringe injection. Then, the dual-axis moving seat 61 transfers the adsorbed pre-filled syringe injection to the transfer groove 81 of the rotating table 8. The rotating seat 62 starts to rotate 90°, so that the bottom of the pre-filled syringe injection in the direction of the maximum length line 103 of the top contacts the top of the rotating table 8. The suction cup 3 82 adsorbs the pre-filled syringe injection, and then the suction cup 1 on the rotating seat 62 contacts and adsorbs. The dual-axis moving seat 61 drives the rotating seat 62 back to directly above the conveyor belt 2.

[0046] When g < G - n, the weight of the pre-filled syringe injection is small and needs to be supplemented with perfusion. When the rotating table 8 drives it to rotate to directly below the supplementary perfusion part 71, supplementary perfusion is carried out. The supplementary filling weight is G - g, increasing the weight of the liquid filled in it; When g > G + n, the weight of the pre-filled syringe injection is large and needs to be aspirated to reduce its weight. When the rotating table 8 drives it to rotate to directly below the suction head 722 of the suction part 72, the suction volume is g - G, reducing the weight of the liquid filled in it.

[0047] Step Four: The identification module identifies the color and bubble conditions of the liquid inside the pre-filled syringe injection after filling and conducts analysis and judgment.

[0048] Specifically, the color standard and bubble standard of the liquid inside the pre-filled syringe injection are set in the identification module. When the color of the liquid inside the pre-filled syringe injection obtained by the scanner 1 63 scanned by the identification module meets the color standard and the internal bubbles meet the bubble standard, the conveyor belt 2 continues to transport the pre-filled syringe injection, and the transfer assembly 6 does not operate; in other cases, the liquid filling inside the pre-filled syringe injection is abnormal and does not meet the color standard and the bubble standard. The conveyor belt 2 continues to transport the pre-filled syringe injection. When the pre-filled syringe injection is directly below the transfer assembly 6, it is classified and transferred and subsequent repeated visual inspections are carried out; It should be noted that for pre-filled syringe injections with a weight that meets the standard but has a liquid color or bubble condition that does not meet the standard, classification and transfer are also required; for pre-filled syringe injections with a weight, liquid color, and bubble condition that all meet the standard, the weight of the injection can be randomly inspected by means of classification and transfer, re-weighing, and repeated visual inspections.

[0049] Step Five: Control to perform supplementary perfusion, aspiration, re-weighing, and repeated visual inspections on the abnormal pre-filled syringe injections.

[0050] Specifically, supplementary filling and suction: The supplementary filling unit 71 performs supplementary filling on pre-filled syringe injectables with a small weight according to the supplementary filling weight, and the suction unit 72 sucks pre-filled syringe injectables with a large weight according to the supplementary filling weight.

[0051] Re-weighing: The turntable 8 drives the pre-filled syringe injectables that have completed supplementary filling, suction, or require weight sampling inspection to be placed below the re-weighing unit 73. The double-axis moving seat II 731 drives the connecting block 732 to move directly above the pre-filled syringe injectable. The suction cup II 735 adsorbs the pre-filled syringe injectable, and the suction cup III 82 inside the corresponding transfer groove 81 releases the adsorption of the pre-filled syringe injectable. Then, the double-axis moving seat II 731 drives the adsorbed pre-filled syringe injectable to move to a certain distance above the weighing sensor II 734. The specific distance is set manually. The suction cup II 735 releases the adsorption of the pre-filled syringe injectable. The weighing module obtains the re-weighing weight of the weighing sensor II 734, and the re-weighing weight is g'. Then, the double-axis moving seat II 731 drives the connecting block 732 to move directly above the pre-filled syringe injectable again. The suction cup II 735 adsorbs the pre-filled syringe injectable and moves it into the transfer groove 81 of the turntable 8, and the suction cup III 82 adsorbs the pre-filled syringe injectable. Repeated visual inspection: The recognition module obtains the internal liquid color and bubble conditions of the pre-filled syringe injectable scanned by the scanner II 736 and compares and judges them with the color standard and bubble standard. When g' ∈ [G - n, G + n], it means that the weight of the pre-filled syringe injectable meets the standard. At the same time, when the internal liquid of the pre-filled syringe injectable meets the color standard and the internal bubbles meet the bubble standard, it is judged that the pre-filled syringe injectable is qualified, the re-weighing and repeated visual inspection are normal, and normal transmission is carried out. In other cases, it means that the pre-filled syringe injectable does not meet the standard, and it is judged that the pre-filled syringe injectable is abnormal and rejection treatment is carried out; for the pre-filled syringe injectable with abnormal visual inspection in step four but normal repeated visual inspection in this step, it is caused by the fact that the filled liquid has not been fully static. Through the transfer in this step, the static time can be extended, and thus the result of the repeated visual inspection is more accurate and the inspection result is normal; similarly, for the pre-filled syringe injectable with abnormal weighing in step three, if the re-weighing is still abnormal after supplementary filling and suction in this step, it is also caused by the fact that the filled liquid has not been fully static, resulting in fluctuations in the weight obtained by the weighing module in step three, which in turn causes abnormal weighing in step three. Then, after supplementary filling and suction in this step, further re-weighing abnormalities occur.

[0052] It should be noted that pre-filled syringe injectable continuous abnormal quantity thresholds are set in both the identification module and the weighing module. When the continuous abnormal quantity reaches the threshold, the identification module and the weighing module will give an alarm prompt to avoid reducing the product yield due to abnormal filling of the filling component 3 or abnormal filling liquid. For the sampled pre-filled syringe injectables, if g’ ∈ [g - 0.5n, g + 0.5n], the deviation between the two weighings is small and the weighing sensors 54 and 734 are weighing normally. If g’ ∉ [g - 0.5n, g + 0.5n], the deviation between the two weighings is large and the weighing sensors 54 and 734 are weighing normally. If the quantity of pre-filled syringe injectables with a large deviation between the two weighings reaches the threshold, an alarm prompt will be given, and the staff will recalibrate the weighing sensors 54 and 734 to avoid reducing the filling yield of the pre-filled syringe injectables due to abnormal weighing.

[0053] Step Six: Control the classification and transfer component 9 to classify and transfer the pre-filled syringe injectables after reweighing and visual inspection.

[0054] Specifically, for normal transfer: when the turntable 8 drives the pre-filled syringe injectables that pass the reweighing to rotate to the entrance of the cylinder 92, the suction cup three 82 inside the corresponding transfer groove 81 releases the adsorption of the pre-filled syringe injectable, and at the same time, the cylinder 92 starts to extend, so that the push plate 93 pushes the pre-filled syringe injectable onto the transfer part two 94, and transfers the qualified pre-filled syringe injectables to the normal product collection area. Rejection processing: when the turntable 8 drives the pre-filled syringe injectables with abnormal reweighing and abnormal visual inspection to rotate to the entrance end of the slideway 91, the suction cup three 82 inside the corresponding transfer groove 81 releases the adsorption of the pre-filled syringe injectable, and at the same time, the cylinder 92 starts to extend, so that the push plate 93 pushes the pre-filled syringe injectable onto the slideway 91, and transfers the abnormal pre-filled syringe injectables to the abnormal product recovery area.

[0055] Through the above steps, the filling of pre-filled syringe injectables can be combined with online weighing sampling and transfer. During the filling and transfer process, the pre-filled syringe injectables that have completed filling can be timely sampled and weighed online, reducing the dependence on the responsibility and skill level of the staff. At the same time, abnormal pre-filled syringe injectables can be detected and removed in time to avoid affecting the yield.

[0056] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0057] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacement of some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A filling, weighing and conveying device for filling prefilled injections, comprising a body (1), a filling conveying mechanism and an abnormal conveying mechanism, characterized in that: The filling transmission mechanism and the abnormal transmission mechanism are arranged inside the machine body (1), and the filling transmission mechanism is arranged on one side of the abnormal transmission mechanism; The machine body (1) comprises a frame (11), a shell (12) and an operating table (13); the operating table (13) is signal-connected to an identification module and a weighing module; The filling and conveying mechanism comprises a conveying part 1, a filling component (3), a clamping component 1 (4), a weighing component (5) and a transfer component (6); the conveying part 1 comprises a conveyor belt 1 (2) and a support frame supporting the conveyor belt 1 (2); the support frame is arranged on the top of the frame (11); the filling component (3), the weighing component (5) and the transfer component (6) are arranged on the top of the frame (11) along the arrangement direction of the conveyor belt 1 (2); and the clamping component 1 (4) is arranged on the filling component (3); The abnormal transmission mechanism comprises an abnormal processing component (7), a rotating table (8) and a classification transmission component (9); the abnormal processing component (7), the rotating table (8) and the classification transmission component (9) are all fixed to the top of the frame (11).

2. A filling weighing and transmission device for filling prefilled injections according to claim 1, characterized in that: The shell (12) is arranged on the top of the frame (11), and the operating table (13) is arranged on the side of the shell (12).

3. A filling weighing and transmission device for filling prefilled injections according to claim 2, characterized in that: The filling assembly (3) comprises a base and a filling head (34); the base is fixed to the top of the frame (11); a column (31) and two groups of cylinders (32) are fixedly connected to the top edge of the base; the two groups of cylinders (32) are located on both sides of the column (32); a sliding sleeve (33) is slidably connected to the column (31); and the filling head (34) is fixed to the side of the sliding sleeve (33).

4. A filling weighing and transmission device for filling prefilled injections according to claim 3, characterized in that: The clamping assembly 1 (4) comprises a limit seat (41) and two groups of clamping blocks (44); a slide groove 1 is arranged on the top of the limit seat (41); a lifting seat (43) and a screw rod (48) are arranged in the slide groove 1; the lifting seat (43) is slidably connected to the limit seat (41); the screw rod (48) is connected to a bearing of the limit seat (41); the lifting seat (43) is threadedly connected to the screw rod (48); a motor 1 (42) is fixedly connected to the side of the limit seat (41); and an output end of the motor 1 (42) is connected to the screw rod (48) by a bevel gear transmission; The top of the lifting seat (43) is provided with two groups of slide grooves 2, the two groups of clamping blocks (44) are respectively arranged in the two groups of slide grooves 2, the clamping blocks (44) are slidably connected to the lifting seat (43), the upper bearing of the clamping block (44) is connected to a rotating shaft (45), and the top of the clamping block (44) is connected to two groups of elastic seats (49) on the opposite side, and the elastic seats (49) include two groups of springs (491) and a clamping seat (492); Two groups of limit blocks (46) are fixedly connected to the top of the limit seat (41), and the two groups of limit blocks (46) are located on both sides of the clamping block (44) along the setting direction of the conveyor belt (2). Two groups of arc grooves are opened on the limit block (46), and the rotating shaft (45) is located in the arc groove. Two groups of fixed blocks (47) are fixedly connected to the side of the limit block (46) away from the clamping block (44), and the rotating shaft (45) and the fixed block (47) are connected by gear transmission.

5. A filling weighing and transmission device for filling prefilled injections according to claim 4, characterized in that: The weighing assembly (5) comprises a clamping assembly (52), a weighing sensor (54) and a camera (55). A rotating table (51) and a bracket (53) are fixedly connected to the top of the frame (11). The bracket (53) is in an inverted U shape. The rotating table (51) is located directly below the conveyor belt (2). The bracket (53) is arranged on the periphery of the conveyor belt (2). The clamping assembly (52) is fixed to the top of the rotating table (51). A through groove and a weighing groove are arranged on the top of the bracket (53). The weighing sensor (54) is arranged in the weighing groove. The camera (55) is electrically connected to the identification module. The weighing sensor (54) is electrically connected to the weighing module. The structure and connection method of the clamping assembly (52) are the same as those of the clamping assembly (4).

6. A filling weighing and transmission device for filling prefilled injections according to claim 5, characterized in that: The transfer assembly (6) comprises a biaxial movable seat (61), a rotating seat (62) and a scanner (63); the biaxial movable seat (61) is fixed to the top of the frame (11); the rotating seat (62) is fixed to the output end of the biaxial movable seat (61); a plurality of suction cups are fixedly connected to the bottom of the rotating seat (62); the scanner (63) is fixed to a support frame of the conveying part (6); the scanner (63) is electrically connected to the identification module; and the camera (55) is fixed to a side of the biaxial movable seat (61) close to the filling assembly (3).

7. A filling, weighing and transmitting device for filling prefilled injections according to claim 6, characterized in that: The abnormality handling component (7) comprises a refilling portion (71), a suction portion (72) and a reweighing portion (73); the refilling portion (71), the suction portion (72) and the reweighing portion (73) are arranged counterclockwise on the periphery of the rotating table (8); the refilling portion (71) has the same structure and connection method as the filling component (3); The suction part (72) comprises a second column (721) and two groups of suction heads (722), wherein the suction heads (722) are fixed on the second column (721); The re-weighing part (73) comprises a connecting block (732) and two groups of weighing sensors (734); the top of the frame (11) is fixedly connected with a two-axis movable seat (731) and a column (733); the column (733) is located below the two-axis movable seat (731); the connecting block (732) is fixed to the output end of the two-axis movable seat (731); the bottom of the connecting block (732) is fixedly connected with a plurality of suction cups (735); the weighing sensor (734) is arranged on the top of the connecting block (732); the column (733) is fixedly connected with a scanner (736) on the side close to the rotating table (8); the scanner (736) is electrically connected to the identification module.

8. A filling, weighing and transmitting device for filling prefilled injections according to claim 7, characterized in that: The rotating table (8) is provided with a plurality of transfer grooves (81) at equal intervals around the rotating table, and two groups of suction cups (82) are arranged inside the transfer grooves (81); the classification transmission component (9) comprises a slideway (91) and a second transmission part (94), and the slideway (91) and the second transmission part (94) are fixed to the top of the frame (11), and the slideway (91) and the second transmission part (94) are arranged on the periphery of the rotating table (8).

9. A filling, weighing and transmitting device for filling prefilled injections according to claim 7, characterized in that: The classification transmission assembly includes a slideway and a second conveying part, the slideway and the second conveying part are fixed to the top of the frame, and the slideway and the second conveying part are arranged on the periphery of the rotating table; Two groups of cylinders are fixedly connected to the bottom of the rotating table, and push plates are fixedly connected to the output ends of the cylinders. The positions of the two groups of cylinders correspond to the slideway and the second conveying part respectively.

10. A transmission method of a filling weighing and transmitting device for filling prefilled injections, which is implemented based on the filling weighing and transmitting device for filling prefilled injections according to claim 9, characterized in that: The transmission method of the filling weighing transmission device for prefilled injection filling is: Step 1: Control the conveyor belt 1 (2) to transfer the pre-filled injection; Step 2: Control the clamping component 1 (4) to clamp and fix the clamping component 1, and the filling component (3) fills the prefilled needle injection; Step 3: The recognition module recognizes the shape and position of the top of the prefilled injection after filling, controls the weighing component (5) to weigh the prefilled injection, and the weighing module classifies and judges according to the weighing result; Step 4: The recognition module recognizes the color and bubble condition of the liquid inside the prefilled injection after filling, and makes analysis and judgment; Step 5: Control the refilling, aspiration, reweighing, and repeated visual inspection of abnormal prefilled injections; Step 6: Control the classification and transmission component (9) to classify and transmit the prefilled injection after re-weighing and visual inspection.

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