Powder-liquid double-chamber bag arranging machine and bag arranging method

Abstract

The invention discloses a powder-liquid double-chamber bag arranging machine and method, and the powder-liquid double-chamber bag arranging machine comprises a conveying mechanism which comprises a stator, a rotor and a clamp which is arranged on the rotor and is used for clamping a powder-liquid double-chamber bag mouth pipe, and the clamp can circularly move on the stator along with the rotor; the bag feeding mechanism is arranged on one side of the conveying mechanism and used for transferring the powder-liquid double-chamber bag to the clamp; the bag arranging mechanism is arranged on the downstream of the bag feeding mechanism and is used for arranging an opening pipe and a powder cavity positioning hole of the powder-liquid double-chamber bag on the clamp; the bag discharging mechanism is arranged at the downstream of the bag arranging mechanism so as to transfer the powder-liquid double-chamber bags arranged by the bag arranging mechanism to a powder racking machine; and a waste kicking mechanism. The full-process automation of medicine bag transferring, conveying, arranging and positioning, transferring and waste bag removing can be achieved, traditional manual operation is replaced, and the production efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of powder-liquid double-chamber bag production, and particularly to a powder-liquid double-chamber bag sorting machine and sorting method. Background Technology

[0002] The powder-liquid dual-chamber bag, as a novel fully enclosed infusion preparation system, uses a non-solvent welding technique to place drug powder and injectable solvent into two chambers within the same package. It can be opened with a gentle press before use, achieving fully enclosed aseptic preparation without the need for a dedicated preparation area. This simplifies the preparation process and allows for rapid response to emergencies, thus gaining widespread clinical acceptance. The production of the powder-liquid dual-chamber bag involves a series of continuous processes, including bag making and sealing, liquid chamber light inspection, ventilation and sterilization, post-sterilization transport, powder dispensing, pre-aluminum foil light inspection, aluminum foil welding, powder and liquid chamber leak detection, and logistics packaging. Each step significantly impacts the overall production efficiency and product quality. In particular, after post-sterilization transport and before powder dispensing, the high-temperature sterilized powder-liquid dual-chamber bags require specialized handling and positioning to meet the requirements of subsequent powder dispensing processes regarding bag posture and positioning accuracy.

[0003] After high-temperature sterilization, the powder-liquid dual-chamber bags experience unpredictable shrinkage due to the high temperature during sterilization, making it difficult to control their positioning. They can only remain in an extended state. Furthermore, to prevent damage from excessive deformation during sterilization, the clamps that hold the bags in place only position the opening tube, resulting in a vertical position with the opening tube positioned, the liquid chamber on top, and the powder chamber on the bottom. However, subsequent powder filling machines require the bags to achieve dual positioning of both the opening tube and the powder chamber positioning hole for successful powder filling. Therefore, a specialized bag handling device is needed to complete this conversion. Currently, there are related patents for bag sorting devices, such as the invention patent CN116374570A and the utility model patent CN219708284U. These devices are mainly used in the stage after powder dispensing and before light inspection before aluminum film welding. Their function is to sort the powder-liquid double-chamber bags that have completely lost their positioning state and have inconsistent postures until the mouth tube and positioning hole are both in a positioned state. Specifically, a vision-equipped robot grabs the powder-liquid double-chamber bags and places them onto the horizontal conveying clamp of the conveying component. Then, the positioning and transfer of the medicine bags are achieved through operations such as pushing the bags, guiding the mouth tube, and gently pressing the bag body. However, the application scenario, the initial state of the processed objects, and the working method of these existing devices do not match the bag sorting requirements after sterilization and conveying and before powder dispensing. They cannot meet the sorting requirements of this stage for medicine bags to go from a positioning state of the mouth tube to a state where both the mouth tube and the powder chamber positioning hole are in a positioned state.

[0004] In summary, in the current production process of powder-liquid dual-chamber bags, there is no suitable automated bag-sorting device to meet the bag-sorting requirements after sterilization and before powder dispensing. Related companies can only use manual operation, where operators hang the sterilized medicine bags one by one on clamps with mouth tube positioning buckles and powder chamber positioning pins. Then, the clamps are transferred to the powder dispensing machine for powder filling through a related transfer device. This manual operation not only requires a large number of operators, but also takes a long time, which seriously limits the production efficiency of powder-liquid dual-chamber bags. At the same time, the long-term repetitive bag-sorting operation can easily cause operator fatigue, resulting in a significant increase in labor intensity. Summary of the Invention

[0005] To address the problem of low production efficiency and high labor intensity caused by the reliance on manual operation due to the lack of suitable automated bag-sorting devices after sterilization of powder and liquid in dual-chamber bags and before powder dispensing, this invention sets up a conveying mechanism, a bag-loading mechanism, a bag-sorting mechanism, a bag-unloading mechanism, and a waste-removing mechanism. Through continuous operations of bag loading, conveying, sorting and positioning, bag unloading, and waste removal, production efficiency is greatly improved, and subsequent stable dispensing of powder is also facilitated.

[0006] Based on this, in a first aspect of the present invention, a powder-liquid dual-chamber bag sorting machine is provided, comprising:

[0007] The conveying mechanism includes a stator, a mover, and a clamp disposed on the mover to hold the powder-liquid double-chamber bag mouth tube, the clamp being capable of cyclically moving with the mover on the stator;

[0008] A bag-loading mechanism is located on one side of the conveying mechanism to transfer the powder-liquid dual-chamber bag onto the clamp;

[0009] A bag-sorting mechanism is located downstream of the upper bag-sorting mechanism to sort the mouth tubes and powder cavity positioning holes of the powder-liquid dual-chamber bag on the clamp.

[0010] The bag-dropping mechanism is located downstream of the bag-sorting mechanism to transfer the powder-liquid dual-chamber bags sorted by the bag-sorting mechanism to the powder dispensing machine.

[0011] A waste removal mechanism, located downstream of the bag-dropping mechanism, removes powder-liquid dual-chamber bags that have not been transferred by the bag-dropping mechanism from the clamp.

[0012] Preferably, the clamp includes:

[0013] A fixing element is fixed to the movable element so as to move with the movable element;

[0014] The first and second grippers are symmetrically arranged on the fixing member and rotatably connected to the fixing member. The front ends of the first and second grippers form an arc-shaped clamping cavity adapted to the powder liquid double-chamber bag mouth tube.

[0015] The rear ends of the first gripper and the second gripper respectively extend to form a first link and a second link. The first link and the second link are arranged crosswise, and the relative movement of the first link and the second link drives the opening or closing of the first gripper and the second gripper.

[0016] Optionally, the clamp includes a fixing member, a first gripper, a second gripper, and a gear transmission assembly. The fixing member is fixed to the moving part. The first gripper and the second gripper are symmetrically hinged to the fixing member. The two grippers are respectively provided with meshing gears on opposite sides to form a gear transmission assembly. The front ends of the first gripper and the second gripper form an arc-shaped clamping cavity. By driving one of the grippers to rotate, the other gripper is driven to move synchronously in the opposite direction through the gear transmission assembly, so as to realize the opening or closing of the clamping cavity.

[0017] Preferably, the clamp further includes:

[0018] The slide rod has sliding holes in both the first and second connecting rods along their axial directions. The slide rod passes through the sliding holes and guides the relative movement of the first and second connecting rods by its own movement.

[0019] A drive rod is movably connected to the fixing member in a preset direction, and the drive rod is connected to the slide rod to drive the slide rod to move in the preset direction;

[0020] A reset component is disposed on the fixing component and connected to the drive rod, so as to act on the first connecting rod and the second connecting rod through the drive rod and the slide rod, and keep the first gripper and the second gripper in a normally closed state.

[0021] Preferably, the conveying mechanism is a magnetic levitation conveying mechanism, the stator is a magnetic levitation guide rail arranged in a ring, and the mover is a plurality of magnetic levitation movers adapted to the magnetic levitation guide rail;

[0022] The clamps are multiple and are correspondingly disposed on several of the magnetically levitated actuators.

[0023] Optionally, the conveying mechanism is an annular belt conveyor mechanism, the stator is an annularly arranged belt guide rail, the mover is a slider, the slider is fixedly connected to the annular belt, and the clamps are multiple and correspondingly fixed on each slider. The annular belt drives the slider and the clamps to move cyclically along the belt guide rail.

[0024] Preferably, the bag-loading mechanism includes a robot bag-loading assembly and a bag-opening assembly;

[0025] The robot bag-loading assembly includes a robotic arm and multiple gripping and feeding units mounted on the robotic arm. Each gripping and feeding unit includes a first gripper and a first suction cup to respectively fix the mouth tube and bag body of the powder-liquid dual-chamber bag.

[0026] The upper bag opening and clamping assembly includes a first cylinder and a second cylinder, and the cylinder bodies of the first cylinder and the second cylinder are fixed relative to the stator.

[0027] The piston rod of the first cylinder abuts against the drive rod and moves the drive rod in a preset direction to open the first gripper and the second gripper.

[0028] The piston rod of the second cylinder is provided with a limiting member, which cooperates with the fixing member to support the fixing member from the opposite direction of the preset direction.

[0029] Preferably, the bag sorting mechanism includes a bag blocking assembly, a capping assembly, and a bag sorting assembly;

[0030] The bag-blocking assembly is disposed on the stator and located outside the conveying path between the upper bag mechanism and the lower bag mechanism;

[0031] The capping assembly is disposed on the stator to press against the opening of the powder-liquid double-chamber bag;

[0032] The bag sorting assembly is disposed on the stator and located downstream of the capping assembly to sort and position the bag body of the powder-liquid dual-chamber bag.

[0033] Preferably, the bag-blocking assembly includes a straight bag-blocking component and a curved bag-blocking component;

[0034] The straight-line bag-blocking component is specifically a baffle strip, which extends and is fixed along the side of the straight section of the conveying mechanism to cooperate with the outer side of the powder-liquid double-chamber bag.

[0035] The curved section bag-blocking component specifically comprises multiple rollers evenly spaced apart. These rollers extend arc-shaped along the curved side of the conveying mechanism, with their axes perpendicular to the conveying direction, to mate with the outer side of the powder-liquid dual-chamber bag.

[0036] Preferably, the capping assembly includes a capping cylinder and a port tube pressing block;

[0037] The cylinder body is fixed relative to the stator, and the inlet tube pressure block is connected to the piston rod of the cylinder.

[0038] The nozzle pressing block is specifically a horizontally arranged rectangular block, with a groove on its lower end face that is adapted to the nozzle of the powder-liquid dual-chamber bag.

[0039] Preferably, the bag-sorting assembly includes a third cylinder, a support member, a second pneumatic gripper, an electric cylinder, and a position sensor;

[0040] The cylinder body of the third cylinder is fixed relative to the stator, and the support member is fixedly connected to the piston rod of the third cylinder.

[0041] The support member is provided with a guide rail, and the second pneumatic gripper is slidably connected to the support member through the guide rail;

[0042] The electric cylinder is connected to the support member and the second pneumatic gripper to drive the second pneumatic gripper to slide;

[0043] The position sensor is fixed relative to the stator and is electrically connected to the electric cylinder.

[0044] In a second aspect of the invention, a bag-sorting method according to the aforementioned powder-liquid dual-chamber bag sorting machine is also provided, comprising the following steps:

[0045] S1. The bag-loading mechanism is activated, grabs the powder-liquid dual-chamber bag and transfers it to the clamp of the conveying mechanism. The clamp closes to hold the mouth tube of the powder-liquid dual-chamber bag, so that the powder-liquid dual-chamber bag maintains a preset posture.

[0046] S2. The moving part of the conveying mechanism drives the clamp holding the powder and liquid double chamber bag to move cyclically, conveying the powder and liquid double chamber bag from the position of the bag-up mechanism to the position of the bag-sorting mechanism;

[0047] S3. The bag sorting mechanism first sorts and positions the opening tube of the powder-liquid double-chamber bag on the clamp, and then sorts and positions the bag body of the powder-liquid double-chamber bag.

[0048] S4. The conveying mechanism transports the powder-liquid double-chamber bag after the bagging process to the location of the bag-down mechanism. The bag-down mechanism is activated to remove the powder-liquid double-chamber bag from the clamp and transfer it.

[0049] S5. The conveying mechanism drives the clamp after the bag-unloading operation to the position of the waste-removing mechanism. The waste-removing mechanism detects whether there are any untransferred powder-liquid double-chamber bags left on the clamp. If so, it removes them from the clamp. Then the clamp continues to move with the follower and returns to the position of the bag-up mechanism.

[0050] This invention, through the coordination of a conveying mechanism, a bag-loading mechanism, a bag-sorting mechanism, a bag-unloading mechanism, and a waste-removal mechanism, adapts to the bag-sorting requirements from the sterilization of powder and liquid dual-chamber bags to the powder dispensing process. It achieves full automation of the entire process of medicine bag transfer, conveying, sorting and positioning, transfer, and waste bag removal, replacing traditional manual operation. This not only improves production efficiency and reduces the labor intensity of operators, but also ensures the accuracy of medicine bag positioning to support the subsequent powder dispensing process. Furthermore, the continuous operation of the equipment is achieved through the cyclic conveying and waste-removal design, reducing operational risks. Attached Figure Description

[0051] To more clearly illustrate the technical solutions in the embodiments of the present invention 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0052] Figure 1 This is an overall schematic diagram provided for an embodiment of the present invention;

[0053] Figure 2 This is a schematic diagram of the powder-liquid dual-chamber bag provided in an embodiment of the present invention;

[0054] Figure 3 This is a schematic diagram of the conveying mechanism provided in an embodiment of the present invention;

[0055] Figure 4 This is a schematic diagram of the clamp in the closed state provided in an embodiment of the present invention;

[0056] Figure 5 This is a schematic diagram of the clamp in the open state provided in an embodiment of the present invention;

[0057] Figure 6 This is a side view of the fixture provided in an embodiment of the present invention;

[0058] Figure 7 This is a top view schematic diagram of multiple gripping and feeding units provided in an embodiment of the present invention;

[0059] Figure 8 This is a side view of the gripping and feeding unit provided in an embodiment of the present invention;

[0060] Figure 9 This is a side view of the upper bag opening clamp assembly provided in an embodiment of the present invention;

[0061] Figure 10 This is a top view of the upper bag opening clamp assembly provided in an embodiment of the present invention;

[0062] Figure 11 This is a front view schematic diagram of the upper bag opening clamp assembly provided in an embodiment of the present invention;

[0063] Figure 12 This is a schematic diagram of a straight-line baffle provided in an embodiment of the present invention;

[0064] Figure 13 This is a schematic diagram of the curved section baffle provided in an embodiment of the present invention;

[0065] Figure 14 This is a schematic diagram of the cap assembly provided in an embodiment of the present invention;

[0066] Figure 15 This is a front view schematic diagram of the bag-collecting assembly provided in an embodiment of the present invention;

[0067] Figure 16 This is a side view of the bag-collecting assembly provided in an embodiment of the present invention;

[0068] Figure 17 This is a side view of the gripping and unloading unit provided in an embodiment of the present invention;

[0069] Figure Labels

[0070] 1. Conveying mechanism; 21. Robot bag loading assembly; 211. Gripping and feeding unit; 2111. First gripper; 2112. First suction cup; 22. Bag opening and clamping assembly; 221. First cylinder; 222. Second cylinder; 2221. Limiting component; 31. Bag blocking assembly; 311. Straight bag blocking component; 312. Curved bag blocking component; 32. Capping assembly; 321. Capping cylinder; 322. Orifice pressing block; 3221. Groove; 33. Bag sorting assembly; 331. Third cylinder; 332. Support component; 333. Second gripper; 334. Electric cylinder; 335. Guide rail; 336. Position sensor 337. Sensor fixing plate; 41. Robot bag lowering assembly; 411. Third gripper; 412. Second suction cup; 413. Third suction cup; 414. Positioning pin; 42. Bag lowering clamping assembly; 5. Waste kicking mechanism; 6. Powder and liquid dual-chamber bag; 61. Inlet tube; 611. First-level positioning step; 612. Second-level positioning step; 62. Liquid chamber; 63. Powder chamber; 64. Positioning hole; 7. Clamp; 71. Fixing component; 72. First gripper; 73. Second gripper; 74. First connecting rod; 75. Second connecting rod; 76. Slide rod; 77. Drive rod; 78. Reset component; 781. Limiting abutment part. Detailed Implementation

[0071] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0072] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0073] As described in the background section, in the current production process of powder-liquid dual-chamber bags, there is no suitable automated bag-sorting device to meet the bag-sorting requirements after sterilization and before powder dispensing. Related companies can only use manual operation, where operators hang the sterilized medicine bags one by one on clamps with mouth tube positioning buckles and powder chamber positioning pins. Then, the clamps are transferred to the powder dispensing machine for powder filling through a related transfer device. This manual operation not only requires a large number of operators, but also takes a long time, which seriously limits the production efficiency of powder-liquid dual-chamber bags. At the same time, the long-term repetitive bag-sorting operation can easily cause operator fatigue, resulting in a significant increase in labor intensity.

[0074] Based on this, in a first aspect of the present invention, a powder-liquid dual-chamber bag sorting machine is provided, with reference to Figure 1 It includes a conveying mechanism 1, a bag loading mechanism, a bag sorting mechanism, a bag unloading mechanism, and a waste removal mechanism 5. Each mechanism is arranged sequentially along the conveying path of the powder-liquid double-chamber bag 6. The conveying mechanism 1 is used to convey the powder-liquid double-chamber bag 6. The bag loading mechanism, bag sorting mechanism, bag unloading mechanism, and waste removal mechanism 5 correspond to the transfer feeding, sorting and positioning, transfer unloading, and waste bag removal processes of the powder-liquid double-chamber bag 6, respectively, thereby realizing the bag sorting and conveying process from sterilization to powder dispensing.

[0075] Specifically, refer to Figure 2 The powder-liquid dual-chamber bag 6 of the present invention includes a bag body and an opening tube 61. The bag body has a powder chamber 63 and a liquid chamber 62 isolated from the powder chamber 63. A positioning hole 64 is provided on the edge of the bag body to facilitate subsequent arrangement and positioning of the bag body. A primary positioning step 611 and a secondary positioning step 612 are formed on the opening tube 61 to facilitate the transfer, conveying and arrangement and positioning of the powder-liquid dual-chamber bag 6 and the opening tube 61.

[0076] Furthermore, the conveying mechanism 1 includes a stator, a mover, and a clamp 7. The stator provides a guiding foundation for the cyclic movement of the mover. The mover cooperates with the stator and drives the clamp 7 to move synchronously. The clamp 7 is fixed on the mover to hold the first-level positioning step 611 of the mouth tube 61 of the powder-liquid double chamber bag 6 and carry the powder-liquid double chamber bag 6 to move along the conveying path.

[0077] Furthermore, referring to Figure 3The conveying mechanism 1 is preferably a magnetic levitation conveying mechanism 1. The stator is a ring-shaped magnetic levitation guide rail 335, which adopts an electromagnetic guiding structure, including a magnetic levitation support, a magnetic levitation module, and a magnetic levitation cover plate. The magnetic levitation module is fixed on the magnetic levitation support to form a continuous ring-shaped guide rail 335. The magnetic levitation cover plate is fixed to the upper end face of the magnetic levitation support by bolts to prevent dust and foreign object intrusion. The mover consists of several magnetic levitation movers adapted to the magnetic levitation guide rail 335. The magnetic levitation movers are suspended on the magnetic levitation guide rail 335 by electromagnetic force to move in a non-contact cyclic manner along the magnetic levitation guide rail 335. There are multiple clamps 7, which are fixed to the upper end face of each magnetic levitation mover by bolts.

[0078] As an optional implementation, the conveying mechanism 1 can also be an annular belt conveying mechanism 1, with the stator being an annularly arranged belt guide rail 335, including the guide rail 335 body and the support frame. The guide rail 335 body is fixed on the support frame to form an annular guide path. The slider is made of wear-resistant plastic material, and its bottom is fixedly connected to the annular belt. The annular belt is sleeved on the drive wheel and the driven wheel. There are multiple clamps 7, which are fixed to each slider with bolts. The drive wheel drives the annular belt to move, thereby driving the slider and clamps 7 to move cyclically along the belt guide rail 335, and thus carrying the powder-liquid double chamber bag 6 to move.

[0079] Furthermore, referring to Figures 4-6 The clamp 7 includes a fixing member 71, a first gripper 72, a second gripper 73, a first connecting rod 74, a second connecting rod 75, a sliding rod 76, a drive rod 77, and a reset member 78.

[0080] The fixing component 71 is an L-shaped metal plate, which is fixed to the magnetic levitation mover by bolts and moves synchronously with the mover.

[0081] The first gripper 72 and the second gripper 73 are symmetrically arranged above the fixing member 71. Their middle parts are rotatably connected to the upper end face of the fixing member 71 via a vertically arranged rotating shaft. A bearing is provided between the rotating shaft and the fixing member 71 to reduce rotational friction. The front ends of the first gripper 72 and the second gripper 73 are bent relative to each other to form an arc-shaped clamping cavity. The inner wall of the clamping cavity is provided with anti-slip texture to adapt to the shape of the powder liquid double chamber bag 6-mouth tube 61 and improve clamping stability. The first connecting rod 74 and the second connecting rod 75 are integrally formed by the rear ends of the first gripper 72 and the second gripper 73, respectively. They are arranged crosswise. The relative movement of the first connecting rod 74 and the second connecting rod 75 can drive the first gripper 72 and the second gripper 73 to rotate synchronously around the rotating shaft, thereby opening or closing the clamping cavity.

[0082] The slide rod 76 is a vertically arranged cylindrical metal rod. The first connecting rod 74 and the second connecting rod 75 are both provided with sliding holes that are adapted to the slide rod 76 in the axial direction. The slide rod 76 passes through the two sliding holes and guides the first connecting rod 74 and the second connecting rod 75 to swing relative to each other by moving along a preset direction.

[0083] The drive rod 77 is movably connected to the fixing member 71 in the horizontal direction. The fixing member 71 has a guide hole, and the drive rod 77 passes through the guide hole. One end of the drive rod 77 is fixedly connected to the middle of the slide rod 76, and the other end extends out of the fixing member 71 and forms a limiting abutment part 781, which is used to cooperate with the reset member 78 and the upper bag opening clamp assembly 22.

[0084] The reset member 78 is preferably a spring, which is sleeved on the outside of the drive rod 77. One end of the spring abuts against the fixing member 71, and the other end abuts against the limiting abutment part 781 of the drive rod 77. Under normal conditions, the preload of the spring pushes the drive rod 77 away from the fixing member 71, thereby driving the slide rod 76 to move, so that the first connecting rod 74 and the second connecting rod 75 swing relative to each other and drive the first gripper 72 and the second gripper 73 to remain in a closed state.

[0085] As an optional implementation, the clamp 7 includes a fixing member 71, a first clamping jaw 72, a second clamping jaw 73, and a gear transmission assembly. The fixing member 71 is fixed to the moving part. The first clamping jaw 72 and the second clamping jaw 73 are symmetrically hinged to the fixing member 71, and their hinge axes are arranged in parallel. The opposite sides of the first clamping jaw 72 and the second clamping jaw 73 are respectively provided with meshing spur gears to form a gear transmission assembly. The front ends of the first clamping jaw 72 and the second clamping jaw 73 form an arc-shaped clamping cavity. One of the clamping jaws is driven to rotate around the hinge axis by an external drive structure, and the other clamping jaw is driven to move synchronously in the opposite direction through the gear transmission assembly, thereby realizing the opening or closing of the clamping cavity.

[0086] Furthermore, referring to Figure 7 and Figure 8 The bag-loading mechanism includes a robot bag-loading component 21 and a bag-loading clamping component 22. The two work together to grasp and load the powder-liquid dual-chamber bag 6. The robot bag-loading component 21 is responsible for transferring the powder-liquid dual-chamber bag 6, and the bag-loading clamping component 22 is used to drive the clamp 7 to open to receive the medicine bag.

[0087] The robot bag-loading assembly 21 includes a robotic arm and multiple gripping and loading units 211 (5 in the figure). The robotic arm is a multi-degree-of-freedom industrial robotic arm, including but not limited to four-axis and six-axis robotic arms. Its fixed end is connected to the ground or frame, and its free end is fixedly connected to the gripping and loading unit 211. The gripping and loading unit 211 includes a first gripper 2111 and a first suction cup 2112. The first gripper 2111 is fixed to the free end of the robotic arm through a connecting frame and is used to grip the second-stage positioning step of the mouth tube 61 of the powder-liquid double-chamber bag 6. The inner side of its gripper is provided with an arc-shaped groove 3221 that is adapted to the first-stage positioning step 611 of the mouth tube 61 to improve the gripping and positioning accuracy. The first suction cup 2112 is fixed below the first gripper 2111 by an adjustable-length support rod and is arranged vertically at intervals with the first gripper 2111. Its adsorption surface is set towards the bag body of the powder-liquid double-chamber bag 6 to fix the bag body by negative pressure adsorption and to prevent the medicine bag from shaking during the transfer process.

[0088] Reference Figures 9-11 The upper bag opening clamping assembly 22 includes a first cylinder 221 and a second cylinder 222. The cylinder bodies of both are fixed to the outer frame by a bracket, and their positions are fixed relative to the stator. The piston rod of the first cylinder 221 is horizontally arranged, and its end corresponds to the aforementioned limiting abutment part 781. During operation, the piston rod of the first cylinder 221 extends and abuts against the drive rod 77 and pushes it to move, thereby driving the slide rod 76 to move, so that the first gripper 72 and the second gripper 73 open. The piston rod of the second cylinder 222 is horizontally arranged, and its end is provided with a plate-shaped limiting member 2221. When the first cylinder 221 drives the clamp 7 to open, the plate-shaped limiting member 2221 abuts against the fixing member 71 of the clamp 7, and supports the fixing member 71 from the opposite direction of the piston rod of the first cylinder 221, so as to avoid the clamp 7 from being deviated by force and improve the stability of feeding.

[0089] Furthermore, referring to Figure 1 The bag sorting mechanism includes a bag blocking assembly 31, a capping assembly 32, and a bag sorting assembly 33, which are arranged sequentially along the conveying direction to respectively realize the conveying limit of the powder and liquid double chamber bag 6, the sorting of the nozzle 61, and the sorting of the bag body.

[0090] Furthermore, the bag-blocking assembly 31 is disposed on the stator and located outside the conveying path between the upper bag mechanism and the lower bag mechanism, for limiting the lateral displacement of the powder-liquid dual-chamber bag 6 during the conveying process, including a straight bag-blocking component 311 and a curved bag-blocking component 312.

[0091] Reference Figure 12 The straight-line baffle 311 is specifically a long strip baffle made of rigid plastic or stainless steel. It is fixed to the side of the straight section of the stator by brackets and bolts, and extends along the conveying direction. Its surface facing the powder-liquid double-chamber bag 6 is smooth, for clearance fitting with the outer side of the bag body of the powder-liquid double-chamber bag 6; (Refer to...) Figure 13The curved section bag stop 312 specifically consists of multiple evenly spaced rollers. The rollers are rotatably mounted on an arc-shaped bracket via a vertical rotating shaft. The arc-shaped bracket is fixed to the side of the curved section of the stator. The multiple rollers extend along the arc of the curved section. The axis of the rollers is perpendicular to the conveying direction and can rotate freely. When the powder-liquid double-chamber bag 6 passes through the curved section, the rollers roll into contact with the outer side of the bag body to avoid centrifugal force causing the bag body to shift or wear.

[0092] Reference Figure 14 The capping assembly 32 is mounted on the stator and is used to position and arrange the nozzle 61 of the powder-liquid dual-chamber bag 6. The capping assembly 32 includes a capping cylinder 321 and a nozzle pressing block 322. The cylinder body of the capping cylinder 321 is fixed on the stator by a bracket and its position is fixed relative to the stator. Its piston rod is vertically arranged. The nozzle pressing block 322 is detachably connected to the lower end of the piston rod of the capping cylinder 321 by bolts to facilitate the replacement of pressing blocks that are compatible with nozzles 61 of different specifications. The nozzle pressing block 322 is a horizontally arranged rectangular block. Its lower end face has a groove 3221 that is compatible with the nozzle 61 of the powder-liquid dual-chamber bag 6. The inner wall of the groove 3221 is provided with a flexible pad, including but not limited to silicone pads and rubber pads, to avoid damaging the nozzle 61. During operation, the capping cylinder 321 drives the nozzle pressing block 322 to move down, the groove 3221 and the nozzle 61 are in contact and a preset pressure is applied, thereby calibrating the position of the nozzle 61 on the fixture 7.

[0093] Reference Figure 15 The bag sorting assembly 33 is mounted on the stator, located downstream of the capping assembly 32 and below the bag lowering mechanism, and is used to sort and position the bag body of the powder-liquid double chamber bag 6. The bag sorting assembly 33 includes a third cylinder 331, a support member, a second air gripper 333, an electric cylinder 334, a guide rail 335, and a position sensor 336.

[0094] The cylinder body of the third cylinder 331 is fixed to the stator by a bracket, and its position is fixed relative to the stator. Its piston rod is vertically arranged. The support member is a horizontally arranged rectangular plate, which is fixedly connected to the upper end of the piston rod of the third cylinder 331 so as to move up and down with the piston rod. The guide rail 335 is a linear guide rail 335 (two are shown in the figure), which is fixed parallel to the upper end face of the support member. The second pneumatic gripper 333 is slidably connected to the guide rail 335 by a slider so as to move horizontally along the guide rail 335. Its gripper has a flexible anti-slip pad on the inner side for gripping the bag body of the powder-liquid double chamber bag 6. The electric cylinder 334 is fixed to the support member 33. The upper end of 2 is fixedly connected to the slider of the second pneumatic gripper 333 via a coupling to drive the second pneumatic gripper 333 to move along the guide rail 335; the position sensor 336 is a pair of photoelectric sensors, including but not limited to diffuse reflection sensors and through-beam sensors. The position sensor 336 is fixed to the outside of the stator via a sensor fixing plate 337, and its detection end faces the edge area of ​​the powder chamber 63 of the powder-liquid double chamber bag 6. The position sensor 336 is electrically connected to the electric cylinder 334 to detect the position of the bag and feed back a signal to control the electric cylinder 334 to work, thereby realizing the sorting and positioning of the bag.

[0095] Furthermore, the bag-unloading mechanism is located downstream of the bag-sorting mechanism, and includes a robot bag-unloading assembly 41 and a bag-unloading clamping assembly 42; the robot bag-unloading assembly 41 includes a robotic arm and a gripping and unloading unit, as shown in the reference. Figure 17 The gripping and unloading unit includes a third gripper 411, a second suction cup 412, a third suction cup 413, and a positioning pin 414, which are used to fix the mouth tube 61, liquid chamber 62, powder chamber 63, and positioning hole 64 of the powder-liquid double-chamber bag 6, respectively. The structure of the lower bag opening clamping assembly 42 is the same as that of the upper bag opening clamping assembly 22, including a fourth cylinder and a fifth cylinder. The fourth cylinder is used to drive the clamp 7 to open, and the fifth cylinder is used to support the fixing member 71. Together with the robot lower bag assembly 41, the powder-liquid double-chamber bag 6 after being bagged is removed from the clamp 7 and transferred to the designated station of the powder dispensing machine.

[0096] Furthermore, referring to Figure 1The waste removal mechanism 5 is located downstream of the bag lowering mechanism and on the circulation path of the conveying mechanism 1. It is used to remove residual powder and liquid double-chamber bags 6 that have not been transferred by the bag lowering mechanism. It includes an opening clamping device and a detection sensor. The structure of the opening clamping device is the same as that of the first cylinder 221 in the upper bag opening clamping assembly 22. Its cylinder body is fixed on the external frame, and the piston rod cooperates with the drive rod 77 of the clamp 7 to drive the clamp 7 to open. The detection sensor is a diffuse reflection photoelectric sensor, which is fixed to one side of the opening clamping device by a bracket. Its detection end faces the clamping area of ​​the clamp 7 and is used to detect whether there are residual powder and liquid double-chamber bags 6 on the clamp 7. The detection sensor is electrically connected to the opening clamping device. When a residual bag is detected, the opening clamping device is controlled to open the clamp 7. The residual bag is removed from the clamp 7 under its own gravity. Optionally, the waste removal mechanism 5 has a pushing cylinder to apply an auxiliary pushing force to ensure that the residual bag is completely removed.

[0097] In a second aspect of the invention, a bag-sorting method according to the aforementioned powder-liquid dual-chamber bag sorting machine is also provided, comprising the following steps:

[0098] S1. The mover of the conveying mechanism 1 drives the clamp 7 to move to the corresponding position of the bag-up mechanism and pauses. The bag-up mechanism starts. The robotic arm of the robot bag-up assembly 21 drives the gripping and feeding unit 211 to move above the conveying assembly. The first pneumatic gripper 2111 clamps the first positioning step 611 of the powder-liquid double-chamber bag 6-mouth tube 61. The first suction cup 2112 adsorbs the bag body to achieve the fixation of the medicine bag.

[0099] After the robot bagging assembly 21 moves the powder-liquid dual-chamber bag 6 to the designated workstation (i.e., the workstation corresponding to the clamp 7), the piston rod of the first cylinder 221 of the bag opening assembly 22 extends, and the push block at its end abuts against the drive rod 77 of the clamp 7 and pushes it to move. The drive rod 77 drives the slide rod 76 to move, and the slide rod 76 guides the first connecting rod 74 and the second connecting rod 75 to swing relative to each other, thereby driving the first gripper 72 and the second gripper 73 to open. At the same time, the piston rod of the second cylinder 222 abuts against the fixing member 71 supporting the clamp 7 through the limiting member 2221.

[0100] The robotic arm moves the powder-liquid dual-chamber bag 6 into the arc-shaped clamping cavity of the clamp 7. Then, the first cylinder 221 of the upper bag opening clamping assembly 22 is reset, and the reset component 78 of the clamp 7 pushes the drive rod 77 and the slide rod 76 to reset. The first gripper 72 and the second gripper 73 close, clamping the mouth tube 61 of the powder-liquid dual-chamber bag 6, so that the medicine bag maintains a vertical preset posture with the liquid chamber 62 on top and the powder chamber 63 on the bottom.

[0101] S2. After the bag is loaded, the conveying mechanism 1 is started. The magnetic levitation mover drives the clamp 7 and the powder-liquid double chamber bag 6 to move at a constant speed along the annular magnetic levitation guide rail 335. During the movement, the clamp 7 remains in a clamping state. The medicine bag passes through the areas where the bag blocking assembly 31, the capping assembly 32 and the bag sorting assembly 33 are located in sequence. Each mechanism operates in sequence according to the preset program.

[0102] The medicine bag first enters the working area of ​​the bag-blocking assembly 31. The straight section of the baffle bar is in clearance fit with the outer side of the medicine bag liquid cavity 62 to limit the lateral displacement of the medicine bag. The curved section of the roller makes rolling contact with the outer side of the medicine bag liquid cavity 62 to avoid displacement caused by the centrifugal force of the medicine bag.

[0103] When the medicine bag enters the working area of ​​the capping assembly 32, the capping cylinder 321 of the capping assembly 32 drives the mouth tube pressing block 322 to move down. The groove 3221 of the mouth tube pressing block 322 fits with the mouth tube 61 of the medicine bag and applies a preset pressure to adjust and calibrate the position of the mouth tube 61.

[0104] When the medicine bag enters the working area of ​​the bag sorting assembly 33, the third cylinder 331 of the bag sorting assembly 33 drives the support member 332 to move upward, the second gripper member 333 clamps the powder cavity 63 of the medicine bag, the electric cylinder 334 drives the second gripper member 333 to move horizontally along the guide rail 335, the position sensor 336 detects the edge position of the powder cavity 63 and feeds back a signal, the electric cylinder 334 stops driving to complete the positioning of the bag body, and makes the medicine bag form a state in which both the mouth tube 61 and the bag body are positioned.

[0105] S3. The conveying mechanism 1 conveys the medicine bag behind the manager bag to the corresponding position of the lower bag mechanism and pauses. The lower bag mechanism starts, the piston rod of the fourth cylinder of the lower bag opening clamping assembly 42 extends, and drives the first clamping jaw 72 and the second clamping jaw 73 of the clamping fixture 7 to open.

[0106] The robotic arm of the robot bag-feeding assembly 41 moves the gripping and feeding unit to the medicine bag. The third gripper 411 clamps the medicine bag opening tube 61, the second suction cup 412 adsorbs the liquid chamber 62, the third suction cup 413 adsorbs the powder chamber 63, and the positioning pin 414 is inserted into the positioning hole 64 of the bag body. Then the robotic arm drives the medicine bag to detach from the clamp 7 and transfer it to the designated station of the powder dispensing machine.

[0107] S4. After the bag is unloaded, the conveying mechanism 1 drives the clamp 7 to move to the position corresponding to the waste removal mechanism 5. The detection sensor detects whether there are residual medicine bags in the clamping area of ​​the clamp 7. If residue is detected, the cylinder piston rod of the clamping device extends and drives the clamp 7 to open. The residual medicine bags are removed from the clamp 7 under their own weight or the auxiliary pushing force of the pushing cylinder.

[0108] If no residue is detected, the clamp 7 continues to move along the stator in a cycle, returning to the corresponding position of the bag-up mechanism, and enters the next bag-sorting cycle to achieve continuous operation.

[0109] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0110] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A powder-liquid dual-chamber bagging machine, characterized in that, include: The conveying mechanism includes a stator, a mover, and a clamp disposed on the mover to hold the powder-liquid double-chamber bag mouth tube, the clamp being capable of cyclically moving with the mover on the stator; A bag-loading mechanism is located on one side of the conveying mechanism to transfer the powder-liquid dual-chamber bag onto the clamp; A bag-sorting mechanism is located downstream of the upper bag-sorting mechanism to sort the mouth tubes and powder cavity positioning holes of the powder-liquid dual-chamber bag on the clamp. The bag-dropping mechanism is located downstream of the bag-sorting mechanism to transfer the powder-liquid dual-chamber bags sorted by the bag-sorting mechanism to the powder dispensing machine. A waste removal mechanism, located downstream of the bag-dropping mechanism, removes powder-liquid dual-chamber bags that have not been transferred by the bag-dropping mechanism from the clamp.

2. The powder-liquid dual-chamber bag sorting machine according to claim 1, characterized in that, The clamp includes: A fixing element is fixed to the movable element so as to move with the movable element; The first and second grippers are symmetrically arranged on the fixing member and rotatably connected to the fixing member. The front ends of the first and second grippers form an arc-shaped clamping cavity adapted to the powder liquid double-chamber bag mouth tube. The rear ends of the first gripper and the second gripper respectively extend to form a first link and a second link. The first link and the second link are arranged crosswise, and the relative movement of the first link and the second link drives the opening or closing of the first gripper and the second gripper.

3. The powder-liquid dual-chamber bagging machine according to claim 2, characterized in that, The clamp also includes: The slide rod has sliding holes in both the first and second connecting rods along their axial directions. The slide rod passes through the sliding holes and guides the relative movement of the first and second connecting rods by its own movement. A drive rod is movably connected to the fixing member in a preset direction, and the drive rod is connected to the slide rod to drive the slide rod to move in the preset direction; A reset component is disposed on the fixing component and connected to the drive rod, so as to act on the first connecting rod and the second connecting rod through the drive rod and the slide rod, and keep the first gripper and the second gripper in a normally closed state.

4. The powder-liquid dual-chamber bag sorting machine according to claim 1, characterized in that, The conveying mechanism is a magnetic levitation conveying mechanism, the stator is a magnetic levitation guide rail arranged in a ring, and the mover is a plurality of magnetic levitation movers adapted to the magnetic levitation guide rail; The clamps are multiple and are correspondingly disposed on several of the magnetically levitated actuators.

5. The powder-liquid dual-chamber bag sorting machine according to claim 3, characterized in that, The bag-loading mechanism includes a robot bag-loading assembly and a bag-opening clamping assembly; The robot bag-loading assembly includes a robotic arm and multiple gripping and feeding units mounted on the robotic arm. Each gripping and feeding unit includes a first gripper and a first suction cup to respectively fix the mouth tube and bag body of the powder-liquid dual-chamber bag. The upper bag opening and clamping assembly includes a first cylinder and a second cylinder, and the cylinder bodies of the first cylinder and the second cylinder are fixed relative to the stator. The piston rod of the first cylinder abuts against the drive rod and moves the drive rod in a preset direction to open the first gripper and the second gripper. The piston rod of the second cylinder is provided with a limiting member, which cooperates with the fixing member to support the fixing member from the opposite direction of the preset direction.

6. The powder-liquid dual-chamber bagging machine according to claim 4, characterized in that, The bag handling mechanism includes a bag blocking assembly, a capping assembly, and a bag handling assembly; The bag-blocking assembly is disposed on the stator and located outside the conveying path between the upper bag mechanism and the lower bag mechanism; The capping assembly is disposed on the stator to press against the opening of the powder-liquid double-chamber bag; The bag sorting assembly is disposed on the stator and located downstream of the capping assembly to sort and position the bag body of the powder-liquid dual-chamber bag.

7. The powder-liquid dual-chamber bagging machine according to claim 6, characterized in that, The bag-blocking assembly includes a straight bag-blocking component and a curved bag-blocking component; The straight-line bag-blocking component is specifically a baffle strip, which extends and is fixed along the side of the straight section of the conveying mechanism to cooperate with the outer side of the powder-liquid double-chamber bag. The curved section bag-blocking component specifically comprises multiple rollers evenly spaced apart. These rollers extend arc-shaped along the curved side of the conveying mechanism, with their axes perpendicular to the conveying direction, to mate with the outer side of the powder-liquid dual-chamber bag.

8. The powder-liquid dual-chamber bag sorting machine according to claim 6, characterized in that, The capping assembly includes a capping cylinder and a port tube pressing block; The cylinder body of the capping cylinder is fixed relative to the stator, and the inlet tube pressing block is connected to the piston rod of the capping cylinder; The nozzle pressing block is specifically a horizontally arranged rectangular block, with a groove on its lower end face that is adapted to the nozzle of the powder-liquid dual-chamber bag.

9. The powder-liquid dual-chamber bag sorting machine according to claim 6, characterized in that, The bag-sorting assembly includes a third cylinder, a support member, a second gripper, an electric cylinder, and a position sensor; The cylinder body of the third cylinder is fixed relative to the stator, and the support member is fixedly connected to the piston rod of the third cylinder. The support member is provided with a guide rail, and the second pneumatic gripper is slidably connected to the support member through the guide rail; The electric cylinder is connected to the support member and the second pneumatic gripper to drive the second pneumatic gripper to slide; The position sensor is fixed relative to the stator and is electrically connected to the electric cylinder.

10. A bag-sorting method for a powder-liquid dual-chamber bag sorting machine according to any one of claims 1-9, comprising the following steps: The bag-loading mechanism is activated to grab the powder-liquid dual-chamber bag and transfer it to the clamp of the conveying mechanism. The clamp closes to hold the mouth tube of the powder-liquid dual-chamber bag, keeping the powder-liquid dual-chamber bag in a preset posture. The moving part of the conveying mechanism drives the clamp holding the powder and liquid double chamber bag to move cyclically, conveying the powder and liquid double chamber bag from the position of the bag-up mechanism to the position of the bag-sorting mechanism; The bag sorting mechanism first sorts and positions the opening tube of the powder-liquid double-chamber bag on the clamp, and then sorts and positions the bag body of the powder-liquid double-chamber bag. The conveying mechanism transports the powder-liquid double-chamber bag after the bagging process to the location of the bag-dropping mechanism. The bag-dropping mechanism is activated to remove the powder-liquid double-chamber bag from the clamp and transfer it. The conveying mechanism moves the clamp after the bag-unloading operation to the location of the waste-removing mechanism. The waste-removing mechanism detects whether there are any untransferred powder-liquid double-chamber bags remaining on the clamp. If so, it removes them from the clamp. Then, the clamp continues to move with the follower and returns to the location of the bag-up mechanism.

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