Liquid bag inverting device

Abstract

The application relates to a liquid bag overturning device and relates to the technical field of a dispensing machine. The liquid bag overturning device comprises a liquid bag warehouse used for storing liquid bags; a bag overturning machine comprising a mounting stand and a supporting plate, wherein the mounting stand is vertically arranged, the supporting plate is located above the mounting stand, one end of the supporting plate is rotationally connected with the upper end of the mounting stand along the length direction of the supporting plate, a turnover driving element used for driving the supporting plate to rotate is arranged between the supporting plate and the mounting stand, a clamping assembly used for fixing the liquid bag is arranged on the supporting plate; a lower hopper used for discharging the liquid bag after liquid injection; the supporting plate is located directly above the lower hopper; a liquid bag mechanical arm used for transferring the liquid bag between the liquid bag warehouse and the bag overturning machine; and a base, wherein the liquid bag warehouse, the mounting stand, the lower hopper and the liquid bag mechanical arm are all arranged on the base. The application saves the time occupation of the liquid bag mechanical arm in the liquid injection link and the discharging link, thereby shortening the cycle period of single dispensing operation, and further improving the overall working efficiency of the dispensing machine.

Description

Technical Field

[0001] This application relates to the technical field of dispensing machines, and in particular to a liquid bag flipping device. Background Technology

[0002] As a modern medical device, dispensing machines play a vital role in the drug preparation process. With the increasing demand for automation in medical institutions, dispensing machines are now widely used in hospitals, pharmaceutical factories, and other facilities. They reduce manual labor intensity, improve work efficiency, and minimize the risks caused by human error.

[0003] Currently, existing drug dispensing machine designs typically require multiple robotic arms to work together to complete the dispensing task. The specific working process is generally as follows: First, the bottle robotic arm transfers the required drug bottles (such as ampoules or vials) to the corresponding bottle opener, which opens the bottles. Second, the syringe robotic arm picks up a new syringe, draws the liquid from the drug bottle through the syringe, mixes it, and then temporarily re-draws the mixed liquid back into the syringe. Next, the liquid bag robotic arm picks up the liquid bag, and the syringe robotic arm injects the mixed liquid into the liquid bag. Finally, the liquid bag robotic arm unloads the filled liquid bag.

[0004] Regarding the aforementioned technologies, during the transfer of liquid bags, the liquid bag robot arm needs to handle all the transfer work from loading to unloading. Therefore, in a single operation, the liquid bag robot arm needs to sequentially perform liquid bag gripping and loading, liquid bag posture fixation for liquid injection, and unloading after injection. This operating mode results in the liquid bag robot arm needing to spend a considerable amount of time maintaining the liquid bag posture and unloading during a single operation, leading to a long cycle time for each dispensing operation and thus limiting the overall working efficiency of the dispensing machine. Utility Model Content

[0005] This application provides a liquid bag flipping device, the purpose of which is to save the time occupied by the liquid bag robot in the liquid injection and unloading stages, thereby shortening the cycle of a single drug preparation operation and improving the overall working efficiency of the drug preparation machine.

[0006] The liquid bag tipping device provided in this application adopts the following technical solution: A liquid bag flipping device includes: a liquid bag storage unit for storing liquid bags; a flipping machine including a mounting frame and a tray, wherein the mounting frame is vertically arranged, the tray is located above the mounting frame, one end of the tray along its length is rotatably connected to the upper end of the mounting frame, a flipping drive component for driving the tray to rotate is provided between the tray and the mounting frame, and a clamping component for fixing the liquid bags is provided on the tray; a feeding hopper for discharging the liquid bags after injection; the tray is located directly above the feeding hopper; a liquid bag manipulator for transferring liquid bags between the liquid bag storage unit and the flipping machine; and a base on which the liquid bag storage unit, the mounting frame, the feeding hopper, and the liquid bag manipulator are all mounted.

[0007] By adopting the above technical solution, under the operation of the liquid bag robot, the robot only needs to perform the loading action, that is, grabbing the liquid bag from the liquid bag warehouse and transferring it to the pallet of the bag turning machine. Subsequently, the clamping component fixes the liquid bag, and the flipping drive drives the pallet to flip to the liquid injection posture. At this time, the mouth of the liquid bag is tilted downward, so that the syringe robot can easily insert the syringe into the mouth of the liquid bag and repeatedly draw and mix the liquid. After the liquid injection is completed, the flipping drive drives the pallet to adjust to the unloading posture. At this time, the liquid bag on the pallet changes from being tilted downward to being tilted upward. During this process, the clamping component switches from the clamping state to the releasing state. Since the pallet is in an inclined posture and is located directly above the unloading hopper, the unconstrained liquid bag automatically slides down the surface of the pallet into the unloading hopper below under its own gravity, and is guided out by the unloading hopper, thus realizing automatic unloading.

[0008] In the aforementioned single dispensing operation, on the one hand, the bag-turning machine can adjust the liquid bag to a position conducive to liquid injection. This allows the bag-turning machine to fix the liquid bag's position for injection, eliminating the need for the liquid bag robot arm to maintain the bag's position and wait for injection to complete after loading the liquid bag onto the bag-turning machine. On the other hand, the bag-turning machine, in conjunction with the hopper, allows the liquid bag to be automatically unloaded after injection, without the need for the liquid bag robot arm.

[0009] Therefore, with this design, the liquid bag robot does not need to hold the liquid bag to wait for the injection to be completed, nor does it need to unload and transport the material. While the liquid bag robot grabs the liquid bag for loading and transfer, the liquid bag on the bag turning machine can be injected and then automatically unloaded simultaneously. This parallel operation mode of loading and injection / unloading shortens the cycle of a single drug preparation operation, thereby improving the overall working efficiency of the drug preparation machine.

[0010] Optionally, the system also includes a marking machine for printing labels on the liquid bag, the marking machine being mounted on the base, and the liquid bag robot for transferring the liquid bag to the marking machine.

[0011] By adopting the above technical solution, with the marking machine set up, the liquid bag robot arm grabs the liquid bag from the liquid bag warehouse, first passes it through the marking machine for label printing, and then transports it to the bag flipping machine. This realizes the automated connection between the marking process and the flipping and filling process, ensuring the traceability of drug information, optimizing the liquid bag processing flow, and improving the continuous operation efficiency within the dispensing machine.

[0012] Optionally, several bag-turning machines may be provided.

[0013] By adopting the above technical solution, in the design of several bag-turning machines, when one bag-turning machine is fixing a liquid bag and injecting liquid, the liquid bag robot can feed another idle bag-turning machine. Thus, with the cooperation of the liquid bag robot and multiple bag-turning machines, the liquid bag robot can cyclically feed multiple bag-turning machines, thereby shortening the idle time of the liquid bag robot, increasing the effective working time of the liquid bag robot, and thus improving the working efficiency of the entire dispensing machine.

[0014] Optionally, the bag-turning machine also includes a feedback controller, and the pallet is also provided with a positioning sensor for detecting whether the liquid bag is in place. The positioning sensor, the liquid bag manipulator, the clamping assembly, and the flipping drive are all electrically connected to the feedback controller.

[0015] By adopting the above technical solution, the positioning sensor, designed to monitor in real time whether a liquid bag is placed on the pallet, automatically triggers the clamping component to perform a clamping action when a liquid bag is detected, without manual intervention. Simultaneously, the feedback controller sends a signal indicating whether the bag-turning machine is idle to the liquid bag robot, enabling the robot to identify and transfer the liquid bag to an idle machine. This allows the robot to promptly obtain the status of each bag-turning machine for transferring liquid bags, reducing its downtime, increasing its effective working time, and ultimately improving the overall efficiency of the dispensing machine.

[0016] Optionally, the flipping drive includes a linear cylinder, one end of which is rotatably connected to the mounting bracket, and the other end extends obliquely upward to be rotatably connected to the pallet.

[0017] By adopting the above technical solution, the flipping drive component is converted into the rotational motion of the pallet through the telescopic motion of the linear cylinder. The linear cylinder has a simple structure and a large output torque, which can stably support the liquid bag whose weight increases after liquid injection, ensuring a smooth and reliable flipping process.

[0018] Optionally, the locking assembly includes two clamping blocks, which are spaced apart along the width direction of the tray. The clamping blocks are slidably connected to the tray along the width direction of the tray. The tray is also provided with a clamping drive member, and both clamping blocks are connected to the clamping drive member. The clamping drive member is used to drive the two clamping blocks to move towards each other or away from each other.

[0019] By adopting the above technical solution, the clamping drive unit can clamp the mouth of the liquid bag by driving the two clamping blocks to move towards each other, and to release them by moving them in opposite directions. This bidirectional opening and closing structure can accommodate the mouths of liquid bags of different sizes, and the clamping force is uniform, preventing the liquid bag from falling off during the flipping process.

[0020] Optionally, the support plate includes a base plate, which is horizontally arranged. One end of the base plate is rotatably connected to the upper end of the mounting frame along its length. One end of the flipping drive is connected to the mounting frame, and the other end is connected to the base plate. An inertial plate is arranged above the base plate, with its length along the length of the base plate. The locking assembly is arranged on the inertial plate. The inertial plate is slidably arranged on the base plate, and an inertial actuator is arranged between the inertial plate and the base plate. The inertial actuator is used to drive the inertial plate to move along its own length.

[0021] By adopting the above technical solution, with the cooperation of the base plate, the inertial plate and the inertial actuator, the inertial plate can be driven to perform linear reciprocating motion relative to the base plate through the extension and retraction of the inertial actuator.

[0022] Therefore, when the liquid bag is being fed, the inertial actuator drives the inertial plate to move away from the mounting frame, which allows the inertial plate and the liquid bag robot to move relative to each other to improve the relative positioning speed, thereby speeding up the feeding speed of the liquid bag.

[0023] During liquid bag unloading, the inertial actuator drives the inertial plate to move away from the mounting frame. The inertial plate then quickly retracts. At this moment, the fully loaded liquid bag, due to its large mass, has significant static inertia, causing it to remain suspended in place as the inertial plate retracts, and then fall into the hopper under gravity. This inertial unloading method, compared to relying solely on gravity, provides stronger forced unloading, effectively overcoming the problems of high surface friction and easy adhesion of flexible packaging liquid bags, which hinders smooth sliding. This improves the smoothness and success rate of automatic liquid bag unloading.

[0024] Optionally, the bag-turning machine further includes a negative pressure adsorption component, which includes a negative pressure device and a negative pressure suction component. The inertial plate has several negative pressure suction holes, the negative pressure device is disposed on the inertial plate, and the several negative pressure suction holes are all connected to the negative pressure device. The negative pressure device is connected to the negative pressure suction component through a pipe.

[0025] By adopting the above technical solution, when the liquid bag is placed on the inertial plate, the negative pressure adsorption component operates, and the negative pressure suction component is activated. The negative pressure suction component draws air from several negative pressure suction holes, creating a negative pressure on the inertial plate that adsorbs the liquid bag. This allows the liquid bag robot to directly adsorb and fix the liquid bag onto the inertial plate when it places it. This ensures that the liquid bag is immediately fixed after being placed on the inertial plate, allowing the robot to immediately release the bag and move on to perform other transfer tasks. This further reduces the robot's dwell time in the loading process, thereby shortening the cycle time of a single dispensing operation and improving the overall efficiency of the dispensing machine.

[0026] Optionally, the negative pressure adsorption assembly further includes a positive pressure gas source, and the negative pressure device is connected to the positive pressure gas source through a pipeline.

[0027] By adopting the above technical solution, under the design of the positive pressure air source, when the liquid bag needs to be unloaded, the negative pressure suction component stops and the positive pressure air source works. At this time, gas is sprayed into the space between the liquid bag and the inertial plate through the negative pressure suction hole to form an air cushion, thereby reducing the static friction and adsorption force between the liquid bag and the inertial plate, so that the liquid bag can be smoothly separated from the inertial plate to achieve automatic unloading, thereby further improving the smoothness of automatic unloading of liquid bags.

[0028] In summary, this application includes at least one of the following beneficial technical effects: 1. This application designs several bag-turning machines, which replace the liquid bag manipulator for fixing liquid bags for injection. This eliminates the need for the liquid bag manipulator to hold the liquid bag for an extended period to maintain its tilted position. The manipulator can transfer the liquid bag to the bag-turning machine and immediately perform other liquid bag transfer tasks, reducing the manipulator's downtime, increasing its effective working time, and thus improving the overall efficiency of the dispensing machine. Furthermore, the bag-turning machine automatically unloads the liquid bags. While the liquid bag manipulator is picking up and transferring the liquid bags, the bags on the bag-turning machine can simultaneously be injected and automatically unloaded. This parallel operation mode of feeding and injection / unloading shortens the cycle time of a single dispensing operation, further improving the overall efficiency of the dispensing machine.

[0029] 2. Through the structural design of the pallet, this application enables the inertial plate to move synchronously and position itself with the liquid bag robot during the feeding stage, shortening the docking stroke and fine-tuning time of the liquid bag robot during the feeding process and improving the feeding speed. Furthermore, during the unloading stage, the pallet can combine the automatic sliding unloading of the liquid bag with inertial unloading, ensuring that the liquid bag can quickly separate from the pallet, thereby ensuring the stability of the automatic unloading process.

[0030] 3. Through the design of the negative pressure adsorption component, this application enables instantaneous fixation of the liquid bag during the feeding stage. This allows the liquid bag robot arm to immediately withdraw after placing the liquid bag without waiting for the locking component to complete its action, reducing the waiting time for feeding and handover. Furthermore, during the unloading stage, the positive pressure air source forms an air cushion between the liquid bag and the tray, effectively reducing the adhesion resistance that is easily generated on the surface of the soft liquid bag. This provides low-resistance conditions for the automatic sliding of the liquid bag, ensuring that the liquid bag can smoothly detach from the tray for unloading. This avoids unloading failure or cycle delay due to adhesion, thereby ensuring the continuous high-speed operation of the liquid bag turning device and improving the overall production efficiency of the dispensing machine. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the liquid bag flipping device in Embodiment 1 of this application.

[0032] Figure 2 This is a side view of the liquid bag flipping device of Embodiment 1 of this application.

[0033] Figure 3 This is a schematic diagram of the overall structure of the feeding hopper and several bag-turning machines in Embodiment 1 of this application.

[0034] Figure 4 This is a schematic diagram of the overall structure of the tray in Embodiment 1 of this application.

[0035] Figure 5 This is a schematic diagram of the bottom structure of the tray in Embodiment 1 of this application.

[0036] Figure 6 This is a schematic diagram of the overall structure of the bag-turning machine according to Embodiment 2 of this application.

[0037] Figure 7 This is a schematic diagram of the overall structure of the tray with the liquid bag fixed in Embodiment 2 of this application.

[0038] Figure 8 This is a schematic diagram of the overall structure of the tray in Embodiment 2 of this application.

[0039] Figure 9 This is a schematic diagram of the overall structure of the bag-turning machine according to Embodiment 3 of this application.

[0040] Figure 10 This is a schematic diagram of the overall structure of the tray in Embodiment 3 of this application.

[0041] Figure 11 This is a schematic diagram of the overall structure of the guide plate in Embodiment 3 of this application.

[0042] In the diagram, 1. Base; 2. Liquid bag storage; 3. Marking machine; 4. Bag turning machine; 41. Mounting frame; 42. Pallet; 421. Detection hole; 422. Base plate; 423. Inertia plate; 424. Inertia actuator; 43. Tilting drive; 431. Linear cylinder; 432. Hinge seat; 44. Locking assembly; 441. Clamping block; 4411. Guide post; 442. Clamping drive; 4421. Guide plate; 4422. Guide groove; 45. Positioning sensor; 46. Negative pressure adsorption assembly; 461. Negative pressure device; 462. Negative pressure suction hole; 5. Feed hopper; 6. Liquid bag robot. Detailed Implementation

[0043] The following is in conjunction with the appendix Figure 1 - Appendix Figure 11 This application will be described in further detail below.

[0044] Example 1: A liquid bag flipping device, referring to Figure 1 and Figure 2 The system includes a base 1, on which a liquid bag storage 2, a marking machine 3, a bag turning machine 4, a feeding hopper 5, and a liquid bag robot 6 are installed. The marking machine 3, the feeding hopper 5, and the liquid bag robot 6 are arranged sequentially along the length of the base 1. The liquid bag storage 2 is located directly above the marking machine 3. Several bag turning machines 4 are provided, and the bag turning machines 4 are distributed on opposite sides of the feeding hopper 5.

[0045] In the liquid bag turning device, liquid bags are suspended and stored in the liquid bag storage 2 to supply liquid bags; the marking machine 3 can print labels on the liquid bags; the bag turning machine 4 can turn the liquid bags to an inclined position to facilitate liquid injection; the discharge hopper 5 can receive the liquid bags after liquid injection and guide the liquid bags to the conveyor belt below the base 1 to realize the discharge of liquid bags.

[0046] Under the operation of the liquid bag robot 6, the robot first moves to the liquid bag storage 2 to grab a liquid bag and transfers it to the marking machine 3 for marking. Then, the robot transfers the marked liquid bag to the bag turning machine 4, which fixes and turns the bag into an injection position. At this point, the bag is tilted to facilitate the injection and mixing of the liquid. While the corresponding liquid bag is being injected, the robot repeats the above steps to transfer other liquid bags to other empty bag turning machines 4. Once an injection is complete, the corresponding bag turning machine 4 performs an automatic unloading action, and the liquid bag automatically falls into the feeding hopper 5. Finally, the liquid bag falls through the feeding hopper 5 onto the conveyor belt located below the base 1.

[0047] Reference Figure 1 and Figure 2 In this embodiment, the liquid bag storage 2 adopts a suspended slide rail shelf or hook assembly; the marking machine 3 adopts a thermal transfer coding machine or inkjet printer.

[0048] Reference Figure 1 and Figure 3 The bag-turning machine 4 includes a mounting frame 41, which is vertically mounted on the base 1 and positioned along the width of the base 1 on one side of the hopper 5. The lower end of the mounting frame 41 is connected to the base 1, and the upper end is provided with a support plate 42. The support plate 42 is horizontally positioned and located directly above the hopper 5. The length of the support plate 42 is along the width of the base 1, and the support plate 42 is located on the side of the mounting frame 41 facing the hopper 5. One end of the support plate 42 along its own length is rotatably connected to the upper end of the mounting frame 41. A turning drive component 43 is provided between the support plate 42 and the mounting frame 41, and a locking component 44 is also provided on the support plate 42.

[0049] Based on the structural design of the bag-turning machine 4, when the liquid bag robot 6 transfers the liquid bag to the tray 42, the clamping component 44 clamps and fixes the bag opening, thus securing the liquid bag to the tray 42. Driven by the flipping drive 43, the tray 42 rotates to the injection state, where the bag opening is tilted downwards. This orientation facilitates the syringe robot inserting a syringe into the bag opening for injection and mixing of the medication. After injection, the flipping drive 43 drives the tray 42 to rotate in the opposite direction to the discharge state, where the bag opening is tilted upwards, and the clamping component 44 releases the bag opening. Since the tray 42 is located directly above the discharge hopper 5 and is tilted, the unconstrained liquid bag slides down the surface of the tray 42 under gravity and falls directly into the discharge hopper 5 below.

[0050] Reference Figure 3 In this embodiment, the flipping drive 43 includes a linear cylinder 431 and two hinge seats 432. The two hinge seats 432 are respectively disposed in the mounting frame 41 and the bottom of the support plate 42. The two hinge seats 432 are spaced apart along the length direction of the support plate 42, and the linear cylinder 431 is located between the two hinge seats 432 along its own length direction. The two ends of the linear cylinder 431 are rotatably connected to the corresponding hinge seats 432.

[0051] Based on the positional arrangement of the two hinge seats 432, one end of the linear cylinder 431 is rotatably connected to the mounting bracket 41, and the other end extends upward at an angle to be rotatably connected to the tray 42. This allows the linear cylinder 431 to push the tray 42 to rotate upward around its connection point with the mounting bracket 41 when it extends, thereby rotating the tray 42 from a horizontal feeding state to an inclined state, so that the liquid bag posture meets the requirements of liquid injection or automatic unloading.

[0052] Reference Figure 4 and Figure 5In this embodiment, the clamping assembly 44 includes two clamping blocks 441, which are spaced apart along the width direction of the tray 42 and are slidably connected to the tray 42 along the width direction of the tray 42. A clamping drive member 442 is provided on the lower side of the tray 42. The clamping drive member 442 is a bidirectional pneumatic finger cylinder or an electric gripper, and both clamping blocks 441 are connected to the clamping drive member 442.

[0053] With the cooperation of the clamping drive 442 and the two clamping blocks 441, the two clamping blocks 441 can move inward synchronously to fasten and lock the mouth of the liquid bag located on the tray 42, or move outward synchronously to loosen the mouth of the liquid bag.

[0054] Reference Figure 4 and Figure 5 In this embodiment, the bag turning machine 4 also includes a feedback controller. A positioning sensor 45 is provided below the tray 42. The positioning sensor 45 is a photoelectric sensor or a laser sensor. A detection hole 421 is provided through the tray 42. The detection end of the positioning sensor 45 is positioned opposite to the detection hole 421. The liquid bag robot 6, the clamping drive 442 and the turning drive 43 are all electrically connected to the feedback controller.

[0055] Based on the positioning sensor 45, when the liquid bag robot 6 places the liquid bag on the tray 42 and blocks the detection hole 421, the positioning sensor 45 generates a sensing signal and sends it to the feedback controller. After receiving the signal, the feedback controller controls the clamping drive 442 to move, realizing automated sensing and clamping of the liquid bag without manual intervention. At the same time, the feedback controller also transmits the sensing signal to the liquid bag robot 6, specifically to the controller of the liquid bag robot 6, so that the liquid bag robot 6 can promptly detect the empty tray 42 and transport the liquid bag to the tray 42. This allows the liquid bag robot 6 to promptly identify the empty bag turning machine 4, thereby reducing the downtime of the liquid bag robot 6.

[0056] Reference Figure 1 and Figure 3 In this embodiment, four bag-turning machines 4 are provided, and the four bag-turning machines 4 are arranged in groups of two. The two bag-turning machines 4 are spaced apart along the width direction of the base 1, and the hopper 5 is located between the two groups of bag-turning machines 4. The two bag-turning machines 4 in the same group are arranged sequentially along the length direction of the base 1.

[0057] This symmetrical and multi-station design allows the liquid bag robot 6 to be positioned between two sets of bag-turning machines 4. Thus, when one of the bag-turning machines 4 is in the liquid-filling state, the liquid bag robot 6 does not need to wait and can immediately turn to other bag-turning machines 4 to perform operations. This achieves multi-station polling, thereby reducing the downtime of the liquid bag robot 6 and improving the efficiency of drug dispensing.

[0058] Reference Figure 1and Figure 3 The hopper 5 is a funnel-shaped structure with a larger opening at the top and a smaller opening at the bottom. A discharge port is provided through the base 1, and the hopper 5 is connected to the discharge port. The support plate 42 is located directly above the hopper 5. This structural design can effectively buffer the impact of the liquid bag falling and guide the liquid bag to accurately pass through the base 1 and fall onto the conveyor belt below, preventing the liquid bag from getting stuck or flying out.

[0059] Reference Figure 1 The liquid bag robotic arm 6 employs a combination of a multi-axis robotic arm and a negative pressure suction cup. The multi-axis robotic arm is mounted on the base 1, and the negative pressure suction cup is located at the end of the multi-axis robotic arm. The liquid bag robotic arm 6 controls the suction and inflation of the negative pressure suction cup through a pneumatic system, thereby achieving non-destructive gripping and rapid release of the liquid bag. The multi-axis robotic arm provides a flexible motion trajectory, ensuring that the liquid bag can be accurately transferred between various workstations.

[0060] The implementation principle of this embodiment is as follows: During the drug dispensing process, the liquid bag robot 6 grabs a liquid bag from the liquid bag storage 2, marks it, and places it on the pallet 42. Upon detecting the liquid bag, the positioning sensor 45 triggers the clamping drive 442, automatically securing the liquid bag. The liquid bag robot 6 then retracts and immediately performs other feeding tasks. The linear cylinder 431 operates, driving the pallet 42 to an inclined position for liquid injection. After injection, the linear cylinder 431 adjusts the pallet 42 to another inclined position, and the clamping drive 442 releases the liquid bag. At this time, the liquid bag automatically slides down to the discharge hopper 5 under gravity, and finally falls onto the conveyor belt at the bottom of the base 1.

[0061] In this process, since there are four bag-turning machines 4, the liquid bag robot 6 adopts a polling operation mode. When one bag-turning machine 4 has a liquid bag fixed on it and is being injected, the liquid bag robot 6 uses this time to feed liquid bags to other bag-turning machines 4. This multi-station alternating parallel working mode reduces the downtime of the liquid bag robot 6, thereby improving the overall production efficiency of liquid bag dispensing.

[0062] Meanwhile, since the liquid bag robot 6 does not need to perform the unloading action, it directly saves the time occupied by the liquid bag robot 6 for unloading, grasping, transporting and releasing. This allows the liquid bag robot 6 to immediately enter the next liquid bag loading cycle after the loading is completed. This allows the loading operation of the liquid bag robot 6 to be carried out simultaneously with the liquid bag injection and automatic unloading operation on the bag turning machine 4, thereby shortening the overall cycle of a single drug dispensing operation and improving the overall production efficiency of the drug dispensing machine.

[0063] Example 2: A liquid bag flipping device, referring to Figure 6 and Figure 7The difference between this embodiment and embodiment 1 is that the support plate 42 includes a base plate 422, which is horizontally arranged and its length direction is along the width direction of the base 1. One end of the base plate 422 is rotatably connected to the upper end of the mounting bracket 41, and the hinge seat 432 at the upper end of the linear cylinder 431 is arranged at the bottom of the base plate 422, so that the linear cylinder 431 is rotatably connected to the base plate 422.

[0064] Reference Figure 7 and Figure 8 The support plate 42 also includes an inertia plate 423, which is located above the base plate 422. The inertia plate 423 is horizontally arranged and its length direction is along the length direction of the base plate 422. The inertia plate 423 is slidably connected to the base plate 422 along its own length direction. An inertia actuator 424 is provided on the base plate 422. The inertia actuator 424 is a double-rod cylinder. The driving direction of the inertia actuator 424 is along the length direction of the base plate 422. The driving end of the inertia actuator 424 is connected to the inertia plate 423. The locking assembly 44 is provided on the inertia plate 423.

[0065] Reference Figure 6 and Figure 7 Through the extension and retraction of the inertial actuator 424, the inertial plate 423 can be driven to perform linear reciprocating motion relative to the base plate 422. Based on this design, it has the following functions: Reference Figure 1 and Figure 6 When the liquid bag is transferred to the pallet 42, the inertial plate 423 can slide along the bottom plate 422 towards the side closer to the liquid bag manipulator 6. At this time, the inertial plate 423 and the liquid bag manipulator 6 can move relative to each other to improve the relative positioning speed, thereby shortening the time for the liquid bag manipulator 6 to transfer the liquid bag to the pallet 42.

[0066] Reference Figure 6 When the liquid bag is placed on the inertia plate 423 and fixed by the clamping component 44, the inertia plate 423 is driven to reset. At this time, since the mouth of the liquid bag has been fixed by the clamping component 44 and the body of the liquid bag is soft, the airflow resistance and slight inertia generated by the retraction help to eliminate the wrinkles on the surface of the liquid bag.

[0067] Reference Figure 3 and Figure 6After the liquid injection is completed, the flipping drive 43 drives the pallet 42 to adjust to the unloading posture. The inertial actuator 424 first drives the inertial plate 423 to move outward (extend), and then the inertial plate 423 quickly retracts. At this time, the liquid bag fully loaded with liquid has a large static inertia due to its large mass, and cannot follow the inertial plate 423 to move backward in sync with it. Therefore, it remains suspended in place at the moment the inertial plate 423 is withdrawn, and then falls vertically into the unloading hopper 5 below. This combination of inertial withdrawal unloading and sliding unloading can force the liquid bag to separate from the pallet 42, thereby ensuring the success rate of automatic unloading of the liquid bag.

[0068] Reference Figure 6 and Figure 7 In this embodiment, in the clamping assembly 44, two clamping blocks 441 are slidably disposed on the inertia plate 423, and the clamping blocks 441 are located at the end of the inertia plate 423 facing the mounting bracket 41. The clamping drive member 442 is fixedly disposed at the bottom of the inertia plate 423, and the clamping drive member 442 is spaced apart from the base plate 422.

[0069] Reference Figure 7 and Figure 8 In this embodiment, the positioning sensor 45 is installed at the bottom of the inertial plate 423, and the detection hole 421 is opened on the inertial plate 423.

[0070] Reference Figure 7 and Figure 8 The tray 42 also includes a negative pressure adsorption component 46, which includes a negative pressure device 461 and a negative pressure suction component. The negative pressure device 461 is mounted on the inertial plate 423. Several negative pressure suction holes 462 are opened on the upper side of the inertial plate 423. The negative pressure suction holes 462 are connected to the negative pressure device 461, and the negative pressure device 461 is connected to the negative pressure suction component through a pipe. This makes all the negative pressure suction holes 462 connected to the negative pressure suction component. The negative pressure suction component can be a vacuum generator or a vacuum pump.

[0071] When the negative pressure suction component is working, it draws air from several negative pressure suction holes 462, thereby generating negative pressure to adsorb and fix the liquid bag on the surface of the inertial plate 423. This allows the liquid bag robot 6 to be immediately adsorbed and fixed after the liquid bag is placed in place, and the liquid bag robot 6 can be withdrawn without waiting for the mechanical clamping to be completed.

[0072] Reference Figure 7 The negative pressure adsorption component 46 also includes a positive pressure air source. The negative pressure unit 461 is connected to the positive pressure air source through a pipeline. The positive pressure air source can be an air compressor or a high-pressure air tank.

[0073] When the positive pressure air source is working, air can be blown out through the negative pressure suction hole 462 to form an air cushion between the liquid bag and the inertial plate 423. The friction between the liquid bag and the inertial plate 423 allows the liquid bag to be discharged smoothly.

[0074] In this embodiment, the inertial actuator 424, the negative pressure suction assembly, the positive pressure air source, the clamping drive 442, and the flipping drive 43 are all electrically connected to the feedback controller, thereby enabling each bag-turning machine 4 to be independently controlled by its corresponding feedback controller. On the one hand, this achieves a modular design for the bag-turning machine 4, facilitating its disassembly and replacement; on the other hand, it increases the operating speed of the bag-turning machine 4, thereby improving the efficiency of drug dispensing.

[0075] The implementation principle of this embodiment is as follows: During the liquid bag loading stage, the inertial actuator 424 drives the inertial plate 423 to extend outward, actively shortening the docking distance with the liquid bag robot 6. After the liquid bag is placed on the inertial plate 423, the negative pressure adsorption component 46 immediately works to adsorb and fix the liquid bag, and the liquid bag robot 6 then releases and leaves to perform other tasks. Subsequently, the clamping component 44 fixes the bag mouth of the liquid bag, the inertial actuator 424 retracts, and the flipping drive component 43 actuates to flip the tray 42 to the liquid injection posture for liquid injection.

[0076] During the liquid bag feeding stage, after the liquid injection is completed, the flipping drive 43 is adjusted to the feeding posture. The inertial actuator 424 drives the inertial plate 423 to extend again. At this time, the locking component 44 is released, the negative pressure suction component stops, and the positive pressure air source works, forming an air cushion between the liquid bag and the inertial plate 423. Afterward, the inertial actuator 424 drives the inertial plate 423 to quickly retract and be withdrawn. At this time, the liquid bag fully loaded with medicine falls quickly into the feeding hopper 5 under the action of inertia.

[0077] Through the above process, this embodiment achieves high-speed, reliable, and automatic unloading of liquid bags without the need for the participation of the liquid bag robot 6. After unloading, the liquid bag robot 6 can immediately begin the next liquid bag loading cycle, operating in parallel with the liquid injection and automatic unloading process on the bag turning machine 4. This shortens the cycle time of a single dispensing operation and further improves the working efficiency of the dispensing machine.

[0078] Example 3: A liquid bag flipping device, referring to Figure 9 and Figure 10 The difference between this embodiment and embodiment 2 is that the clamping block 441 is slidably connected to the inertial plate 423 along the width direction of the inertial plate 423.

[0079] Reference Figure 10 In this embodiment, two clamping grooves are formed through the inertial plate 423. The length direction of the clamping grooves is set along the width direction of the guide plate 4421. The two clamping grooves are spaced apart along the width direction of the guide plate 4421. The clamping grooves and clamping blocks 441 are arranged in a one-to-one correspondence. The clamping blocks 441 are inserted into the corresponding clamping grooves and are slidably connected to the inner sidewall of the corresponding clamping groove along the width direction of the guide plate 4421.

[0080] Reference Figure 10 and Figure 11 The clamping drive component 442 includes a guide plate 4421, which is located between the base plate 422 and the inertia plate 423, and is connected to the base plate 422. The guide plate 4421 is arranged along the length direction of the base plate 422.

[0081] Reference Figure 10 and Figure 11 Two guide slots 4422 are provided on the guide plate 4421. The two ends of the guide slots 4422 pass through both sides of the guide plate 4421 along its own length direction. The two guide slots 4422 are spaced apart along the width direction of the base plate 422. The end of the guide slot 4422 away from the corresponding mounting bracket 41 along the length direction of the guide plate 4421 is inclined and extends away from the other guide slot 4422.

[0082] Reference Figure 10 and Figure 11 A guide post 4411 is provided below the clamping block 441. The guide post 4411 is vertically arranged, and its upper end is fixedly connected to the corresponding clamping block 441. The guide post 4411 is provided in a one-to-one correspondence with the guide groove 4422, and the lower end of the guide post 4411 is inserted into the corresponding guide groove 4422. The guide post 4411 is slidably connected to the inner wall of the corresponding guide groove 4422 along the length direction of the corresponding guide groove 4422.

[0083] The implementation principle of this application embodiment is as follows: during the process of the inertial actuator 424 driving the inertial plate 423 to move, the guide post 4411 at the bottom of each clamping block 441 slides along the corresponding guide groove 4422.

[0084] During the loading stage, the inertial plate 423 extends outward, and under the action of the guide groove 4422, the two clamping blocks 441 gradually move away, achieving automatic opening, waiting for the liquid bag robot arm 6 to place the liquid bag. After the liquid bag is placed, the inertial plate 423 retracts inward, synchronously driving the two clamping blocks 441 to move towards each other to lock the liquid bag. This design eliminates the waiting time and control signal interaction time required for the independent clamping drive component 442 to move, allowing the inertial plate 423 to lock the liquid bag as it retracts into place, thus enabling immediate connection with the action of the flipping drive component 43, effectively shortening the cycle of a single operation.

[0085] Specifically, during the feeding stage, after the liquid injection is completed, the flipping drive 43 adjusts the pallet to another tilted posture. The inertia plate 423 extends first and then quickly retracts. Although the retraction of the inertia plate 423 will cause the clamping blocks 441 to close, the design of the guide groove 4422 ensures that in the initial stage of the retraction stroke of the inertia plate 423 (i.e., the instant the inertia plate 423 quickly leaves the position of the bag opening of the liquid bag), although the two clamping blocks 441 begin to move inward, the distance between the two clamping blocks 441 is still greater than the width of the bag opening of the liquid bag. This causes the liquid bag to leave the support range of the inertia plate 423 before the clamping blocks 441 close, and thus fall vertically into the feeding hopper 5 instantly under the action of gravity.

[0086] The embodiments described in this specific implementation are preferred embodiments of this application and are not intended to limit the scope of protection of this application. Identical components are represented by the same reference numerals. Therefore, all equivalent changes made to the structure, shape, and principle of this application should be covered within the scope of protection of this application.

Claims

1. A liquid bag flipping device, characterized in that, include: Liquid bag storage (2), used for storing liquid bags; The bag turning machine (4) includes a mounting frame (41) and a tray (42). The mounting frame (41) is vertically arranged, and the tray (42) is located above the mounting frame (41). One end of the tray (42) along its own length direction is rotatably connected to the upper end of the mounting frame (41). A turning drive (43) for driving the tray (42) to rotate is provided between the tray (42) and the mounting frame (41). A clamping component (44) for fixing the liquid bag is provided on the tray (42). The hopper (5) is used to discharge the liquid bag after injection; the tray (42) is located directly above the hopper (5); A liquid bag manipulator (6) is used to transfer liquid bags between the liquid bag storage (2) and the bag turning machine (4); The base (1), the liquid bag storage (2), the mounting frame (41), the feeding hopper (5) and the liquid bag robot (6) are all mounted on the base (1).

2. The liquid bag flipping device according to claim 1, characterized in that, It also includes a marking machine (3) for printing labels on liquid bags, the marking machine (3) being mounted on the base (1), and the liquid bag manipulator (6) for transferring liquid bags to the marking machine (3).

3. The liquid bag turning device according to claim 1, characterized in that, The bag-turning machine (4) is provided in several units.

4. The liquid bag turning device according to claim 3, characterized in that, The bag-turning machine (4) also includes a feedback controller. The pallet (42) is also equipped with a positioning sensor (45) for detecting whether the liquid bag is in place. The positioning sensor (45), the liquid bag manipulator (6), the clamping assembly (44), and the flipping drive (43) are all electrically connected to the feedback controller.

5. The liquid bag turning device according to claim 1, characterized in that, The flipping drive (43) includes a linear cylinder (431), one end of which is rotatably connected to the mounting bracket (41), and the other end extends obliquely upward to be rotatably connected to the tray (42).

6. The liquid bag flipping device according to claim 1, characterized in that, The clamping assembly (44) includes two clamping blocks (441), which are spaced apart along the width direction of the tray (42). The clamping blocks (441) are slidably connected to the tray (42) along the width direction of the tray (42). The tray (42) is also provided with a clamping drive member (442), and both clamping blocks (441) are connected to the clamping drive member (442). The clamping drive member (442) is used to drive the two clamping blocks (441) to move towards each other or backwards.

7. The liquid bag flipping device according to claim 1, characterized in that, The pallet (42) includes a base plate (422), which is horizontally arranged. One end of the base plate (422) is rotatably connected to the upper end of the mounting frame (41) along its length. One end of the flipping drive (43) is connected to the mounting frame (41), and the other end is connected to the base plate (422). An inertial plate (423) is provided above the base plate (422), and the length direction of the inertial plate (423) is arranged along the length direction of the base plate (422). The locking component (44) is provided on the inertial plate (423). The inertial plate (423) is slidably arranged on the base plate (422). An inertial actuator (424) is provided between the inertial plate (423) and the base plate (422). The inertial actuator (424) is used to drive the inertial plate (423) to move along its own length direction.

8. The liquid bag turning device according to claim 7, characterized in that, The bag turning machine (4) also includes a negative pressure adsorption component (46), which includes a negative pressure device (461) and a negative pressure suction component. The inertial plate (423) is provided with a plurality of negative pressure suction holes (462). The negative pressure device (461) is disposed on the inertial plate (423). The plurality of negative pressure suction holes (462) are all connected to the negative pressure device (461). The negative pressure device (461) is connected to the negative pressure suction component through a pipe.

9. A liquid bag flipping device according to claim 8, characterized in that, The negative pressure adsorption component (46) also includes a positive pressure gas source, and the negative pressure device (461) is connected to the positive pressure gas source through a pipeline.

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