Material grabbing device for needle cylinder canning

Abstract

The grabbing device comprises a mechanical arm, a bearing plate is arranged at the tail end of the mechanical arm, a double-end air cylinder is arranged at the lower end of the bearing plate, and a pair of clamping jaws used for grabbing the needle cylinders are arranged at the two ends of a piston rod of the double-end air cylinder respectively. The double-end air cylinder can drive the pair of clamping jaws to move face to face or back to back so that the needle cylinder can be grabbed or released. A blocking piece used for blocking an opening in the upper end of the needle cylinder is arranged below the double-end air cylinder, and the blocking piece is of a hemispherical structure and is connected with the bearing plate through an elastic assembly. The elastic assembly comprises at least two springs, one ends of the springs abut against the bearing plate, the other ends of the springs abut against the plugging installation plate, the plugging installation plate can move up and down relative to the bearing plate, the plugging piece is arranged on the plugging installation plate, and the springs are used for providing elastic buffering when the plugging piece plugs the opening in the upper end of the needle cylinder. The needle cylinder can be grabbed and carried at multiple angles through the mechanical arm, the upper opening of the needle cylinder is blocked through the blocking piece, and exposure of glue liquid in the needle cylinder in the carrying process is avoided.

Description

TECHNICAL FIELD

[0001] The utility model belongs to fluid partial filling glue technology field relates to a kind of for needle cylinder filling grabbing device. BACKGROUND

[0002] In the laboratory scientific research and product development field, many experiments and product development scenarios require extremely accurate dosage of reagents, glue solution and other uses, and small-dose filling demand is increasingly prominent. Quantitative needle cylinder filling can precisely meet this demand and ensure the reliability of experimental results and the stability of product quality.

[0003] In the existing needle cylinder filling production process, the internal glue solution of the needle cylinder after filling volatilizes and disperses, which has a bad influence on the environmental quality of the production workshop. The existing grabbing device lacks effective protection mechanism and cannot seal or isolate the needle cylinder after filling. Long-term exposure of the glue solution will also affect its own product performance. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of for needle cylinder filling grabbing device, and the problem raised in background art is solved by structural improvement.

[0005] The utility model aims at the following technical scheme:

[0006] A kind of for needle cylinder filling grabbing device, including mechanical arm, the end of the mechanical arm is provided with bearing plate, the lower end of the bearing plate is provided with double-head cylinder, the piston rod both ends of the double-head cylinder are provided with a pair of clamping jaw for grabbing needle cylinder, the double-head cylinder can drive the pair of clamping jaw to move towards or away to realize the grabbing or release of needle cylinder;

[0007] The double-head cylinder is provided with a plugging element for plugging the upper end opening of needle cylinder below, the plugging element is semispherical structure and is connected with bearing plate by elastic component;The elastic component includes at least two springs, the two ends of the spring are respectively abutted to bearing plate and plugging mounting plate, the plugging mounting plate can move up and down relative to bearing plate, the plugging element is arranged on the plugging mounting plate, and the spring is used to provide elastic buffer when plugging element plugs the upper end opening of needle cylinder.

[0008] As a further improvement of an embodiment of the utility model, wherein the elastic component includes a pair of guide sleeves arranged on the bearing plate, a guide column is arranged in each guide sleeve, the lower end of the guide column is fixed on the plugging mounting plate, and the spring sleeve is arranged on the guide column.

[0009] As a further improvement of an embodiment of the utility model, wherein the upper end of the guide column is fixed on the support plate.

[0010] As further improvement of one embodiment of the utility model, the connecting structure of the support plate and the guide column is consistent with the connecting structure of the plugging installation plate and the guide column, the plugging installation plate is provided with a guide column hole for the guide column to pass through, the plugging installation plate on one side of the guide column hole has an elastic installation part, and the elastic installation part can be locked by a bolt to realize the fixed connection of the guide column and the plugging installation plate.

[0011] As further improvement of one embodiment of the utility model, the plugging installation plate is provided with an L-shaped gap, one end of the gap is communicated with the guide column hole, the other end is communicated with the outside of the plugging installation plate, and the gap divides the elastic installation part on the plugging installation plate.

[0012] As further improvement of one embodiment of the utility model, the two sides of the bearing plate have outward protruding convex parts, and the guide sleeve is arranged on the convex parts.

[0013] As further improvement of one embodiment of the utility model, the plugging piece is arranged on the plugging installation plate through a connecting piece, the plugging piece is centrally provided with a vertical air hole, the connecting piece is provided with a first channel communicated with the air hole, the plugging installation plate is provided with a second channel, one end of the second channel is communicated with the first channel, the other end is provided with an air pipe joint, and the air pipe joint is connected with an external nitrogen source through a pipeline.

[0014] As further improvement of one embodiment of the utility model, the bearing sleeve is fixedly connected with a driving shaft on the mechanical arm.

[0015] The above technical scheme has the following beneficial effects: the mechanical arm is used to realize multi-angle grabbing and carrying of the needle cylinder, the plugging piece is used to plug the upper opening of the needle cylinder, the exposure of the glue liquid in the carrying process is avoided, and the quality stability of the glue liquid is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings needed in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only exemplary, and for those skilled in the art, other implementation drawings can be obtained from the provided drawings without creative labor.

[0017] The structures, proportions, sizes, etc. shown in the specification are only used to cooperate with the content disclosed in the specification, to be understood and read by those skilled in the art, and do not define the limiting conditions for the implementation of the utility model, so they do not have substantial technical significance. Any modification of structure, change of proportion relationship or adjustment of size, which does not affect the functions and purposes that can be achieved by the utility model, should still fall within the scope of the technical content disclosed by the utility model.

[0018] Figure 1 The structure schematic diagram provided by the utility model.

[0019] Figure 2 The bearing plate and the upper part structure schematic diagram thereof provided by the utility model.

[0020] Figure 3 The plugging installation plate and the upper part structure schematic diagram thereof provided by the utility model.

[0021] Figure 4 The combination structure schematic diagram of the adapter and the plugging piece provided by the utility model.

[0022] Figure 5 The Figure 4 The cross-sectional schematic diagram along the direction A-A.

[0023] In the figure:

[0024] 1, mechanical arm;

[0025] 2, bearing plate;

[0026] 3, double-head cylinder;

[0027] 4, clamping jaw;

[0028] 5, needle cylinder;

[0029] 6, plugging piece; 61, air hole;

[0030] 7, spring;

[0031] 8, plugging installation plate; 81, guide column hole; 82, gap; 83, elastic installation part; 84, bolt installation hole;

[0032] 9, guide sleeve;

[0033] 10, guide column;

[0034] 11, support plate;

[0035] 12, bearing sleeve;

[0036] 13, adapter; 131, first channel;

[0037] 14, air pipe joint. Detailed Implementation

[0038] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0039] It should be noted that, unless otherwise specified, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0040] In this utility model, unless otherwise stated, directional terms such as "upper," "lower," "top," and "bottom" are generally used in relation to the direction shown in the accompanying drawings, or in relation to the vertical, perpendicular, or gravitational direction of the component itself; similarly, for ease of understanding and description, "inner" and "outer" refer to the inner and outer contours of each component itself, but the above directional terms are not used to limit this utility model. Example

[0041] See Figures 1-5 As shown, a gripping device for syringe filling is designed to efficiently and accurately complete the gripping, transfer, and sealing operations of syringes to meet the automation requirements of syringe filling production lines.

[0042] The material handling device uses a robotic arm 1 as its core driving component. The robotic arm 1 has multi-degree-of-freedom motion capabilities, allowing for flexible adjustment of its end-effector position and posture to precisely position it at the location of the syringe. A support plate 2 is fixedly connected to the end of the robotic arm 1, serving as the mounting base for all actuators and providing stable support for subsequent components.

[0043] A double-headed cylinder 3 is installed at the lower end of the support plate 2. Each end of the piston rod of the double-headed cylinder 3 is connected to a pair of grippers 4. These grippers 4 have a symmetrical design, and their gripping surfaces can be optimized according to the shape of the syringe 5. For example, anti-slip textures can be added or flexible materials can be used to enhance gripping stability and prevent the syringe from slipping during gripping. The double-headed cylinder 3 drives the piston rod to extend and retract via air pressure, thereby driving the pair of grippers 4 to move towards or away from each other. When the piston rod retracts, the grippers 4 move away from each other to grip the syringe 5; when the piston rod extends, the grippers 4 move towards each other to release the syringe 5.

[0044] To meet the plugging demand of the upper end opening of the needle cylinder in the needle cylinder filling process, a plugging piece 6 is arranged below the double-head cylinder 3. The plugging piece 6 adopts a semi-spherical structure which is matched with the shape of the upper end opening of the needle cylinder 5 and can be tightly fitted to effectively prevent liquid leakage in the filling process. The plugging piece 6 is connected with the bearing plate 2 through an elastic assembly which is composed of at least two springs 7. One end of the spring 7 abuts against the bearing plate 2 and the other end abuts against a plugging mounting plate 8 which can move up and down relative to the bearing plate 2, and the plugging piece 6 is arranged on the plugging mounting plate 8. When the plugging piece 6 moves downward to plug the upper end opening of the needle cylinder 5, the spring 7 is compressed to provide elastic buffering, avoiding damage to the needle cylinder 5 or the plugging piece 6 due to hard contact, and ensuring the tightness of plugging.

[0045] To ensure the stability of the plugging piece 6 during movement, the elastic assembly is further provided with a pair of guide sleeves 9. The guide sleeves 9 are fixedly installed on the bearing plate 2, and a guide column 10 is arranged in each guide sleeve 9. The lower end of the guide column 10 is fixed on the plugging mounting plate 8, and the spring 7 is sleeved on the guide column 10. This structure makes the guide column 10 smoothly slide in the guide sleeve 9 during the up and down movement of the plugging mounting plate 8, effectively preventing the plugging mounting plate 8 from deviating or shaking, and ensuring that the plugging piece 6 can accurately and stably plug the upper end opening of the needle cylinder 5.

[0046] Preferably, the upper end of the guide column 10 is fixed on a support plate 11 to ensure stable operation of the guide column 10. The bearing plate 2 is provided with a protruding portion outwardly protruding from both sides, which is integrally formed with the main structure of the bearing plate 2 through an integrated forming process to ensure the structural integrity. The guide sleeve 9 is embedded in the mounting hole of the protruding portion through interference fit.

[0047] In this embodiment, the bearing sleeve 12 is integrally formed on the bearing plate 2 or is arranged on the bearing plate 2 by welding or screw fastening, and the inner diameter of the bearing sleeve 12 is matched with the outer diameter of the drive shaft of the mechanical arm 1. The inner wall of the bearing sleeve 12 can be provided with an annular clamping groove, and the drive shaft of the mechanical arm 1 is connected with the bearing sleeve 12 through key connection to transmit torque and realize fixed connection between the two.

[0048] In this embodiment, the connection structure of the support plate 11 and the guide column 10 is consistent with the connection structure of the plugging mounting plate 8 and the guide column 10, which can unify the specifications of the parts and reduce the machining cost and assembly difficulty.

[0049] Taking the connection structure of the plugging mounting plate 8 and the guide column 10 as an example, the connection structure of the support plate 11 and the guide column 10 is combined with the connection structure of the plugging mounting plate 8 and the guide column 10. Figure 3As shown, the plugging mounting plate 8 is provided with a guide column hole 81 through which the guide column 10 passes, the hole diameter of the guide column hole 81 is tightly matched with the outer diameter of the guide column 10, so that the guide column 10 can smoothly pass through without excessive wobble clearance. The plugging mounting plate 8 on one side of the guide column hole 81 is formed with an "L" shaped gap 82 by machining. One end of the gap 82 is communicated with the guide column hole 81, and the other end extends to the outside of the plugging mounting plate 8, so as to separate a local area of the plugging mounting plate 8 into an elastic mounting part 83. The elastic mounting part 83 has a certain elastic deformation capacity, and when the guide column 10 is installed, it can be moderately pried outward to make the guide column 10 smoothly pass through the guide column hole 81. The elastic mounting part 83 is provided with a bolt mounting hole 84, and the bolt passing through the bolt mounting hole 84 can lock the elastic mounting part 83 to realize the fixed connection of the guide column 10 and the plugging mounting plate 8.

[0050] In the embodiment, the plugging piece 6 is stably arranged on the plugging mounting plate 8 through the connecting piece 13. The connecting piece 13 can be made of a metal material with certain strength and corrosion resistance, such as stainless steel, and the shape thereof can be designed as a disc or a cylinder, and the connecting piece 13 is fixedly assembled with the plugging piece 6 and the plugging mounting plate 8 through snap fit or the like.

[0051] The plugging piece 6 is provided with a vertical air hole 61 at the central position, and the diameter of the air hole 61 can be designed according to the nitrogen conveying flow demand, and is generally controlled within the range of 2-5 mm. The connecting piece 13 is correspondingly provided with a first channel 131 communicated with the air hole 61, and the running direction and inner diameter of the first channel 131 are matched with the air hole 61, so as to ensure smooth gas flow.

[0052] The plugging mounting plate 8 is provided with a second channel, one end of the second channel is communicated with the first channel 131, and the other end is provided with a gas pipe joint 14. The gas pipe joint 14 is a standard pneumatic element, which is fixed on the plugging mounting plate 8 through threaded connection or quick plug. The gas pipe joint 14 is connected with an external nitrogen source through a pipeline, and the nitrogen source can be a nitrogen tank or a nitrogen generating device. When the device operates, the nitrogen passes through the nitrogen source, the pipeline, the gas pipe joint 14, the second channel, the first channel 131 and the air hole 61 in sequence, and is conveyed into the needle cylinder, so as to provide the required nitrogen environment for the filling operation and ensure the product quality.

[0053] The utility model relies on the mechanical arm 1 with the multi-degree-of-freedom motion characteristics, can realize multi-angle grabbing and carrying the needle cylinder 5, and uses the plugging piece 6 to complete the upper opening plugging of the needle cylinder 5, effectively avoids that the glue liquid in the needle cylinder 5 is exposed in the carrying process.

[0054] In use, when the mechanical arm 1 grabs the needle cylinder 5, the blocking piece 6 immediately functions. Under the joint action of the elasticity 7 and the guide column 10, the blocking piece 6 is accurately pressed down to the upper opening of the needle cylinder 5. The hemispherical blocking piece 6 is tightly attached to the upper opening of the needle cylinder 5, forming a reliable sealing structure. At this time, a relatively closed space is formed in the needle cylinder 5, effectively isolating the external environment, avoiding contact between the glue solution and the air, preventing problems such as oxidation, volatilization, pollution, etc. of the glue solution due to exposure, and ensuring stable glue solution quality.

[0055] Obviously, the above-described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the present application.

[0056] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0057] It should be noted that the terms "first", "second", and the like, used in the specification and the claims of the present application, as well as the above-described drawings, are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0058] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A feeding device for syringe filling, characterized in that: The device includes a robotic arm (1), with a support plate (2) at the end of the robotic arm (1). A double-headed cylinder (3) is provided at the lower end of the support plate (2). A pair of grippers (4) for gripping a syringe (5) are provided at both ends of the piston rod of the double-headed cylinder (3). The double-headed cylinder (3) can drive the pair of grippers (4) to move towards or away from each other to achieve the gripping or release of the syringe (5). Below the double-headed cylinder (3) is a sealing element (6) for sealing the upper opening of the syringe (5). The sealing element (6) is a hemispherical structure and is connected to the support plate (2) through an elastic component. The elastic component includes at least two springs (7). The two ends of the springs (7) abut against the support plate (2) and the sealing mounting plate (8) respectively. The sealing mounting plate (8) can move up and down relative to the support plate (2). The sealing element (6) is disposed on the sealing mounting plate (8). The springs (7) are used to provide elastic buffer when the sealing element (6) seals the upper opening of the syringe (5).

2. The material handling device according to claim 1, characterized in that: The elastic component includes a pair of guide sleeves (9) disposed on the support plate (2), each of the guide sleeves (9) being provided with a guide post (10), the lower end of the guide post (10) being fixed on the sealing mounting plate (8), and the spring (7) being sleeved on the guide post (10).

3. The material handling device according to claim 2, characterized in that: The upper end of the guide post (10) is fixed on the support plate (11).

4. The material handling device according to claim 3, characterized in that: The connection structure between the support plate (11) and the guide post (10) is the same as the connection structure between the sealing mounting plate (8) and the guide post (10). The sealing mounting plate (8) is provided with a guide post hole for the guide post (10) to pass through. The sealing mounting plate (8) on one side of the guide post hole has an elastic mounting part. The elastic mounting part can be locked by bolts to achieve a fixed connection between the guide post (10) and the sealing mounting plate (8).

5. The material handling device according to claim 4, characterized in that: The sealing mounting plate (8) is provided with an "L" shaped gap. One end of the gap is connected to the guide post hole and the other end is connected to the outside of the sealing mounting plate (8). The gap separates the elastic mounting part on the sealing mounting plate (8).

6. The material handling device according to claim 2, characterized in that: The bearing plate (2) has outward protrusions on both sides, and the guide sleeve (9) is disposed on the protrusions.

7. The material handling device according to claim 1, characterized in that: The sealing component (6) is mounted on the sealing mounting plate (8) via a connector (13); the sealing component (6) has a vertical vent hole in the center, the connector (13) has a first channel communicating with the vent hole, the sealing mounting plate (8) has a second channel, one end of the second channel is connected to the first channel and the other end is connected to a gas pipe connector (14), and the gas pipe connector (14) is connected to an external nitrogen source through a pipeline.

8. The material handling device according to claim 1, characterized in that: The bearing plate (2) is provided with a bearing sleeve (12), which is fixedly connected to the drive shaft on the robotic arm (1).

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