Full-weighing filling line and process based on RTU nest type packing material

Abstract

The invention provides a full-weighing filling line and process based on an RTU nest type packaging material. The full-weighing filling line based on the RTU nest type packaging material comprises a workbench, a conveying belt, a plate taking assembly, a filling assembly, a detecting assembly and a discharging assembly, wherein the conveying belt, the plate taking assembly, the filling assembly, the detecting assembly and the discharging assembly are sequentially installed on the upper surface of the workbench along a first path; the conveyor belt is used for conveying nest boxes; the plate taking assembly is used for taking out the nest plate from the nest box and ejecting a single row of glass bottles from the bottom of the nest plate; the filling assembly is used for weighing, filling and plugging a single row of glass bottles; and the detection assembly is used for detecting the plugging height of the single row of glass bottles. According to the full-weighing filling line based on the RTU nest type packaging material, the full-weighing mode of empty bottle weighing, filling and weighing is achieved, the filling amount can be monitored and adjusted in real time, the filling amount error is controlled within the extremely low range, waste of high-value liquid medicine is remarkably reduced, and the production cost is reduced.

Description

Technical Field

[0001] This application belongs to the field of pharmaceutical packaging technology, specifically relating to a full refill line and process based on RTU nested packaging materials. Background Technology

[0002] RTU nested packaging is a new packaging solution for the pharmaceutical, biological and high-end food industries. It refers to nested integrated packaging components that have undergone pre-cleaning and gamma sterilization before leaving the factory. It has the core advantages of eliminating the need for secondary sterilization and being directly adaptable to production. It is commonly used in the packaging of pre-filled syringes, cartridges and vials.

[0003] Currently, the cost of biologics is high, with monoclonal antibody drugs costing over 10,000 yuan per milliliter. Strict control of dosage errors is necessary, but the nested structure of RTUs (Refillable Tube Units) can easily lead to individual vial displacement, resulting in poor positioning accuracy. Traditional filling equipment struggles to precisely align these vials. RTU packaging materials require integrated unpacking, weighing, and capping functions. Using separate equipment relies on manual transfer of semi-finished products, which increases the risk of contamination even in RABS / isolator environments. Furthermore, the separate filling and capping operations expose the drug solution to air, affecting sterility. Small-batch products such as gene therapy require rapid equipment changeover, but existing filling equipment is costly, cumbersome to replace, and has a limited range of applications, making it difficult to meet the diverse production needs of personalized medicine. Summary of the Invention

[0004] This application provides a full-scale refilling line and process based on RTU nested packaging materials, aiming to solve the technical problems of low filling accuracy, limited applicability, reliance on manual labor due to the split structure of traditional filling equipment in the prior art, and the risk of drug contamination.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: In a first aspect, a full-weight filling line based on RTU nested packaging material is provided, including a workbench and a conveyor belt, a plate picking assembly, a filling assembly, a detection assembly and a discharge assembly sequentially installed on the upper surface of the workbench along a first path; The conveyor belt is used to transport nest boxes, inside which nest boards are placed, and on the nest boards are multiple glass bottles; The board-removing assembly is used to remove the nest board from the nest box and push out a single row of glass bottles from the bottom of the nest board. The filling assembly includes a first robotic arm, a filling unit, a weighing unit, and a stoppering unit. The first robotic arm is used to grip a single row of glass bottles and move the single row of packaging materials to the weighing unit and the filling unit for weighing and filling, respectively. The stoppering unit is used to stopper and seal the single row of glass bottles. The detection component is used to detect the stopper height of a single-row glass bottle; The discharge assembly is used to remove the filled glass bottles from the worktable.

[0006] In conjunction with the first aspect, in one possible implementation, the board-retrieving component includes: A pick-and-place rotating mechanism is located at one end of the conveyor belt. The top of the pick-and-place rotating mechanism has a lifting end that can move up and down. The lifting end can rotate around the vertical direction. The lifting end is connected to an adsorption plate, which can pick up the nest board from the nest box. A placement platform is installed on the workbench. Nest plate fixing holes are respectively opened at both ends of the top of the placement platform. The nest plate fixing holes are used to receive the nest plates adsorbed by the adsorption plate. A lifting mechanism, located on one side of the placement platform, has an upwardly movable lifting portion located at the bottom of the placement platform, capable of lifting a single row of glass bottles upwards from the bottom of the nesting plate; and A second robotic arm, located at the end of the conveyor belt, is used to move a single row of glass bottles from the placement platform to the first robotic arm.

[0007] In conjunction with the first aspect, in one possible implementation, the lifting mechanism includes: A slide table is provided on the worktable, and the slide table has a sliding block that slides along the first path; A lifting plate extends in a direction perpendicular to the first path, a first end of the lifting plate being connected to the sliding block, and a second end of the lifting plate extending below the bottom of the placement platform, forming the lifting portion; and A lifting drive component is located below the worktable. The top of the lifting drive component forms a lifting end, which is connected to the slide table to drive the slide table to move up and down.

[0008] In conjunction with the first aspect, in one possible implementation, the weighing unit includes: A weighing scale is provided on the workbench; and A holding rack is provided on the weighing scale, and the holding rack is used to receive the glass tubes transported by the first robotic arm.

[0009] In conjunction with the first aspect, in one possible implementation, the filling unit includes: A container filled with an injection solution; Multiple filling pumps are connected to the container tank, respectively; Multiple injection needles, each corresponding to one of the multiple filling pumps, are connected to their respective filling pumps, and each injection needle has an opening at its bottom; and A recovery mechanism, connected to the bottom of the container, is used to recover the injection solution inside the container.

[0010] In conjunction with the first aspect, in one possible implementation, the inserting unit includes: A stopper, mounted on the workbench, is used to seal glass bottles; A stopper feeder, located on one side of the stopper feeder, is used to supply stoppers to the stoppering machine; and A third robotic arm is mounted on the worktable and is used to move the glass bottles on the weighing unit to the stoppering machine.

[0011] In conjunction with the first aspect, in one possible implementation, the RTU-based nested packaging refill line further includes a return material assembly, which comprises: A conveying platform, disposed on the workbench, having a conveying block extending along the first path, the conveying block having a conveying groove for accommodating glass bottles, and a second end of the conveying platform adjacent to the first robotic arm; and A fourth robotic arm is located on one side of the first end of the conveying platform. The fourth robotic arm is used to receive the sealed glass bottle from the third robotic arm and move it into the conveying trough.

[0012] In conjunction with the first aspect, in one possible implementation, the detection component includes: A temporary storage platform is located behind the stoppering unit and is used to receive glass bottles transferred from the stoppering unit. An image sensor, located on one side of the temporary storage platform, is used to acquire the height of the bottle stoppers on a single row of glass bottles; A waste disposal platform is provided on the workbench, and A fifth robotic arm is positioned between the discharge assembly and the temporary storage platform. The fifth robotic arm can place glass bottles on the temporary storage platform onto the waste platform or the discharge assembly.

[0013] In conjunction with the first aspect, in one possible implementation, the discharge assembly includes: The discharge platform is located at the end of the workbench furthest from the conveyor belt; and A bottle pushing mechanism is provided on one side of the discharge platform. The bottle pushing mechanism has a pushing block that moves along the first path. The pushing block is located above the discharge platform and is used to push the glass bottle out of the worktable along the first path.

[0014] The RTU-based nested packaging material full-weighing filling line provided in this application, compared with the prior art, uses a pick-up plate assembly to push out a single row of glass bottles from the bottom of the nested plate. Combined with the precise gripping and transfer by a first robotic arm, this avoids the risk of displacement during the overall handling of the nested structure, significantly improving the positioning accuracy of the glass bottles and ensuring precise connection between subsequent processes such as filling and weighing. The filling assembly integrates a weighing unit and a filling unit, realizing a full-process weighing mode of empty bottle weighing, filling, and weighing. It can monitor and adjust the filling volume in real time, controlling the filling error to an extremely low range, significantly reducing the waste of high-value liquids and lowering production costs. Simultaneously, this filling line sequentially integrates all functional modules such as the conveyor belt, pick-up plate assembly, and filling assembly along the first path. The entire process is automated by a robotic arm, requiring no human intervention. Even in a RABS / isolator environment, it minimizes the risk of contamination from human contact. Furthermore, immediate capping after filling significantly shortens the time the liquid is exposed to air, perfectly ensuring the sterility of the liquid.

[0015] Secondly, a full refill process based on RTU nested packaging is also provided, implemented based on any of the possible implementations described above, including the following steps: S1. Place the pre-removed outer packaging and inner lining of the nest box on the conveyor belt until it moves under the board removal assembly; S2. The board-removing assembly removes the nest board from the nest box. The nest board has glass bottles attached to it. The board-removing assembly lifts up a single row of glass bottles in sequence. S3. The first robotic arm moves the single-row glass bottle it has lifted to the weighing unit for weighing. After weighing, it moves to the filling unit for filling. After filling, the single-row glass bottle is moved to the weighing unit again for weighing. S4. The first robotic arm moves the double-weighed single-row glass bottle to the stoppering unit for stoppering and sealing. S5. After being plugged and sealed, the single-row glass bottles are moved to the testing assembly for testing; the qualified single-row glass bottles are placed on the discharge platform and moved to the next station. S6. Repeat steps S1 to S5 until all single-row glass bottles are sealed.

[0016] The full-weighing filling process based on RTU nested packaging provided in this application, compared with existing technologies, uses a pick-up plate assembly to eject a single row of glass bottles from the bottom of the nested plate. Combined with the precise gripping and transfer by a first robotic arm, this avoids the risk of displacement during the overall handling of the nested structure, significantly improving the positioning accuracy of the glass bottles and ensuring precise connection between subsequent processes such as filling and weighing. The filling assembly integrates a weighing unit and a filling unit, realizing a full-process weighing mode of empty bottle weighing, filling, and weighing. It can monitor and adjust the filling volume in real time, controlling the filling error to an extremely low range, significantly reducing the waste of high-value liquids and lowering production costs. Simultaneously, this filling line sequentially integrates all functional modules such as the conveyor belt, pick-up plate assembly, and filling assembly along the first path. The entire process is automated by a robotic arm, requiring no human intervention. Even in a RABS / isolator environment, it minimizes the risk of contamination from human contact. Furthermore, immediate capping after filling significantly shortens the time the liquid is exposed to air, perfectly ensuring the sterility of the liquid. In step S1, the pre-removed outer packaging and inner lining of the nest box are placed directly on the conveyor belt, laying the foundation for the subsequent precise plate picking by the plate picking component. In step S2, the plate picking component sequentially ejects a single row of glass bottles, avoiding the risk of displacement during the overall handling of the nest structure and ensuring accurate positioning of each row of glass bottles. Step S3 adopts a 100% full weighing mode of empty bottle weighing, filling, and post-filling weighing, which can accurately control the filling error in real time. Empty bottle weighing can calibrate the weight differences between different glass bottles, and post-filling weighing directly verifies whether the filling volume is qualified, ensuring that the filling volume of each bottle of product meets the standard, significantly reducing liquid waste and lowering production costs; moreover, weighing and filling are quickly connected by the first robotic arm, reducing the exposure time of the liquid and ensuring sterility. The first robotic arm quickly transfers the liquid, shortening the time the liquid is exposed to air after filling and avoiding microbial contamination. In step S5, the detection component detects the stopper height, rejecting unqualified products and preventing unqualified products from entering the market, ensuring product quality; after passing the detection, the material is automatically discharged without manual intervention, further reducing the risk of contamination. Step S6 achieves continuous production through a repetitive process. The entire process is fully automated, reducing manual intervention and the risk of contamination, and meets the sterility requirements of the pharmaceutical industry. Each step is closely linked to form a complete production closed loop, resulting in high production efficiency. All operations are traceable, facilitating quality control and compliance inspections. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1A schematic diagram of the full refill line based on RTU nested packaging material provided in the embodiments of this application; Figure 2 A top view of a full refill line based on RTU nested packaging materials provided in an embodiment of this application; Figure 3 This is a schematic diagram of the conveyor belt structure used in the embodiments of this application; Figure 4 This is a schematic diagram of the board-retrieving assembly used in the embodiments of this application. Figure 1 ; Figure 5 This is a schematic diagram of the board-retrieving assembly used in the embodiments of this application. Figure 2 ; Figure 6 This is a schematic diagram of the structure of the return material assembly used in the embodiments of this application; Figure 7 This is a schematic diagram of the structure of the first robotic arm used in the embodiments of this application; Figure 8 This is a schematic diagram of the filling unit used in the embodiments of this application; Figure 9 The workflow of the full refill process based on RTU nested packaging material provided in the embodiments of this application Figure 1 ; Figure 10 The workflow of the full refill process based on RTU nested packaging material provided in the embodiments of this application Figure 2 .

[0019] Explanation of reference numerals in the attached figures: 100. Workbench; 110. Transfer station; 200. Conveyor belt; 300. Plate picking assembly; 310. Picking and placing rotation mechanism; 311. Adsorption plate; 320. Placement stage; 321. Rotating support; 330. Lifting mechanism; 331. Slide table; 332. Lifting plate; 333. Lifting drive component; 340. Second robotic arm; 400. Filling assembly; 410. First robotic arm; 420. Filling unit; 421. Container; 422. Filling pump; 423. Injection needle; 424. Recovery mechanism; 430. Weighing unit; 440. Cork filling unit; 441. Cork filling machine; 442. Cork feeding machine; 443. Third robotic arm; 500. Detection component; 510. Temporary storage station; 520. Waste disposal station; 530. Fifth robotic arm; 600. Discharge assembly; 610. Discharge platform; 620. Bottle pushing mechanism; 700. Return material assembly; 710. Conveying platform; 711. Conveying block; 720. Fourth robotic arm; 800. Nest box recycling assembly; 810. Discharge slide rail; 820. Box pusher mechanism. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one exemplary embodiment is actually illustrative only and is in no way intended to limit this application or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0022] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0023] For ease of description, the exemplary term "above" can include both "above" and "below". The device may also be positioned in other different ways, and the spatial relative descriptions used herein are interpreted accordingly.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Additionally, "multiple" and "several" mean two or more, unless otherwise explicitly specified.

[0025] Please refer to the following: Figures 1 to 10The full-weight filling line based on RTU nested packaging material provided in this application is described below. The full-weight filling line based on RTU nested packaging material includes a workbench 100 and a conveyor belt 200, a board-retrieving assembly 300, a filling assembly 400, a detection assembly 500, and a discharge assembly 600 sequentially mounted along a first path on the upper surface of the workbench 100. The conveyor belt 200 is used to transport nest boxes, which contain nest boards with multiple glass bottles. The board-retrieving assembly 300 is used to remove the nest boards from the nest boxes and push out a single row of glass bottles from the bottom of the nest boards. The filling assembly 400... It includes a first robotic arm 410, a filling unit 420, a weighing unit 430, and a stoppering unit 440. The first robotic arm 410 is used to grip a single row of glass bottles and move the single row of packaging materials to the weighing unit 430 and the filling unit 420 for weighing and filling, respectively. The stoppering unit 440 is used to stopper and seal the single row of glass bottles. The detection component 500 is used to detect the stoppering height of the single row of glass bottles. The discharge component 600 is used to remove the filled glass bottles from the worktable 100.

[0026] It should be noted that the nest box transported by the conveyor belt 200 in this embodiment is a nest box with the outer packaging and inner lining removed. The nest box contains a nest board, and multiple rows of glass bottles are inserted on the nest board. The glass bottles are used to hold liquid medicine, and the glass bottles can be vials, pre-filled syringes, and cartridges.

[0027] It should be noted that the first route is the transportation route for the glass bottles.

[0028] It should be noted that the workbench 100 is also equipped with a control unit, which is connected to the conveyor belt 200, the plate picking assembly 300, the filling assembly 400, the detection assembly 500, and the discharge assembly 600 to realize the automated operation of the equipment.

[0029] In practice, a conveyor belt is also set up upstream of the conveyor belt 200, and the nest boxes are subjected to external packaging and inner lining operations on the upstream conveyor belt.

[0030] It should be noted that, for reference Figure 7 The first robotic arm 410 of this application is a four-axis robotic arm. Four-axis robotic arms have a small footprint, are flexible in installation, are suitable for different production line heights, have a simple mechanical structure, and exhibit low coordination error. They possess high flexibility, meet usage requirements, and the structure of a four-axis robotic arm is common knowledge and will not be elaborated upon here. In specific implementation, a gripper adapted for glass bottles can be installed at the free end of the first robotic arm 410 to hold a single row of glass bottles.

[0031] The working process of this embodiment is roughly as follows: the worker places the nest box containing the nest board on the conveyor belt 200, and the conveyor belt 200 transports the nest box along the first path to below the nest board taking assembly 300; after the nest board taking assembly 300 removes the nest board from the nest box, it pushes out a single row of glass bottles from the bottom of the nest board; then the first robotic arm 410 picks up the single row of glass bottles, first moves them to the weighing unit 430 for empty bottle weighing, and then moves them to the filling unit 420 to complete the liquid filling. After filling, it moves them back to the weighing unit 430 for post-filling weighing to ensure accurate filling volume; after the weighing is qualified, the first robotic arm 410 moves the single row of glass bottles to the stoppering unit 440, and the stoppering unit 440 stops and seals the glass bottles; after sealing, the single row of glass bottles is sent to the detection assembly 500, which detects the stopper height to determine whether it is qualified; finally, the qualified glass bottles are moved out of the workbench 100 by the discharge assembly 600 and enter the next production stage.

[0032] The full-weighing filling line based on RTU nested packaging provided in this embodiment, compared with the prior art, uses the pick-up plate assembly 300 to push out a single row of glass bottles from the bottom of the nested plate, and the first robotic arm 410 to precisely pick up and transfer them, avoiding the risk of displacement when the nested structure is transported as a whole, greatly improving the positioning accuracy of the glass bottles, and ensuring that subsequent processes such as filling and weighing can be accurately connected; the filling assembly 400 integrates the weighing unit 430 and the filling unit 420 to realize the full-process weighing mode of empty bottle weighing, filling and weighing, and can monitor and adjust the filling volume in real time, controlling the filling error within an extremely low range, significantly reducing the waste of high-value liquid medicines and reducing production costs. Meanwhile, this filling line sequentially integrates all functional modules such as conveyor belt 200, plate picking assembly 300, and filling assembly 400 along the first path. The entire process is automated by robotic arms, requiring no human intervention. Even in an RABS / isolator environment, it can minimize the risk of contamination from human contact. Furthermore, the filling line is immediately sealed after filling, which greatly shortens the time that the liquid is exposed to air, perfectly ensuring the sterility of the liquid.

[0033] In some embodiments, the conveyor belt 200 includes two conveyor belts that can move the nest box along a first path. The two conveyor belts are spaced apart in a direction perpendicular to the first path. The spaced arrangement of the two conveyor belts avoids the lifting path of the adsorption plate 311 of the plate-retrieving assembly 300, preventing interference between conveying and unpacking actions; stable conveying is achieved by supporting the nest box on both sides, reducing subsequent plate-retrieving positioning errors caused by nest box offset; the spacing between the two conveyor belts can be adjusted according to the size of the nest box, increasing the applicability of this system.

[0034] In some embodiments, see Figure 1 , Figure 2 , Figure 4 and Figure 5The plate-taking assembly 300 includes a plate-taking and rotating mechanism 310, a placement platform 320, a lifting mechanism 330, and a second robotic arm 340. A pick-and-place rotating mechanism 310 is located at one end of the conveyor belt 200. The top of the pick-and-place rotating mechanism 310 has a lifting end that can move up and down. The lifting end can rotate around the vertical direction. The lifting end is connected to an adsorption plate 311, which can pick up the nesting board from the nesting box. A placement platform 320 is installed on the workbench 100. Nesting board fixing holes are opened at both ends of the top of the placement platform 320. The nesting board fixing holes are used to receive the nesting board adsorbed by the adsorption plate 311. A lifting mechanism 330 is located on one side of the placement platform 320. The lifting mechanism 330 has a lifting part that can move upward. The lifting part is located at the bottom of the placement platform 320 and can lift a single row of glass bottles from the bottom of the nesting board. A second robot 340 is located at the end of the conveyor belt 200. The second robot 340 is used to move the lifted single row of glass bottles from the placement platform 320 to the first robot 410.

[0035] It should be noted that the bottom of the placement platform 320 is equipped with a rotating bracket 321, which can drive the placement platform 320 to rotate in the vertical direction, so as to realize the interchange of the positions of the two nest plate fixing holes.

[0036] It should be noted that the bottom of the adsorption plate 311 is equipped with multiple suction rods with suction cups. The suction cups are adsorbed and connected to the nesting board. The presence of the suction rods ensures that the adsorption plate 311 will not bump into the glass tube after the suction cups are connected to the nesting board, thus protecting the integrity of the glass tube and preventing it from being contaminated.

[0037] In specific implementation, the pick-and-place rotating mechanism 310 includes a lifting motor, a rotating motor, and a swing arm. The lifting motor is located inside the worktable 100 and has a telescopic end at the top that can move up and down. The telescopic end is higher than the upper surface of the worktable 100. The rotating motor is vertically mounted on the telescopic end and has a rotating end at the top that rotates around its own axis. The rotating end is connected to the first end of the swing arm, which extends radially along the rotating motor. The second end of the swing arm is connected to an adsorption plate 311. The lower surface of the adsorption plate 311 has an adsorption disk for adsorbing the nesting board. After the adsorption plate 311 picks up the nesting board, the telescopic end of the lifting motor rises to a certain height, and then the rotating motor rotates, placing the nesting board in the nesting board fixing hole at the top of the placement table 320.

[0038] The lifting end of the pick-and-place rotating mechanism 310 in this embodiment can move up and down and rotate around the vertical direction. Working in conjunction with the adsorption plate 311 to pick up the nesting board, it can flexibly adjust the suction height and angle according to the actual position of the nesting box on the conveyor belt 200, ensuring accurate removal of the nesting board from the box. The nesting board fixing holes on the placement platform 320 can accurately position and fix the nesting board transferred by the adsorption plate 311, preventing displacement during subsequent lifting and further improving the stability of the nesting board. The lifting mechanism 330 lifts a single row of glass bottles upwards from the bottom of the placement platform 320. Compared to pushing from the side, this avoids scratches on the bottle body caused by friction between the glass bottle and the nesting board. Simultaneously, the single-row lifting method ensures the consistency of each row of glass bottles, preventing mutual compression and displacement when multiple rows are lifted simultaneously. The second robotic arm 340 is responsible for transferring the single-row glass bottles to the first robotic arm 410. The entire process is automated, eliminating the need for manual handling. This avoids the risk of contamination from human contact, meeting the aseptic requirements of the biopharmaceutical and high-end food industries. Furthermore, the robotic arm's transfer speed and position control precision are far superior to manual labor, significantly improving process efficiency and reducing production waiting time. In addition, the nesting plate fixing holes on the placement table 320 can be replaced with accessories adapted to different nesting plate sizes, providing a wide range of applications.

[0039] In some embodiments, see Figure 1 and Figure 2 A transfer platform 110 is provided between the second robotic arm 340 and the first robotic arm 410. The transfer platform 110 is located on the side of the second robotic arm 340 away from the conveyor belt 200, and a receiving groove for receiving glass bottles is formed on the top of the transfer platform 110. The transfer platform 110 is set on the worktable 100, and the receiving groove for receiving glass bottles is formed on the top of the transfer platform 110. The receiving groove achieves temporary positioning of glass bottles through physical limiting, avoiding offset or collision during the handover process between the first robotic arm 410 and the second robotic arm 340, and protecting the integrity of the glass packaging material; the transfer platform 110, as a buffer node, optimizes the connection rhythm of robotic arm movements, shortens the transfer path and reduces the exposure time of glass bottles, further improving the level of aseptic assurance.

[0040] In some embodiments, see Figure 4 and Figure 5 The lifting mechanism 330 includes a slide table 331, a lifting plate 332, and a lifting drive 333. The slide table 331 is disposed on the worktable 100 and has a sliding block that slides along a first path; the lifting plate 332 extends in a direction perpendicular to the first path, with its first end connected to the sliding block and its second end extending below the bottom of the placement table 320 to form a lifting portion; the lifting drive 333 is disposed below the worktable 100, with its top forming a lifting end, which is connected to the slide table 331 to drive the slide table 331 to move up and down.

[0041] Optionally, the lifting drive component 333 can be a servo motor or a lifting cylinder, as long as it can drive the slide table 331 to lift.

[0042] The sliding block on the slide table 331 provided in this embodiment can slide along the first path, driving the lifting plate 332 to move synchronously. It can precisely adjust the lateral position of the lifting part according to the position of different rows of glass bottles on the nesting plate, ensuring that the lifting part can accurately align with the bottom of each row of glass bottles, significantly improving the positioning accuracy of single-row ejection. The lifting plate 332 extends in a direction perpendicular to the first path, forming a larger contact area between the lifting part and the bottom of the single-row glass bottles. During lifting, it can provide uniform support force to each glass bottle, avoiding uneven force distribution, bottle deformation, or damage caused by traditional point-lifting methods. This effectively reduces breakage rate, material waste, and production costs. The lifting drive component 333 drives the slide table 331 to move up and down, flexibly adjusting the height of the lifting part to accommodate glass bottles of different heights, ensuring that a single row of glass bottles can be smoothly ejected from the nesting plate without colliding with the edge of the nesting plate.

[0043] In some embodiments, the weighing unit 430 includes a weighing scale and a holding rack. The weighing scale is mounted on the workbench 100; the holding rack is mounted on the weighing scale and is used to receive glass tubes transported by the first robotic arm 410. The weighing scale is directly mounted on the workbench 100, close to the filling assembly 400, allowing the first robotic arm 410 to quickly transfer glass bottles between the weighing unit 430 and the filling unit 420, shortening the time interval between weighing the empty bottle and before filling, and between filling and the second weighing, thus avoiding the absorption of moisture or dust from the air by the empty bottle due to excessively long intervals, which would affect the weighing accuracy. The holding rack, mounted on the weighing scale, is specifically designed to receive glass bottles transported by the first robotic arm 410. Its structure can be designed with slots or positioning protrusions according to the arrangement spacing of a single row of glass bottles, enabling precise positioning and fixing of the glass bottles, further improving weighing accuracy.

[0044] In practice, the weighing scale can transmit weight data to the production line control system in real time. If the weighing after filling shows that the filling amount exceeds the allowable error range, the system can immediately trigger an alarm to achieve real-time screening of unqualified products, prevent unqualified products from flowing into subsequent stages, and ensure product quality.

[0045] In some embodiments, see Figure 2 and Figure 8 The filling unit 420 includes a container 421, multiple filling pumps 422, multiple injection needles 423, and a recovery mechanism 424. The container 421 contains the injection solution; the multiple filling pumps 422 are respectively connected to the container 421; the multiple injection needles 423 correspond one-to-one with the multiple filling pumps 422, and are connected to the corresponding filling pump 422, with an opening at the bottom of the injection needle; the recovery mechanism 424 is connected to the bottom of the container 421 and is used to recover the injection solution in the container 421.

[0046] It should be noted that the recycling mechanism 424 is also equipped with a needle for injecting medication. When the first robotic arm 410 moves the filled glass tube for a second weighing, if the weight of the filled medication is found to be less than expected, the needle of the recycling mechanism 424 can be used to compensate for the medication in the glass tube. This eliminates the need for the first robotic arm 410 to control the glass bottle to return to the bottom of the injection needle 423, thus improving work efficiency. When the medication in the container 421 is insufficient to meet the injection needs of a single row of glass bottles, the medication enters the recycling mechanism 424 for recycling, and a new container 421 is replaced. This eliminates the need to wait for the container 421 to be filled, further improving work efficiency.

[0047] In practice, the recycling mechanism 424 is equipped with an injection pump and a recycling container to recycle the residual medicine in the container 421, with the needle located at the bottom of the recycling container.

[0048] The multiple filling pumps 422 and multiple injection needles 423 provided in this embodiment correspond one-to-one, enabling simultaneous filling of single-row glass vials, significantly improving filling efficiency, effectively shortening the production cycle, and increasing production line capacity. The injection needles 423 penetrate deep into the vials during filling, greatly reducing the contact area between the drug solution and air, lowering the risk of contamination by airborne microorganisms, and ensuring the sterility of the drug solution. The container 421 is used to centrally store the injection solution, maintaining stable temperature and pressure during the filling process. The recovery mechanism 424 is connected to the bottom of the container 421, allowing the recovery of remaining drug solution in the container 421 or residual drug solution during cleaning of the container 421, avoiding waste caused by direct disposal of the drug solution. This is especially beneficial for high-cost biological agents, significantly reducing production costs and aligning with green production principles.

[0049] In some embodiments, see Figure 2 The stoppering unit 440 includes a stoppering machine 441, a stopper feeder 442, and a third robotic arm 443. The stoppering machine 441 is located on the worktable 100 and is used to seal glass bottles; the stopper feeder 442 is located on one side of the stopper feeder 442 and is used to supply stoppers to the stoppering machine 441; the third robotic arm 443 is located on the worktable 100 and is used to move glass bottles from the weighing unit 430 to the stoppering machine 441.

[0050] It should be noted that the stopper inserter 441 and the stopper feeder 442 are common knowledge in the glass bottle sealing process of this field, and will not be described in detail here. For the internal structure and working principle of the stopper feeder 442, please refer to the automatic nut feeder.

[0051] In practice, the stoppering unit 440 is seamlessly connected with the filling unit 420 and the weighing unit 430 through the first robotic arm 410 and the third robotic arm 443 to form an integrated process, eliminating the need for manual transfer of semi-finished products between different devices. At the same time, the parameter adjustments of the stoppering machine 441 and the stopper feeding machine 442 are all achieved through the program. When changing models, there is no need to replace a large number of parts. Only the new product parameters need to be input for quick adaptation. It has a wide range of applications and meets the production needs of small batches of multi-specification products.

[0052] The capping unit 440 provided in this embodiment is fully functional. The third robotic arm 443 is responsible for transferring the weighed glass bottles from the weighing unit 430 to the capping machine 441. The entire process is automated, eliminating the need for manual handling and avoiding potential microbial contamination from human contact with the glass bottles. Simultaneously, the robotic arm's fast transfer speed and precise positioning significantly shorten the time interval between filling and capping, reducing the time the liquid is exposed to air. The capping feeder 442 automatically supplies caps to the capping machine 441, achieving continuous and automated capping supply. Frequent manual capping is unnecessary, reducing manual intervention and further lowering the risk of contamination. Furthermore, the capping feeder 442 can precisely control the supply speed and quantity of caps, synchronizing with the capping rhythm of the capping machine 441. This prevents the capping machine 441 from stopping due to insufficient capping supply or from accumulating waste due to excessive supply, ensuring the continuous and stable operation of the capping process and improving production efficiency.

[0053] In some embodiments, see Figure 2 and Figure 6 The full refill line based on RTU nested packaging also includes a return assembly 700, which includes a conveyor platform 710 and a fourth robot 720. The conveyor platform 710 is located on the workbench 100 and has a conveyor block 711 extending along a first path. The conveyor block 711 has a conveying groove for accommodating glass bottles. The fourth robot 720 is located on one side of the first end of the conveyor platform 710 and is used to receive the sealed glass bottles from the third robot 443 and move them into the conveying groove.

[0054] It should be noted that after filling and capping, cartridge bottles and pre-filled syringes need to be returned to their original trays. They can be returned to the vicinity of the first robotic arm 410 via a conveyor assembly, and then placed back into their original trays by the first robotic arm 410. However, vials require additional processing, so they can be directly placed into the next process by a person or a robotic arm at another station after capping is completed.

[0055] Since the nesting board remains on the placement platform 320, the conveying platform 710 is used to transport the stoppered glass bottle in reverse to the first robot arm 410, which places it on the transfer platform 110. The second robot arm 340 then places the nesting board back on, and the adsorption plate 311 is used to put the nesting board back into the nesting box, which facilitates the packaging of cartridge bottles and pre-filled needles.

[0056] In this embodiment, the fourth robotic arm 720 receives the sealed glass bottle from the third robotic arm 443 and precisely moves it into the conveying groove of the conveying block 711. The robotic arm has high grasping and transfer accuracy, which can prevent the glass bottle from tilting, colliding, or the stopper from falling off during the transfer process, ensuring the integrity of the glass bottle and the medicine. The conveying block 711 extends along the first path, and the conveying groove can position and fix the glass bottle to ensure the stability of the glass bottle during the conveying process. The second end of the conveying platform 710 is adjacent to the first robotic arm 410, so that the returned glass bottle can be quickly grasped again by the first robotic arm 410.

[0057] In some embodiments, see Figure 1 and Figure 3 The workbench 100 is also equipped with a nest box recycling assembly 800, which includes a discharge slide rail 810 and a box pushing mechanism 820. The discharge slide rail 810 is located on one side of the conveyor belt 200, and the upper surface of the discharge slide rail 810 forms a discharge surface that gradually slopes away from the conveyor belt 200 from high to low. The box pushing mechanism 820 is located at the end of the conveyor belt 200 and is used to push the nest box from the conveyor belt 200 into the discharge slide rail 810.

[0058] It should be noted that, with the help of the return material component 700, the filling and packaging of pre-filled syringes and cartridges can be cyclical. Pre-filled syringes and cartridges are weighed, filled, and capped via conveyor belt 200, plate-retrieving component 300, filling component 400, and detection component 500. After capping, they are returned to the tray via the return material component 700, the first robotic arm 410, and the plate-retrieving component 300. The plate-retrieving component 300 reverses the process, placing the cartridges and pre-filled syringes back into the tray, thus completing the packaging operation. Vials require additional processing. After filling and capping, they are inspected by the detection component 500. Qualified vials are directly removed from the worktable 100 via the discharge component 600.

[0059] In specific implementation, the box-pushing mechanism 820 includes a support platform, a slider, and a box-pushing plate. The slider slides down on the support platform in a direction perpendicular to the first path, and the box-pushing plate is installed on the slider. It can push the nest box to the discharge slide rail 810 in a direction perpendicular to the first path. The discharge slide rail 810 is inclined, which can automatically lower the nest box and increase the convenience of discharge.

[0060] In practice, multiple parallel rollers can be installed on the discharge surface of the discharge slide rail 810 to further facilitate the rapid removal of the nest box.

[0061] The nest box recycling component 800 provided in this embodiment has a simple structure. The inclined discharge surface uses gravity to complete the nest box transportation, which does not require an additional power unit and reduces equipment energy consumption. The layout design of the discharge slide rail 810 located on one side of the conveyor belt 200 avoids interference with the main production path, optimizes space configuration, and at the same time, the automated discharge reduces manual contact and maintains the sterility of the production environment.

[0062] In some embodiments, see Figure 1 and Figure 2 The detection component 500 includes a temporary storage platform 510, an image sensor (not shown in the figure), a waste platform 520, and a fifth robotic arm 530. The temporary storage platform 510 is located behind the stoppering unit 440 and is used to receive glass bottles transferred from the stoppering unit 440. The image sensor is located on one side of the temporary storage platform 510 and is used to obtain the stopper height on a single row of glass bottles. The waste platform 520 is located on the worktable 100. The fifth robotic arm 530 is located between the discharge component 600 and the temporary storage platform 510 and can place the glass bottles on the temporary storage platform 510 onto the waste platform 520 or the discharge component 600.

[0063] In practice, the image sensor can be a camera, webcam, or laser triangulation sensor. Any sensor capable of capturing or comparing the height of the corks on a single row of glass bottles is sufficient; further details are omitted here.

[0064] It should be noted that the fifth robotic arm 530 directly places qualified vials into the discharge assembly 600, and places qualified cartridges and pre-filled needles into the conveyor block 711 in the return assembly 700. The fifth robotic arm 530 can also place unqualified vials, cartridges, and pre-filled needles into the waste table 520.

[0065] The detection component 500 provided in this embodiment has a stable structure. An image sensor is located on one side of the temporary storage platform 510, enabling it to quickly acquire images of the cork height of a single row of glass bottles. Image recognition technology is used to automatically determine whether the cork height meets the standard. The detection accuracy is far higher than that of manual visual observation, avoiding missed detections and misjudgments caused by fatigue and subjective judgment bias during manual inspection, ensuring that the cork insertion quality meets standards and guaranteeing product quality. The temporary storage platform 510 receives glass bottles transferred from the cork insertion unit 440, providing a buffer space for the detection process. This prevents process congestion or downtime caused by asynchronous rhythms between the cork insertion unit 440 and the detection component 500, improving production efficiency. The fifth robotic arm 530 is responsible for moving qualified glass bottles from the temporary storage table 510 to the discharge component 600, and unqualified ones to the waste table 520, realizing automated sorting without manual sorting, reducing the risk of contamination caused by human intervention. The waste table 520 is specifically for storing unqualified products, which facilitates subsequent centralized processing, avoids confusion with qualified products, and ensures the accuracy of product quality traceability. At the same time, the detection component 500 can transmit the detection data to the production line control system in real time, and count the non-conforming rate and the reasons for non-conformity, so that the staff can adjust the parameters of the stopper unit 440 in a timely manner to reduce the generation of subsequent non-conforming products.

[0066] In some embodiments, see Figure 1 and Figure 2 The discharging assembly 600 includes a discharging platform 610 and a bottle pushing mechanism 620. The discharging platform 610 is located at the end of the worktable 100 away from the conveyor belt 200. The bottle pushing mechanism 620 is located on one side of the discharging platform 610 and has a pushing block that moves along a first path. The pushing block is located above the discharging platform 610 and is used to push glass bottles out of the worktable 100 along the first path. The moving pushing block of the bottle pushing mechanism 620 along the first path automatically pushes qualified glass bottles out of the worktable 100 along the discharging platform 610, achieving automated discharging. The pushing block, located above the discharging platform 610, has a structure that can be designed according to the shape of the glass bottle, with a moderate contact area with the bottle, providing uniform pushing force during pushing and preventing the glass bottle from tilting, colliding, or the stopper from falling off due to uneven pushing force. The discharge station 610 is located at the end of the workbench 100 away from the conveyor belt 200 and is closely connected with the detection component 500 to avoid cross-interference between the discharge process and the preceding process, optimize the production line layout, and improve space utilization.

[0067] In some embodiments, the first robotic arm 410, the second robotic arm 340, the third robotic arm 443, the fourth robotic arm 720, and the fifth robotic arm 530 have the same structure and all adopt a four-sided robotic arm.

[0068] In some embodiments, the workbench 100 is divided into a first workbench and a second workbench along a first path. A conveyor belt 200, a plate-retrieving assembly 300, and a nest box recycling assembly 800 are installed on the first workbench. A filling assembly 400, a detection assembly 500, a discharge assembly 600, and a return assembly 700 are installed on the second workbench. The first and second workbench are each covered by a sealed shell and connected at the transfer station 110. This separates the operation of retrieving the nest box plates and then retrieving a single row of glass bottles from the operation of filling and weighing the glass bottles, preventing nest boxes or plates from contaminating the filling area, enhancing the aseptic nature of filling and weighing, and improving filling quality.

[0069] Based on the same inventive concept, see [reference] Figure 9 and Figure 10 This application also provides a full refill process based on RTU nested packaging materials, implemented based on the full refill line based on RTU nested packaging materials as described in any of the above embodiments, including the following steps: S1, placing the nest box with the outer packaging and inner liner removed beforehand on the conveyor belt 200 until it moves below the board picking assembly 300; S2, the board picking assembly 300 removes the nest board from the nest box, the nest board has glass bottles on it, and the board picking assembly 300 lifts up a single row of glass bottles in sequence; S3, the first robotic arm 410 picks up the single row of glass bottles lifted up. The glass bottles are moved to the weighing unit 430 for weighing, and then moved to the filling unit 420 for filling. After filling, the single-row glass bottles are moved to the weighing unit 430 again for weighing. S4, the first robot arm 410 moves the second-weighed single-row glass bottles to the stoppering unit 440 for stoppering and sealing. S5, the stoppered and sealed single-row glass bottles are moved to the detection component 500 for detection. The single-row glass bottles that pass the detection are placed on the discharge platform and moved to the next station. S6, repeat steps S1 to S5 until all single-row glass bottles are sealed.

[0070] It should be noted that after filling and capping, the cartridges and pre-filled syringes need to be returned to their original packing trays. The pre-filled syringes and cartridges are weighed, filled, and capped via conveyor belt 200, packing tray assembly 300, filling assembly 400, and inspection assembly 500. After capping, they are returned to the packing tray via return assembly 700, first robotic arm 410, and packing tray assembly 300. The packing tray assembly 300 reverses the process, placing the cartridges and pre-filled syringes back into the packing box, thus completing the packaging operation. Vials require additional processing. After filling and capping, they are inspected by inspection assembly 500. Qualified vials are directly removed from workbench 100 via discharge assembly 600. Therefore, the construction process diagram for cartridges and pre-filled syringes is provided. Figure 9 For the processing technology of vials, please refer to [link / reference]. Figure 10 , This embodiment employs a full-weighing filling process based on RTU nested packaging materials. Compared to existing technologies, in step S1, the nested boxes, with their outer packaging and inner lining removed beforehand, are directly placed on conveyor belt 200, laying the foundation for the subsequent precise pick-up of the plates by the plate-picking assembly 300. In step S2, the plate-picking assembly 300 sequentially ejects a single row of glass bottles, avoiding the risk of displacement during the overall handling of the nested structure and ensuring accurate positioning of each row of glass bottles. Simultaneously, the single-row processing method can flexibly adapt to small-batch production needs, improving production flexibility. Step S3 adopts a 100% full-weighing mode encompassing empty bottle weighing, filling, and post-filling weighing. Empty bottle weighing calibrates the weight differences between different glass bottles, and post-filling weighing directly verifies whether the filling volume is qualified, ensuring that the filling volume of each bottle meets the standard, significantly reducing liquid waste and lowering production costs. Furthermore, weighing and filling are quickly connected through the first robotic arm 410, reducing the liquid exposure time and ensuring sterility. The first robotic arm 410 rapidly transfers the liquid, shortening the time the liquid is exposed to air after filling and avoiding microbial contamination. In step S5, the detection component 500 checks the insertion height, rejecting unqualified products to prevent them from entering the market and ensuring product quality. After passing the inspection, the material is automatically discharged without manual intervention, further reducing the risk of contamination. Step S6 achieves continuous production through a repetitive process. The entire process is fully automated, reducing manual intervention and contamination risks, and meeting the aseptic requirements of the pharmaceutical industry. Each step is tightly integrated, forming a complete production closed loop, resulting in high production efficiency. All operations are traceable, facilitating quality control and compliance inspections.

[0071] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A full refill line based on RTU nested packaging material, characterized in that, It includes a workbench (100) and a conveyor belt (200), a plate picking assembly (300), a filling assembly (400), a detection assembly (500) and a discharge assembly (600) sequentially installed on the upper surface of the workbench (100) along a first path; The conveyor belt (200) is used to transport nest boxes, inside which nest boards are placed, and on the nest boards are multiple glass bottles; The board removal assembly (300) is used to remove the nest board from the nest box and push out a single row of glass bottles from the bottom of the nest board; The filling assembly (400) includes a first robotic arm (410), a filling unit (420), a weighing unit (430), and a stoppering unit (440). The first robotic arm (410) is used to grip a single row of glass bottles and move the single row of packaging materials to the weighing unit (430) and the filling unit (420) for weighing and filling, respectively. The stoppering unit (440) is used to stopper and seal the single row of glass bottles. The detection component (500) is used to detect the stopper height of a single-row glass bottle; The discharge assembly (600) is used to remove the filled glass bottles from the worktable (100).

2. The full refill line based on RTU nested packaging material as described in claim 1, characterized in that, The plate-retrieving assembly (300) includes: The pick-and-place rotating mechanism (310) is located on one side of the end of the conveyor belt (200). The top of the pick-and-place rotating mechanism (310) has a lifting end that can move up and down. The lifting end can rotate around the vertical direction. The lifting end is connected to an adsorption plate (311). The adsorption plate (311) can pick up the nest board from the nest box. A placement platform (320) is installed on the workbench (100). The top two ends of the placement platform (320) are respectively provided with nest plate fixing holes, which are used to receive the nest plates adsorbed by the adsorption plate (311). A lifting mechanism (330) is located on one side of the placement platform (320). The lifting mechanism (330) has an upwardly movable lifting part located at the bottom of the placement platform (320). The lifting part can lift a single row of glass bottles upward from the bottom of the nesting plate; and A second robotic arm (340) is located at the end of the conveyor belt (200) and is used to move a single row of glass bottles lifted up from the placement table (320) to the first robotic arm (410).

3. The full refill line based on RTU nested packaging material as described in claim 2, characterized in that, The lifting mechanism (330) includes: A slide (331) is provided on the worktable (100), and the slide (331) has a sliding block that slides along the first path; A lifting plate (332) extends in a direction perpendicular to the first path, a first end of the lifting plate (332) being connected to the sliding block, and a second end of the lifting plate (332) extending below the bottom of the placement platform (320) and forming the lifting portion; and A lifting drive (333) is located below the worktable (100). The top of the lifting drive (333) forms a lifting end, which is connected to the slide (331) to drive the slide (331) to move up and down.

4. The full refill line based on RTU nested packaging material as described in claim 1, characterized in that, The weighing unit (430) includes: A weighing scale is provided on the workbench (100); and A holding rack is provided on the weighing scale, and the holding rack is used to receive the glass tubes transported by the first robotic arm (410).

5. The full refill line based on RTU nested packaging material as described in claim 1, characterized in that, The filling unit (420) includes: The container (421) contains an injection solution; Multiple filling pumps (422) are connected to the receiving tank (421) respectively; Multiple injection needles (423) correspond one-to-one with multiple filling pumps (422), each injection needle (423) is connected to its corresponding filling pump (422), and the bottom of each injection needle (423) is open; and The recovery mechanism (424) is connected to the bottom of the container (421) and is used to recover the injection solution in the container (421).

6. The full refill line based on RTU nested packaging material as described in claim 1, characterized in that, The insert unit (440) includes: A stopper (441) is provided on the workbench (100) and is used to seal glass bottles; A stopper feeder (442), disposed on one side of the stopper feeder (442), the stopper feeder (442) being used to supply stoppers to the stopper machine (441); and A third robotic arm (443) is disposed on the worktable (100) and is used to move the glass bottle on the weighing unit (430) to the stoppering machine (441).

7. The full refill line based on RTU nested packaging material as described in claim 6, characterized in that, The full refill line based on RTU nested packaging material also includes a return material assembly (700), which includes: A conveying platform (710) is disposed on the workbench (100), the conveying platform (710) having a conveying block (711) extending along the first path, the conveying block (711) having a conveying groove for accommodating glass bottles, and a second end of the conveying platform (710) adjacent to the first robotic arm (410); and A fourth robotic arm (720) is located on one side of the first end of the conveying platform (710). The fourth robotic arm (720) is used to receive the sealed glass bottle from the third robotic arm (443) and move it into the conveying trough.

8. The full refill line based on RTU nested packaging material as described in claim 1, characterized in that, The detection component (500) includes: A temporary storage platform (510) is provided on the rear side of the stopper unit (440), and the temporary storage platform (510) is used to receive glass bottles transferred from the stopper unit (440); An image sensor, located on one side of the temporary storage stage (510), is used to acquire the height of the bottle stoppers on a single row of glass bottles; A waste disposal station (520) is provided on the workbench (100), and A fifth robotic arm (530) is located between the discharge assembly (600) and the temporary storage platform (510). The fifth robotic arm (530) can place the glass bottles on the temporary storage platform (510) onto the waste platform (520) or the discharge assembly (600).

9. The full refill line based on RTU nested packaging material as described in claim 1, characterized in that, The discharge assembly (600) includes: A discharge platform (610) is located at one end of the workbench (100) away from the conveyor belt (200); and A bottle pushing mechanism (620) is provided on one side of the discharge platform (610). The bottle pushing mechanism (620) has a pushing block that moves along the first path. The pushing block is located above the discharge platform (610) and is used to push the glass bottle out of the worktable (100) along the first path.

10. A full refill process based on RTU nested packaging material, implemented based on a full refill line based on RTU nested packaging material as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Place the nest box with the outer packaging and inner lining removed beforehand on the conveyor belt (200) until it moves under the board removal assembly (300); S2. The board-removing assembly (300) removes the nest board from the nest box. The nest board has glass bottles attached to it. The board-removing assembly (300) lifts up a single row of glass bottles in sequence. S3. The first robotic arm (410) moves the single-row glass bottle it has lifted to the weighing unit (430) for weighing. After weighing, it moves to the filling unit (420) for filling. After filling, the single-row glass bottle is moved to the weighing unit (430) again for weighing. S4. The first robotic arm (410) moves the double-weighed single-row glass bottle to the stoppering unit (440) for stoppering and sealing. S5. After being plugged and sealed, the single-row glass bottles are moved to the testing assembly (500) for testing; the qualified single-row glass bottles are placed on the discharge platform and moved to the next station. S6. Repeat steps S1 to S5 until all single-row glass bottles are sealed.

Images