CN111482805B - Injection pen assembly equipment - Google Patents
Injection pen assembly equipment Download PDFInfo
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- CN111482805B CN111482805B CN202010593809.5A CN202010593809A CN111482805B CN 111482805 B CN111482805 B CN 111482805B CN 202010593809 A CN202010593809 A CN 202010593809A CN 111482805 B CN111482805 B CN 111482805B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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Abstract
The invention relates to the technical field of injector assembly, and discloses injection pen assembly equipment which comprises a feeding and discharging robot, a moving device and a press-fitting device, wherein the feeding and discharging robot has at least four degrees of freedom, the tail end of the feeding and discharging robot is connected with an injection pen shell clamp and a first injector clamp, and the left side and the right side of the feeding and discharging robot are respectively provided with an injection pen shell tray positioning mechanism and an injector nest box positioning mechanism; the moving device is arranged in front of the loading and unloading robot and comprises a moving block capable of moving in the left-right direction, the moving block is provided with an injection pen shell clamping mechanism and an injector fixing block, and the injector fixing block is provided with an injector fixing hole; the press fitting device is arranged in the front of the moving device and comprises a support and a mounting plate which is connected to the support in a vertically movable mode, the mounting plate is connected with a pressure head, an injection pen cap clamp and a second injector clamp which are arranged in the left-right direction, the whole process of injection pen assembly can be completed, manual feeding and discharging are not needed, and the degree of automation and the production efficiency are high.
Description
Technical Field
The invention relates to the technical field of injector assembly, in particular to injection pen assembly equipment.
Background
With the development of biomedical technology and the increasing requirements of medical personnel on the convenience, reliability and safety of medicines, injection pens are on the trend of increasing rapidly on a global scale. Referring to fig. 1, an injection pen 100 is a pen-type injector, which is a product that combines a medicine and an injection mechanism, and is shaped like a pen, and mainly includes an injection pen housing, a driving mechanism 110, and a prefilled injector 120, where the injection pen housing includes a pen cap 130 and a pen body 140, the injector 120 is prefilled with a liquid medicine, the injector 120 and the driving mechanism 110 are assembled into the injection pen housing, and when in use, the liquid medicine in the injector 120 is injected through a needle of the injection pen housing by the driving mechanism 110. In production, the drive mechanism 110 is attached to the cap 130 of the injection pen housing and the injector 120 are manufactured separately, eventually requiring the injector 120 to be installed into the injection pen housing. Therefore, when the injection pen 100 is assembled, the cap 130 of the injection pen housing needs to be disassembled, then the injector 120 is installed in the pen body 140 of the injection pen housing, and finally the cap 130 is covered. The existing injection pen assembling equipment can only press-fit the injector 120 in the injection pen shell, a worker is required to detach the pen cap 130 of the injection pen shell, then place the injection pen shell pen body 140 with the pen cap 130 detached on the press-fit equipment, then place the injector 120 in the pen body 140, press-fit the injector 120 in the pen body 140 through the press-fit equipment, then replace the pen cap 130 on the pen body 140, press-fit the pen cap 130 through the press-fit equipment, and finally take the installed injection pen 100 off the press-fit equipment by the worker. Therefore, in the current injection pen assembling process, the feeding and the discharging are all completed manually by workers, the operation is simple and tedious, the working strength of the workers is increased, and the production efficiency is low.
The chinese patent application CN201911224179.8 discloses a pre-filled injector torsion bar system, specifically discloses a turntable, an injector feeding device, a push rod feeding device, a pressing mechanism and a screwing mechanism, wherein the injector feeding device drops push rods one by one into an injector placed in a turntable assembly concave position through a push rod feeding channel and a push rod feeding dial wheel which are obliquely and downwardly arranged, and presses the push rods and the injector through the pressing mechanism, the patent application still needs to manually place the push rods one by one on the push rod feeding channel, and takes out the injector after the assembly is completed, the automation degree is low, and when the pre-filled injector torsion bar system is used for assembling an injection pen, the pen cap 130 of the injection pen shell still needs to be manually disassembled, and the pen cap 130 cannot be installed back on the pen body 140 of the injection pen shell after the injector 120 is installed in the injection pen shell.
Disclosure of Invention
The invention aims to provide injection pen assembling equipment with complete working procedures and high automation degree.
In order to achieve the above object, the present invention provides an injection pen assembling apparatus comprising:
the feeding and discharging robot is provided with at least four degrees of freedom, the tail end of the feeding and discharging robot is connected with an injection pen shell clamp and a first injector clamp, and the left side and the right side of the feeding and discharging robot are respectively provided with an injection pen shell tray positioning mechanism and an injector nest box positioning mechanism;
the moving device is arranged in front of the loading and unloading robot and comprises a moving block capable of moving in the left-right direction, an injection pen shell clamping mechanism and an injector fixing block are arranged on the moving block, and an injector fixing hole is formed in the injector fixing block;
the press-fitting device is arranged in front of the moving device and comprises a support and a mounting plate which can be connected to the support in a vertically moving mode, the mounting plate is connected with an injection pen cap clamp, a pressure head and a second injector clamp, and the injection pen cap clamp, the pressure head and the second injector clamp are arranged in the left-right direction.
As a preferred scheme, the tail end of the feeding and discharging robot is connected with a first vision camera.
As a preferable scheme, the automatic feeding and discharging device further comprises a positioning device, wherein the positioning device is arranged in front of the feeding and discharging robot and behind the moving device;
the positioning device comprises a first positioning part and a second positioning part, a positioning unit is arranged on the first positioning part and comprises two positioning blocks, the two positioning blocks are arranged at intervals and provided with positioning grooves respectively to form an injection pen shell positioning mechanism, and the two positioning grooves are through grooves and are distributed in a straight line;
the second location portion is provided with a feeding channel inclining downwards, two sides of the feeding channel are provided with guide blocks extending along the length direction of the feeding channel to form an injector location mechanism, the distance between the guide blocks on the two sides is gradually reduced from top to bottom to form a horn shape, and the bottom end of the feeding channel is an output end.
Preferably, the positioning device further comprises a second visual camera and a third visual camera, the second visual camera is disposed on one side of the first positioning portion, the second visual camera is used for acquiring images of the pen cap end of the injection pen shell, the third visual camera is disposed at the bottommost end of the feeding channel, and the third visual camera is used for acquiring images at the bottom end of the feeding channel.
As a preferred scheme, the positioning unit further comprises a baffle plate, the positioning groove is arranged obliquely downwards, the baffle plate is arranged at one side close to the bottom end of the positioning groove, the positioning units are arranged into two side-by-side positions, the lens of the second vision camera and one of the positioning units are arranged on the same straight line in the positioning groove, and the second vision camera is arranged at one side close to the top end of the positioning groove.
Preferably, the injection pen shell clamping mechanism comprises a first clamping block and a second clamping block, a groove is formed in one side, opposite to the second clamping block, of the first clamping block, the first clamping block and the second clamping block are of mirror image structures and are combined to form an injection pen shell fixing hole, and the first clamping block and the second clamping block can be close to or far away from each other.
As a preferable scheme, the injection pen shell clamping mechanism further comprises a clamping spring and two fixed blocks, the fixed blocks are connected to the moving block, the first clamping block and the second clamping block are located between the two fixed blocks, and the clamping spring is arranged between the first clamping block and the fixed block located on the outer side of the first clamping block, and between the second clamping block and the fixed block located on the outer side of the second clamping block;
the moving device further comprises a jacking mechanism, the first clamping block and the second clamping block are respectively provided with a half wedge-shaped groove, the half wedge-shaped grooves and the half wedge-shaped grooves are combined to form a wedge-shaped groove, the jacking mechanism comprises a jacking arm, and the jacking arm can move in the direction close to or far away from the first clamping block and the second clamping block to enable the first clamping block and the second clamping block to be inserted into or withdrawn from the wedge-shaped groove.
Preferably, the press-fitting device further comprises a detection mechanism, the detection mechanism comprises a first pressure detection device and a displacement detection device, the first pressure detection device is arranged at the bottom end of the pressure head, and the displacement detection device is connected to the support and used for detecting the displacement of the mounting plate.
As preferred scheme, still include adjusting device, adjusting device includes mounting bracket, stopper, spacing clamping jaw, first telescopic machanism and second telescopic machanism, the mounting bracket is located one side of pressure equipment device just is close to injection pen cap anchor clamps set up, first telescopic machanism with second telescopic machanism locates on the mounting bracket, be equipped with spacing hole on the stopper, the hole bottom in spacing hole is equipped with second pressure measurement, first telescopic machanism with the stopper is connected, second telescopic machanism with spacing clamping jaw is connected and is located first telescopic machanism's top, first telescopic machanism with second telescopic machanism drives respectively the stopper spacing clamping jaw is along being close to or keeping away from the direction removal under the injection pen cap anchor clamps.
As a preferred scheme, the moving devices and the press-fitting devices are respectively arranged in two sets, the two sets of moving devices and the press-fitting devices are symmetrically distributed in a mirror image mode, and the feeding and discharging robot is located on a symmetry axis of the two sets of moving devices and the press-fitting devices.
Compared with the prior art, the injection pen assembling equipment has the beneficial effects that:
according to the automatic feeding and discharging device, the injection pen shell tray positioning mechanisms and the injector nest box positioning mechanisms are arranged on the left side and the right side of the feeding and discharging robot, so that the feeding and discharging robot can accurately grab the injection pen shells and the injectors to perform feeding, and the feeding and discharging robot has at least four degrees of freedom and can rotate to grab the injection pen shells and the injectors on the two sides of the feeding and discharging robot and can be placed on the moving device in front of the feeding and discharging robot to perform automatic feeding. The moving device is provided with an injection pen shell clamping mechanism and an injector fixing block, the feeding and discharging robot places the injection pen shell on the injection pen shell clamping mechanism for clamping so that a pen cap can be clamped and separated from a pen body without deviation, the injector is placed in an injector fixing hole and moves left and right through a moving block, the position opposite to the mounting plate of the press-fitting device is changed, the injection pen shell clamping mechanism can be opposite to the injection pen cap clamp, the pen cap of the injection pen shell is clamped through the injection pen cap clamp and then moves to the position opposite to the injector fixing hole until the second injector clamp is clamped, the injector is clamped through the second injector clamp and then moves to the position opposite to the injection pen shell clamping mechanism and the second injector clamp through the moving block, the mounting plate moves downwards along the support, the injector is placed in the pen body of the injection pen shell, and then moves to the position opposite to the pressure head of the injection pen shell clamping mechanism, the injector is pressed in the pen body of the injection pen shell through the pressure head, then the injector is moved to the position where the injection pen shell clamping mechanism is right opposite to the injection pen cap clamp, the pen cap is placed back on the pen body of the injection pen shell, then the injector is moved to the position where the injection pen shell clamping mechanism is right opposite to the pressure head and is pressed through the pressure head, finally the moving block returns to the original position, the injection pen which is assembled through the loading and unloading robot is clamped for unloading, and automatic unloading is achieved. The invention can complete the whole process of assembling the injection pen, does not need manual feeding and discharging, has high automation degree and can improve the production efficiency.
Drawings
Fig. 1 is a schematic structural diagram of an injection pen according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of the overall structure of the injection pen assembling apparatus according to the embodiment of the present invention.
FIG. 3 is a top view of an injection pen assembly apparatus according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a loading and unloading robot according to an embodiment of the present invention.
Fig. 5 is a schematic mechanism diagram of the end of the loading and unloading robot according to the embodiment of the invention.
Fig. 6 is a schematic structural diagram of a positioning device according to an embodiment of the present invention.
Fig. 7 is a schematic structural diagram of a mobile device according to an embodiment of the present invention.
FIG. 8 is a schematic structural diagram of an injection pen housing clamping mechanism according to an embodiment of the present invention.
Fig. 9 is a schematic structural view of the ejection mechanism according to the embodiment of the present invention.
Fig. 10 is a schematic structural view of a press-fitting device and an adjusting device according to an embodiment of the present invention.
Fig. 11 is a schematic structural diagram of an adjusting device according to an embodiment of the present invention.
In the figure, 100-injection pen; 110-a drive mechanism; 120-a syringe; 130-a pen cap; 140-a pen body; 200-a loading and unloading robot; 210-injection pen housing clamp; 220-a first syringe clamp; 230-a first vision camera; 300-an injection pen shell tray positioning mechanism; 400-injector nest box positioning mechanism; 500-a mobile device; 510-a moving block; 520-injection pen housing clamping mechanism; 521-a first clamping block; 522-a second clamping block; 523-groove; 524-injection pen housing fixing hole; 525-a clamping spring; 526-fixed block; 527-half wedge groove; 528-top open arm; 529-a rotating wheel; 530-injector fixing block; 531-syringe fixing holes; 540-electric cylinder; 600-a press mounting device; 610-a bracket; 620-mounting plate; 630-injection pen cap clamp; 640-a pressure head; 650-a second syringe clamp; 700-a positioning device; 710-a first positioning portion; 711-positioning block; 712-a positioning groove; 713-a baffle; 714-key block; 720-a second positioning section; 721-a feed channel; 722-a guide block; 730-a second visual camera; 740-a third vision camera; 800-a regulating device; 810-a mounting frame; 820-a limiting block; 821-limiting holes; 830-a spacing jaw; 840-a first telescoping mechanism; 850-a second telescoping mechanism; 900-unqualified product eliminating mechanism.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "central", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., used herein are used in the orientation or positional relationship indicated in the drawings, which are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 11, an injection pen assembling apparatus according to a preferred embodiment of the present invention includes:
the automatic feeding and discharging device comprises a feeding and discharging robot 200, wherein the feeding and discharging robot has at least four degrees of freedom, the tail end of the feeding and discharging robot 200 is connected with an injection pen shell clamp 210 and a first injector clamp 220, and the left side and the right side of the feeding and discharging robot 200 are respectively provided with an injection pen shell tray positioning mechanism 300 and an injector nest box positioning mechanism 400;
the moving device 500 is arranged in front of the loading and unloading robot 200, the moving device 500 comprises a moving block 510 capable of moving in the left-right direction, an injection pen shell clamping mechanism 520 and an injector fixing block 530 are arranged on the moving block 510, and an injector fixing hole 531 is arranged on the injector fixing block 530;
the press-fitting device 600 is arranged in front of the moving device 500, the press-fitting device 600 comprises a support 610 and a mounting plate 620 which is connected to the support 610 in a manner of moving up and down, the mounting plate 620 is connected with an injection pen cap fixture 630, a pressure head 640 and a second injector fixture 650, and the injection pen cap fixture 630, the pressure head 640 and the second injector fixture 650 are arranged in the left-right direction.
This embodiment sets up injection pen casing tray positioning mechanism 300 and syringe nest box positioning mechanism 400 through the left and right sides at last unloading robot 200, can make go up unloading robot 200 and accurately snatch injection pen casing and syringe and carry out the material loading, and at least four degrees of freedom that last unloading robot 200 has can make go up unloading robot 200 rotate and snatch injection pen casing and syringe that are located its both sides to can place on the mobile device 500 that is located its the place ahead, realize automatic feeding. The moving device 500 is provided with an injection pen shell clamping mechanism 520 and an injector fixing block 530, the loading and unloading robot 200 places the injection pen shell on the injection pen shell clamping mechanism 520 to clamp so that the pen cap can be clamped and separated from the pen body without deviation, the injector is placed in an injector fixing hole 531 and moves left and right through a moving block 510, the position opposite to a mounting plate 620 of the press-fitting device 600 is changed, the injection pen shell clamping mechanism 520 can be opposite to an injection pen cap clamp 630, the pen cap of the injection pen shell is clamped through the injection pen cap clamp 630, then the injection pen shell is moved to the position opposite to the injector fixing hole 531 of a second injector clamp 650, the injector is clamped through the second injector clamp 650, the injection pen shell clamping mechanism 520 is moved to be opposite to the second injector clamp 650 through the moving block 510, the mounting plate 620 moves downwards along a support 610 to place the injector in the pen body of the injection pen shell, then the injection pen shell clamping mechanism 520 is moved to be opposite to the pressure head 640, the injector is pressed and installed in the pen body of the injection pen shell through the pressure head 640, then the injection pen shell clamping mechanism 520 is moved to be opposite to the injection pen cap clamp 630, the pen cap is placed back on the pen body of the injection pen shell again, then the injection pen shell clamping mechanism 520 is moved to be opposite to the pressure head 640 and is pressed through the pressure head 640, finally the moving block 510 returns to the original position, the injection pen which is assembled is clamped and discharged by the feeding and discharging robot 200, and automatic discharging is achieved. The whole process of injection pen assembly can be accomplished to this embodiment, need not artifical material loading and unloading, and degree of automation is high, can improve production efficiency.
Further, referring to fig. 4 and 5, the end of the loading and unloading robot 200 of the present embodiment is connected with a first vision camera 230, and the loading and unloading robot 200 moves to the injection pen housing tray positioning mechanism 300 and the injector nest box positioning mechanism 400, and the first vision camera 230 performs photographing detection, so as to monitor the raw material and ensure the quality of the injection pen. In addition, the loading and unloading robot 200 of the embodiment adopts a six-axis robot, so that the loading and unloading robot 200 can move more flexibly, the layout area of equipment can be reduced, and the arrangement of each device is more compact. The injection pen shell clamp 210 of this embodiment is a clamping jaw, and first injector clamp 220 negative pressure suction means, and injection pen shell clamp 210, first injector clamp 220 set up at the terminal different sides of material loading and unloading robot 200, realize the conversion of two anchor clamps through the terminal rotation of material loading and unloading robot 200, can only adopt the work of one material loading and unloading robot 200, simplify equipment, reduce cost.
Further, referring to fig. 6, the injection pen assembling apparatus of the present embodiment further includes a positioning device 700, wherein the positioning device 700 is disposed in front of the loading and unloading robot 200 and behind the moving device 500; the positioning device 700 includes a first positioning portion 710 and a second positioning portion 720, a positioning unit is disposed on the first positioning portion 710, the positioning unit includes two positioning blocks 711, the two positioning blocks 711 are disposed at intervals and are both provided with positioning grooves 712 to form an injection pen housing positioning mechanism, the two positioning grooves 712 are through grooves and are distributed in a straight line; the second positioning portion 720 is provided with a feeding channel 721 inclined downwards, two sides of the feeding channel 721 are provided with guide blocks 722 extending along the length direction thereof to form an injector positioning mechanism, the distance between the guide blocks 722 at the two sides is gradually reduced from top to bottom to form a horn shape, and the bottom end of the feeding channel 721 is an output end. The existing injection pen shell incoming materials are placed by adopting a tray, each injection pen shell is horizontally laid in the tray, the injection pen shell clamp 210 of the loading and unloading robot 200 clamps the injection pen shell in the middle, and the injection pen shell is vertically placed when placed on the injection pen shell clamping mechanism 520, so that the pen body of the injection pen shell can be clamped by the injection pen shell clamping mechanism 520, and the injection pen cap can be clamped by the injection pen cap clamp 630, therefore, if the loading and unloading robot 200 clamps the injection pen shell and directly places the injection pen shell on the injection pen shell clamping mechanism 520, the injection pen shell is easily dropped out from the injection pen shell clamping mechanism 520. The constant head tank 712 that the alignment that two locating pieces 711 set up on this embodiment pass through first location portion 710 distributes, make go up unloading robot 200 can press from both sides injection pen casing and place in constant head tank 712, the both ends of injection pen casing are respectively from two locating pieces 711 protrusions, make the pen cap end that goes up unloading robot 200 and can clip injection pen casing once more, and through the terminal rotation of unloading robot 200, make go up unloading robot 200 can be with the vertical injection pen casing clamping mechanism 520 of putting into of injection pen casing, the adjustable clamping position of going up unloading robot 200 to injection pen casing of first locating piece 710 of this embodiment, more convenient, accurately put into injection pen casing clamping mechanism 520. In addition, the bottom of the positioning groove 712 of the present embodiment is provided with a key block 714, and the casing of the injection pen is provided with a window for observing the liquid medicine or operation, so that the key block 714 of the present embodiment can be embedded with the window of the casing of the injection pen, thereby realizing accurate positioning. The cooperation of syringe and injection pen casing has certain position requirement, and current syringe is through setting up its top to the class ellipse or the figure that two straight flanges and circular arc limit enclose comes the counterpoint with the injection pen casing, and during the syringe supplied materials, its cartridge was arbitrary on the nest box, consequently, when the assembly, need adjust the position of syringe, makes syringe and injection pen casing assemble accurately. In this embodiment, the feeding channel 721 inclined downward is disposed, so that the injector can freely slide down under the action of gravity when being placed in the feeding channel 721, and the distance between the guide blocks 722 at the two sides of the feeding channel 721 is gradually reduced from top to bottom to form a horn shape, as shown in fig. 1, the cross-sectional area of the top of the injector 120 of this embodiment is larger than that of the lower part thereof, so that when the injector 120 is placed in the second positioning portion 720, the lower part of the injector 120 falls into the feeding channel 721, the top of the injector is remained above the feeding channel 721, and the top of the injector 120 is located between the two guide blocks 722, as shown in fig. 6. Because the top of the injector 120 is not circular, the length and the width of the top of the injector 120 are unequal, when the injector 120 falls along the feeding channel 721, the distance between the two guide blocks 722 becomes narrower and narrower, so that the top of the injector 120 contacts with the guide blocks 722, the guide blocks 722 limit the injector 120, and under the kinetic energy of the falling of the injector 120, the injector 120 is gradually guided, and the two ends of the injector 120 with smaller distance on the top are in the straight direction, therefore, the guide blocks 722 of the embodiment can guide the injector when the injector slides downwards, so that the injector can be rotated, the posture of the injector can be adjusted, the injectors can be uniformly positioned, and the injector and the injection pen shell can be accurately assembled.
In addition, the positioning device 700 of the present embodiment further includes a second vision camera 730 and a third vision camera 740, the second vision camera 730 is disposed on one side of the first positioning portion 710, the second vision camera 730 is used for capturing an image of the cap end of the injection pen casing, the third vision camera 740 is disposed at the bottom end of the feeding channel 721, and the third vision camera 740 is used for capturing an image at the bottom end of the feeding channel 721. After the injection pen assembly is completed, the feeding and discharging robot 200 takes out the injection pen after the assembly from the moving device 500 and places the injection pen on the positioning groove 712, collects images through the second camera 730, performs visual detection, and judges the assembly quality of the injection pen according to whether the gap between the pen cap and the pen body of the injection pen is qualified. The third vision camera 740 collects the image of the bottom end of the feeding channel 721, and can detect whether the positioning position of the injector sliding down to the bottom end of the feeding channel 721 is qualified, the third vision camera 740 of the embodiment is disposed below the feeding channel 721 to detect the bottom end mark of the injector, it should be noted that the third vision camera 740 can also be disposed above the feeding channel 721 to detect through the top end structure of the injector. Further, the positioning unit of this embodiment still includes baffle 713, the constant head tank 712 slope sets up downwards, baffle 713 locates the one side that is close to constant head tank 712 bottom, the positioning unit sets up to two side by side, the camera lens of second vision camera 730 is located the collinear with the constant head tank 712 of one of them positioning unit, and second vision camera 730 is located the one side that is close to constant head tank 712 top, constant head tank 712 sets up to slope downwards and the bottom side sets up baffle 713, can make go up unloading robot 200 put injection pen casing or the injection pen that the assembly is accomplished behind constant head tank 712, injection pen casing and injection pen gliding, can make its cap end reach predetermined position, make things convenient for unloading robot 200 to press from both sides to get the accurate position and second vision camera 730 can accurately shoot the image of the injection pen cap end after the assembly. The positioning slots 712 and the feeding channel 721 of the present embodiment are inclined downward by 60 °, and the first positioning portion 710 and the second positioning portion 720 are arranged in a straight line in the left-right direction, so that the second positioning portion 720 is blocked at the bottom end of the first positioning portion 710 to form the baffle 713.
Further, referring to fig. 7 to 9, in the moving device 500, the injection pen casing clamping mechanism 520 of the present embodiment includes a first clamping block 521 and a second clamping block 522, a groove 523 is disposed on a side of the first clamping block 521 opposite to the second clamping block 522, the first clamping block 521 and the second clamping block 522 are mirror images of each other and are combined to form an injection pen casing fixing hole 524, the first clamping block 521 and the second clamping block 522 can approach or separate from each other, the injection pen casing is vertically placed in the injection pen casing fixing hole 524, and clamping and releasing are achieved by the approach or separation of the first clamping block 521 and the second clamping block 522, so that the injection pen casing can be easily put in and taken out, and the pen body does not move when the pen cap is separated from the pen body. Optionally, the injection pen casing clamping mechanism further comprises a clamping spring 525 and two fixing blocks 526, the fixing blocks 526 are connected to the moving block 510, the first clamping block 521 and the second clamping block 522 are located between the two fixing blocks 526, and the clamping spring 525 is arranged between the first clamping block 521 and the fixing block 526 located on the outer side thereof, and between the second clamping block 522 and the fixing block 526 located on the outer side thereof; the moving device 500 further comprises an ejecting mechanism, the first clamping block 521 and the second clamping block 522 are respectively provided with a half wedge-shaped groove 527, the half wedge-shaped grooves 527 are formed by the first clamping block 521 and the second clamping block 522 in an involutory mode to form a wedge-shaped groove, and the ejecting mechanism comprises an ejecting arm 528, and the ejecting arm 528 can move in a direction close to or far away from the first clamping block 521 and the second clamping block 522 so that the ejecting arm can be inserted into or withdrawn from the wedge-shaped groove. The top opening arm 528 moves towards the first clamping block 521 and the second clamping block 522 to approach and enter the wedge-shaped groove, so that the first clamping block 521 and the second clamping block 522 can be gradually separated towards two opposite directions, and approach the fixing block 526 positioned at the outer side, the clamping spring 525 is compressed, and thus the injection pen shell fixing hole 524 is enlarged, thereby facilitating the placement and the removal of the injection pen shell, after the top opening arm 528 is withdrawn, under the restoring action of the clamping spring 525, the first clamping block 521 and the second clamping block 522 approach and clamp the injection pen shell placed in the injection pen shell fixing hole 524, so that the injection pen cap clamp 630 clamps the injection pen cap to separate the injection pen shell from the pen body, and the injection pen shell with different sizes can be further adapted. In addition, the end of the top-open arm 528 of the embodiment close to the first clamping block 521 and the second clamping block 522 is provided with a rotatable rotating wheel 529, so that when the top-open arm 528 is close to be inserted into the wedge-shaped groove, the friction between the top-open arm 528 and the groove wall of the wedge-shaped groove is reduced through the rotation of the rotating wheel 529, the resistance is reduced, and the top-open arm 528 can separate the first clamping block 521 and the second clamping block 522 more easily. The ejection arm 528 of this embodiment is connected to an output shaft of a telescopic cylinder, and the telescopic cylinder drives the ejection arm 528 to move. In addition, the moving device 500 of the embodiment further includes an electric cylinder 540, the electric cylinder 540 is disposed along the left-right direction, and the moving block 510 is connected to the electric cylinder 540 and moves the moving block 510 by the electric cylinder 540.
Further, the press-fitting device 600 of the present embodiment further includes a detection mechanism, the detection mechanism includes a first pressure detection device and a displacement detection device, the first pressure detection device is disposed at the bottom end of the press head 640, the displacement detection device is connected to the support 610 and used for detecting the displacement of the mounting plate 620, a force-displacement curve of the press head 640 can be obtained through the first pressure detection device and the displacement detection device, the force-displacement curve is compared with a preset standard curve, and whether the press-fitting process is qualified can be detected, so that the quality detection of the injection pen can be performed, and if there is an unqualified product, the unqualified product can be directly taken out and rejected by the feeding and discharging robot 200. Due to the defects of the incoming materials of the injection pen shell and the products of the incoming materials of the injection pen, or errors in the positions of the injector and the injection pen shell, the situation that the force-displacement curve of the pressure head 640 is unqualified during assembly can occur, so that the incoming materials and the assembled products are detected, the defective products are removed, and the quality of the finished products of the injection pen is guaranteed. The detection mechanism of this embodiment can realize that the supplied materials that the staff naked eye can't go on detects and finished product detection, and detection effect is good and efficient, has improved the product quality of injection pen. The press-fitting device 600 of the present embodiment employs a servo press.
Further, please refer to fig. 10 and 11, the injection pen assembling apparatus of this embodiment further includes an adjusting device 800, the adjusting device 800 includes a mounting frame 810, a limiting block 820, a limiting clamping jaw 830, a first telescopic mechanism 840 and a second telescopic mechanism 850, the mounting frame 810 is disposed at one side of the press-fitting device 600 and is disposed near the injection pen cap fixture 630, the first telescopic mechanism 840 and the second telescopic mechanism 850 are disposed on the mounting frame 810, the limiting block 820 is provided with a limiting hole 821, a hole bottom of the limiting hole 821 is provided with a second pressure detecting device, the first telescopic mechanism 840 is connected with the limiting block 820, the second telescopic mechanism 850 is connected with the limiting clamping jaw 830 and is located above the first telescopic mechanism 840, and the first telescopic mechanism 840 and the second telescopic mechanism 850 respectively drive the limiting block 820 and the limiting clamping jaw 830 to move in a direction near or far away from a direction right below the injection pen cap fixture 630. The problems that the pen cap is clamped by the injection pen cap clamp 630, the injector is clamped by the second injector clamp 650 and placed in the pen body of the injection pen shell, and the injector is pressed by the pressing head 640 are solved, so that the mounting plate 620 needs to repeatedly move up and down, errors exist between the position of the mounting plate 620 and the initial position, the pen cap cannot be accurately placed back on the pen body by the injection pen cap clamp 630, the pen cap deviates, the gap between the pen cap and the pen body is unqualified and the like. This implementation is through setting up stopper 820, before the mounting panel 620 descends to put back the cap, first telescopic machanism 840 drives stopper 820 and extends under injection cap anchor clamps 630, mounting panel 620 descends, it contacts with the second pressure measurement device to drive the cap to fall into spacing hole 821, obtain power-displacement curve through the displacement measurement device of second pressure measurement device and detection mounting panel 620 displacement, and then can obtain the real-time position of mounting panel 620, the displacement of steerable mounting panel 620 comes the cap that injection cap anchor clamps 630 pressed from both sides to accurately put back on the pen body of injection pen casing, and make the clearance of cap and pen body qualified. This implementation has still set up spacing clamping jaw 830, and when having confirmed the position and the displacement of mounting panel 620 through stopper 820, extend spacing clamping jaw 830 to injection cap anchor clamps 630 through second telescopic machanism 850 under, make injection cap anchor clamps 630 pass spacing clamping jaw 830 when descending, play limiting displacement, prevent that the cap from deviating. The mounting frame 810 of the present embodiment is connected to the bracket 610 and is disposed obliquely, so that the first telescoping mechanism 840 and the second telescoping mechanism 850 extend and retract along a direction forming a certain angle with the left-right direction line, thereby preventing the moving block 510 from being obstructed. The first and second retracting mechanisms 840 and 850 of the present embodiment each employ an air cylinder.
In addition, the moving devices 500 and the press-fitting devices 600 of the embodiment are respectively provided with two sets, the two sets of moving devices 500 and the press-fitting devices 600 are symmetrically distributed in a mirror image manner, the loading and unloading robot 200 is located on the symmetry axes of the two sets of moving devices 500 and the press-fitting devices 600, a one-to-two mode is adopted, when one set of moving device 500 and the press-fitting device 600 work, the loading and unloading robot 200 can load or unload the other set of moving device 500, and the overall efficiency of the equipment is improved. The unqualified product eliminating mechanism 900 is further arranged in the embodiment, the unqualified product eliminating mechanism 900 is arranged on one side of the feeding and discharging robot 200, when the detection mechanism, the first vision camera 230, the second vision camera 730 and the third vision camera 740 of the press-fitting device 600 detect abnormality, the feeding and discharging robot 200 takes out the unqualified product eliminating mechanism and places the unqualified product eliminating mechanism 900, and the unqualified product eliminating mechanism is a placement area of unqualified products.
The working process of the invention is as follows: the tray on which the pen casing is placed on the pen casing tray positioning mechanism 300, and the nest on which the prefilled syringe is placed on the syringe nest positioning mechanism 400. The end of the loading and unloading robot 200 moves above the injection pen shell tray positioning mechanism 300, the injection pen shell is detected by the first vision camera 230 on the loading and unloading robot, if the injection pen shell is not qualified, the unqualified product is placed on the unqualified product removing mechanism 900, and if the injection pen shell is qualified, an injection pen shell is clamped by the injection pen shell clamp 210 on the loading and unloading robot and placed in the positioning groove 712 of the first positioning part 710 of the positioning device 700. Next, the injection pen casing clamp 210 clamps the injection pen casing from the first positioning portion 710 again, but clamps the cap end of the injection pen casing, vertically places the injection pen casing, which was originally gripped laterally, in the injection pen casing fixing hole 524 of the injection pen casing clamping mechanism 520 of the moving device 500 by the rotation of the loading and unloading robot 200, moves the knock-out arm 528 in a direction away from the first clamping block 521 and the second clamping block 522, and withdraws from between the first clamping block 521 and the second clamping block 522, and the first clamping block 521 and the second clamping block 522 approach to clamp the injection pen casing by the clamping spring 525. The tail end of the feeding and discharging robot 200 moves to the position above the injector nest box positioning mechanism 400, visual detection is carried out through the first visual camera 230, if the syringe nest box positioning mechanism is unqualified, the unqualified product is placed on the unqualified product removing mechanism 900 through the first injector clamp 220, if the syringe nest box positioning mechanism is qualified, the syringe is placed at the top end of the feeding channel 721 of the second positioning portion 720, the syringe slides downwards to the bottom end along the feeding channel 721, the third visual camera 740 detects the position and the orientation of the syringe, and then the syringe is placed in the syringe fixing hole 531 formed in the syringe fixing block 530 on the moving block 510 through the feeding and discharging robot 200. The moving block 510 moves in the left-right direction to be close to the press-fitting device 600, and moves to the injection pen casing fixing hole 524 to be located right below the injection pen cap clamp 630, the mounting plate 620 moves to descend to clamp the pen cap of the injection pen casing, and the mounting plate 620 moves to ascend to separate the pen cap from the pen body. The moving block 510 is moved to the syringe fixing hole 531 and positioned right under the second syringe holder 650, the mounting plate 620 is lowered, and the second syringe holder 650 holds the syringe positioned in the syringe fixing hole 531. The moving block 510 moves to the injection pen housing fixing hole 524 and is located right below the second injector clamp 650, and the injector is placed in the pen body of the injection pen housing. The moving block 510 moves to the injection pen housing fixing hole 524 and is located right below the pressure head 640, the pressure head 640 descends, the injector is pressed in the pen body of the injector housing, and meanwhile, whether the assembly is qualified or not is judged through the first pressure detection device on the pressure head 640 and the displacement detection device for detecting the displacement of the mounting plate 620. The moving block 510 moves to a position where the injection pen housing fixing hole 524 is located right below the injection pen cap fixture 630, the first telescoping mechanism 840 drives the limiting block 820 to extend out, the mounting plate 620 descends, the injection pen cap fixture 630 drives the pen cap to extend into the limiting hole 821 to contact with the second pressure detection device, then the mounting plate 620 ascends, and the first telescoping mechanism 840 drives the limiting block 820 to retract. Then the second telescoping mechanism 850 drives the limiting clamping jaw 830 to extend to the position right below the injection pen cap fixture 630, the mounting plate 620 descends, and the injection pen cap fixture 630 drives the pen cap to pass through the limiting clamping jaw 830 and put back on the pen body. The moving block 510 moves back to the original position, the top opening arm 528 moves close to the first clamping block 521 and the second clamping block 522 to separate the first clamping block 521 and the second clamping block 522, the loading and unloading robot 200 takes out the assembled injection pen from the injection pen shell fixing hole 524 and places the injection pen on the positioning groove 712 of the first positioning portion 710, and the second vision camera 730 visually detects the pen cap end of the injection pen and detects whether the gap between the pen cap and the pen body is qualified. If the results of the first pressure detection device and the displacement detection device of the press-fitting device 600 are qualified and the detection of the second vision camera 730 is qualified, the loading and unloading robot 200 puts the assembled injection pen back into the tray of the injection pen housing tray positioning mechanism 300, and if the assembled injection pen is not qualified, the assembled injection pen is put on the rejected product removing mechanism 900.
To sum up, the embodiment of the present invention provides an injection pen assembling apparatus, which is capable of enabling an upper and lower robot 200 to accurately grab an injection pen casing and an injector for loading by arranging an injection pen casing tray positioning mechanism 300 and an injector nest box positioning mechanism 400 at the left and right sides of the upper and lower robot 200, and enabling the upper and lower robot 200 to rotate to grab the injection pen casing and the injector at the two sides thereof and to place the injection pen casing and the injector on a moving device 500 in front of the upper and lower robot 200 by at least four degrees of freedom of the upper and lower robot 200, so as to realize automatic loading. And has set up the mobile device 500 with the movable block 510 that moves along the left and right directions, and have and set up the pressure head 640 on the mounting panel 620, the pressure equipment device 600 of the cap anchor of injection pen 630 and second syringe anchor clamps 650 along the left and right directions, through the cooperation of the two, can realize the clamp-up of the cap of the pen of the injection pen casing, the syringe is put into the pen body of the injection pen casing, the pressure equipment of syringe and the cap of injection pen back up the pen body, accomplish the overall process of injection pen assembly, need not artifical material loading and unloading, degree of automation is high, can improve production efficiency.
The above is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.
Claims (10)
1. An injection pen assembly apparatus, comprising:
the feeding and discharging robot comprises a feeding and discharging robot (200), wherein the feeding and discharging robot (200) has at least four degrees of freedom, the tail end of the feeding and discharging robot (200) is connected with an injection pen shell clamp (210) and a first injector clamp (220), and the left side and the right side of the feeding and discharging robot (200) are respectively provided with an injection pen shell tray positioning mechanism (300) and an injector nest box positioning mechanism (400);
the moving device (500) is arranged in front of the loading and unloading robot (200), the moving device (500) comprises a moving block (510) capable of moving in the left-right direction, an injection pen shell clamping mechanism (520) and an injector fixing block (530) are arranged on the moving block (510), and an injector fixing hole (531) is formed in the injector fixing block (530);
press-fitting device (600), press-fitting device (600) are located the place ahead of mobile device (500), press-fitting device (600) include support (610) and can connect with moving up and down mounting panel (620) on support (610), mounting panel (620) are connected with injection pen cap anchor clamps (630), pressure head (640) and second injector anchor clamps (650), injection pen cap anchor clamps (630) pressure head (640) with second injector anchor clamps (650) are arranged along left right direction.
2. The injection pen assembling apparatus according to claim 1, wherein a first vision camera (230) is connected to a distal end of the loading and unloading robot (200).
3. The injection pen assembling apparatus according to claim 1, further comprising a positioning device (700), wherein the positioning device (700) is disposed in front of the loading and unloading robot (200) and behind the moving device (500);
the positioning device (700) comprises a first positioning part (710) and a second positioning part (720), a positioning unit is arranged on the first positioning part (710), the positioning unit comprises two positioning blocks (711), the two positioning blocks (711) are arranged at intervals and are respectively provided with a positioning groove (712) to form an injection pen shell positioning mechanism, and the two positioning grooves (712) are through grooves and are distributed in a straight line;
be equipped with on second location portion (720) and incline decurrent feedstock channel (721), feedstock channel's (721) both sides set up along guide block (722) that its length direction extends and form syringe positioning mechanism, both sides the distance between guide block (722) reduces gradually from top to bottom and is the loudspeaker form, feedstock channel's (721) bottommost is the output.
4. Injection pen assembling apparatus according to claim 3, wherein said positioning means (700) further comprises a second visual camera (730) and a third visual camera (740), said second visual camera (730) being provided at one side of said first positioning portion (710), said second visual camera (730) being adapted to capture images of the pen cap end of the injection pen housing, said third visual camera (740) being provided at the lowermost end of said feeding channel (721), said third visual camera (740) being adapted to capture images at the bottom end of said feeding channel (721).
5. The injection pen assembling apparatus according to claim 4, wherein the positioning unit further comprises a baffle (713), the positioning groove (712) is disposed obliquely downward, the baffle (713) is disposed at a side near a bottom end of the positioning groove (712), the positioning units are disposed in two side by side, a lens of the second vision camera (730) is positioned at the same line with the positioning groove (712) of one of the positioning units, and the second vision camera (730) is positioned at a side near a top end of the positioning groove (712).
6. The injection pen assembling device according to claim 1, wherein the injection pen housing clamping mechanism (520) comprises a first clamping block (521) and a second clamping block (522), a groove (523) is formed in one side of the first clamping block (521) opposite to the second clamping block (522), the first clamping block (521) and the second clamping block (522) are of mirror image structures and are combined to form an injection pen housing fixing hole (524), and the first clamping block (521) and the second clamping block (522) can approach or move away from each other.
7. The injection pen assembling device according to claim 6, wherein the injection pen housing clamping mechanism (520) further comprises a clamping spring (525) and two fixing blocks (526), the fixing block (526) is connected to the moving block (510), the first clamping block (521) and the second clamping block (522) are located between the two fixing blocks (526), and the clamping spring (525) is arranged between the first clamping block (521) and the fixing block (526) located at the outer side thereof, and between the second clamping block (522) and the fixing block (526) located at the outer side thereof;
the moving device (500) further comprises a jacking mechanism, the first clamping block (521) and the second clamping block (522) are respectively provided with a half wedge-shaped groove (527), the half wedge-shaped grooves and the half wedge-shaped grooves are combined to form a wedge-shaped groove, the jacking mechanism comprises a jacking arm (528), and the jacking arm (528) can move in the direction close to or far away from the first clamping block (521) and the second clamping block (522) to enable the jacking arm to be inserted into or withdrawn from the wedge-shaped groove.
8. The injection pen assembling apparatus according to claim 1, wherein the press-fitting device (600) further comprises a detection mechanism including a first pressure detection device provided at a bottom end of the pressure head (640) and a displacement detection device connected to the bracket (610) and detecting a displacement of the mounting plate (620).
9. The injection pen assembling device according to claim 8, further comprising an adjusting device (800), wherein the adjusting device (800) comprises a mounting frame (810), a limiting block (820), a limiting clamping jaw (830), a first telescoping mechanism (840) and a second telescoping mechanism (850), the mounting frame (810) is arranged on one side of the press-fitting device (600) and is close to the injection pen cap clamp (630), the first telescoping mechanism (840) and the second telescoping mechanism (850) are arranged on the mounting frame (810), a limiting hole (821) is arranged on the limiting block (820), a second pressure detection device is arranged at the bottom of the limiting hole (821), the first telescoping mechanism (840) is connected with the limiting block (820), the second telescoping mechanism (850) is connected with the limiting clamping jaw (830) and is located above the first telescoping mechanism (840), the first telescopic mechanism (840) and the second telescopic mechanism (850) respectively drive the limiting block (820) and the limiting clamping jaw (830) to move along a direction close to or far away from the position right below the injection pen cap clamp (630).
10. The injection pen assembling apparatus according to claim 1, wherein the moving device (500) and the press-fitting device (600) are provided in two sets, and the two sets of the moving device (500) and the press-fitting device (600) are arranged in a mirror symmetry manner, and the feeding and discharging robot (200) is located on a symmetry axis of the two sets of the moving device (500) and the press-fitting device (600).
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| CN202010593809.5A CN111482805B (en) | 2020-06-28 | 2020-06-28 | Injection pen assembly equipment |
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| CN202010593809.5A CN111482805B (en) | 2020-06-28 | 2020-06-28 | Injection pen assembly equipment |
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| CN111482805B true CN111482805B (en) | 2020-10-20 |
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Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6742246B2 (en) * | 2002-01-23 | 2004-06-01 | Safety Syringes, Inc. | Systems for assembling injection devices |
| EP2047878B1 (en) * | 2004-12-01 | 2011-02-23 | Novo Nordisk A/S | Injection Device |
| CN201076644Y (en) * | 2007-08-28 | 2008-06-25 | 林军华 | Assembling machine for medical plastic-needle components |
| EP2455117A1 (en) * | 2010-11-19 | 2012-05-23 | Sanofi-Aventis Deutschland GmbH | Assembly device for injection needles |
| CN103702702B (en) * | 2011-03-29 | 2016-05-18 | 艾伯维公司 | Improved guard shield in automated injection device launches |
| US20130324927A1 (en) * | 2012-05-31 | 2013-12-05 | Choice Medical, Llc | Syringe assembly for a medication pump or the like |
| PL3027249T3 (en) * | 2013-08-02 | 2022-07-04 | Becton, Dickinson And Company | Injection pen |
| US9911364B2 (en) * | 2015-09-08 | 2018-03-06 | Jbcb Holdings, Llc | Resettable auto injector training device with a releasably locking shield and a resetting cap |
| IN2015DE02947A (en) * | 2015-09-18 | 2015-10-23 | Dr Rana Pratap SINGH | |
| US10463804B2 (en) * | 2016-09-22 | 2019-11-05 | Steven M. Montgomery | Medicament device for use with a conventional syringe |
| CN209424935U (en) * | 2019-01-21 | 2019-09-24 | 玉环东美塑机有限公司 | A kind of injector assembler |
| CN110773982B (en) * | 2019-10-23 | 2021-05-11 | 深圳华海达科技有限公司 | Small module assembling machine |
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2020
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