CN113928845B - Empty bag transfer device for plasma bag breaking machine - Google Patents

Abstract

The invention relates to the technical field of plasma bag breaking, and particularly provides an empty bag transfer device for a plasma bag breaking machine, aiming at hanging an empty bag after a plasma block falls off on a hanging needle of an empty bag draining device so as to drain residual plasma in the empty bag. For this purpose, the plasma bag breaking machine comprises a hammering type separating device and an empty bag draining device, the hammering type separating device comprises a first fixing mechanism and a second fixing mechanism which are used for clamping two ends of a plasma bag with an opening on the lower surface, and a hammering mechanism which is used for striking the plasma bag from the upper side of the plasma bag so that a plasma block can be separated from the opening, the empty bag draining device comprises a hanging needle used for hanging the empty plasma bag, the empty bag transferring device comprises a connecting frame which is connected to the tail end of the multi-joint mechanical arm in a pivoting mode, the second fixing mechanism is connected with the connecting frame in a pivoting mode, a driving mechanism which drives the second fixing mechanism is arranged on the connecting frame, and when the connecting frame moves to a preset position, the second fixing mechanism clamps the empty plasma bag and enables the empty plasma bag to be hung on the hanging needle by a set rotating angle.

Description

Empty bag transfer device for plasma bag breaking machine

Technical Field

The invention relates to the technical field of plasma bag breaking, and particularly provides an empty bag transfer device for a plasma bag breaking machine.

Background

The blood product is mainly a bioactive preparation prepared from blood plasma of healthy people or specific immune human blood plasma by separation and purification technology, such as human serum albumin, human immunoglobulin, small product, etc., and can be used for diagnosis, treatment or passive immunoprophylaxis. Plasma collected from healthy persons is stored in standard plasma bags and frozen into ice, and the plasma bags, which are cleaned and sterilized before blood products are produced, are broken so that the ice plasma can be taken out and put into a molten plasma tank for melting.

The patent (CN207902883U) discloses an automatic blood, bag separating centrifuge, including the workstation, the top of workstation is provided with transport mechanism and quick-witted case, and quick-witted incasement has set gradually feed inlet, conveying roller mechanism, squeeze roll and blood bag discharge gate along the direction of transfer, and conveying roller mechanism below is provided with broken bag sword, and transport mechanism's end is connected with the feed inlet, and blood bag discharge gate department is provided with the tray. The side surface of the bottom end of the case is provided with a plasma discharge port, and the packing auger is arranged in the plasma discharge port and used for conveying plasma from the bottom of the case to the molten plasma tank. When the plasma bag conveying mechanism works, the plasma bag is conveyed to the tail end from the front end of the conveying mechanism, enters the working box from the feeding port and is clamped by the conveying roller mechanism. The plasma bag is at the in-process of being held by conveying roller mechanism and moving forward, is scratched by the broken bag sword that is located conveying roller mechanism below, then continues to move forward to the squeeze roll, the squeeze roll is when continuing to transport the plasma bag forward extrusion plasma bag, extrude the plasma in the plasma bag, the plasma that is extruded drops downwards to the plasma discharge gate, then is transmitted to the thick liquid jar of melting by the auger and is carried out further processing, empty plasma bag is then carried out and is collected in the tray through the plasma bag discharge gate.

In the process of separating the plasma and the blood bag by using the automatic blood and bag separating machine, the plasma in the plasma bag is extruded by the extrusion roller, the label paper attached to the front surface of the blood bag is easy to scrape and rub by the extrusion roller, and the dropped label paper can be mixed in the plasma to pollute the plasma.

The inventors of the present application invented a plasma bag breaking machine including a hammer-type separating device for separating plasma from a plasma bag, the hammer-type separating device including first and second fixing mechanisms for holding both ends of the plasma bag having an opening in a lower surface thereof so as to fix the plasma bag, and a hammer-type mechanism for striking the plasma bag from above the plasma bag so that a plasma clot in the plasma bag is removed from the opening, and an empty bag draining device including a horizontally extending hanging needle for hanging the empty bag.

In order to hang the empty bag after the plasma block is dropped on the hanging needle of the empty bag draining device so as to drain the residual plasma in the empty bag, the empty bag transferring device needs to be provided.

Disclosure of Invention

The present invention is intended to solve the above-mentioned problem, that is, to hang an empty bag after the plasma block is dropped on a hanging needle of an empty bag draining device so as to drain the plasma remaining in the empty bag. The invention provides an empty bag transfer device for a plasma bag breaking machine, wherein the plasma bag breaking machine comprises a hammering type separating device and an empty bag draining device, the hammering type separating device comprises a first fixing mechanism and a second fixing mechanism which are used for clamping two ends of a plasma bag with an opening on the lower surface so as to fix the plasma bag, and a hammering mechanism which is used for striking the plasma bag from the upper side of the plasma bag so as to enable a plasma block in the plasma bag to be separated from the opening, the empty bag draining device comprises a hanging needle which is used for hanging the empty plasma bag, the empty bag transfer device comprises a multi-joint mechanical arm and a connecting frame which is pivotally connected with the tail end of the multi-joint mechanical arm, the second fixing mechanism is pivotally connected with the connecting frame, a driving mechanism which is used for driving the second fixing mechanism to rotate is arranged on the connecting frame, and the second fixing mechanism can clamp the empty plasma bag to rotate for a set angle when the connecting frame moves to a preset position so as to enable the empty plasma bag to rotate for enabling the empty plasma bag to be arranged at the preset angle The plasma bag is hooked to the hanging needle.

In the above-mentioned empty bag transfer device's preferred technical scheme, the articulated arm includes the mounting bracket, a plurality of linking arms of pivot connection in proper order and drives respectively a plurality of linking arm pivoted drive portions of a plurality of linking arms, the terminal pivot connection of linking bracket and last linking arm, the articulated arm still includes the multiunit connecting rod, and each group connecting rod constitutes a parallelogram mechanism with each linking arm, and adjacent parallelogram mechanism linkage sets up so that make each other in the articulated arm action process the gesture of linking bracket keeps unchangeable.

In a preferred technical scheme of the empty bag transfer device, each group of connecting rods comprises two connecting arm rods and one connecting rod, one ends of the two connecting arm rods are respectively and pivotally connected to rotating shafts at two ends of the connecting arm, and two ends of the connecting rod are respectively and pivotally connected to the other ends of the two connecting arm rods; the connecting arm rod connected to the near-end rotating shaft of the first connecting arm is arranged to be unchanged with the position of the mounting frame, the connecting arm rod connected to the far-end rotating shaft of the last connecting arm is fixedly connected with the connecting frame or integrally formed, and the connecting arm rod connected to the same rotating shaft in a pivoting mode is fixedly connected with the connecting frame or integrally formed.

In an optimal technical scheme of the empty bag transfer device, a first rotating shaft and a second rotating shaft which are parallel to each other are arranged on the mounting frame, the near end of the first connecting arm is connected to the first rotating shaft, a connecting arm rod connected to the near end of the first connecting arm is a virtual connecting rod, and two ends of the first connecting rod are respectively in pivot connection with the second rotating shaft and the other end of the connecting arm rod connected to the far end of the first connecting arm.

In a preferred technical solution of the above empty bag transfer device, two sides of the connecting arms are respectively provided with a set of connecting rods.

In a preferred technical scheme of the above empty bag transfer device, the plurality of connecting arm driving portions are fixed to the mounting frame, and each connecting arm driving portion is in driving connection with the corresponding connecting arm through the connecting rod assembly.

In a preferred embodiment of the empty bag transfer device, the connecting rod assembly includes a rocker and a connecting rod, a first end of the rocker is pivotally connected to the first pivot, a first end of the connecting rod is pivotally connected to a second end of the rocker, and a second end of the connecting rod is pivotally connected to a connecting arm.

In a preferred technical solution of the above empty bag transfer device, a length between a position where the second end of the connecting rod is connected to the corresponding connecting arm and the proximal end of the corresponding connecting arm is equal to a length of the rocker.

In a preferred embodiment of the above empty bag transfer device, the driving mechanism includes a linear driving mechanism pivotally connected to the connecting frame, and a crank pivotally connected to a telescopic member of the linear driving mechanism, and the crank is connected to the second fixing mechanism.

In a preferred technical solution of the above empty bag transfer device, the linear driving mechanism is an air cylinder.

Under the condition of adopting the technical scheme, the empty bag transfer device comprises a multi-joint mechanical arm and a connecting frame which is in pivot connection with the tail end of the multi-joint mechanical arm, wherein a second fixing mechanism is in pivot connection with the connecting frame, a driving mechanism for driving the second fixing mechanism to rotate is arranged on the connecting frame, and the second fixing mechanism can clamp an empty plasma bag to rotate for a set angle so as to hook the empty plasma bag to a hanging needle when the connecting frame moves to a preset position. Through such setting, can make the plasma bag keep relatively stable gesture at the second end removal in-process of the terminal second fixed establishment centre gripping plasma bag of empty bag transfer device, reduce the plasma bag and rock by a wide margin and the risk that drops.

Drawings

A preferred embodiment of the present invention will now be described with reference to the accompanying drawings and hammer blow bag-breaking machine, wherein:

FIG. 1 is a block diagram of a hammer blow plasma bag breaker according to one embodiment of the present invention;

FIG. 2 is a front view of a hammer blow plasma bag breaker according to one embodiment of the present invention;

FIG. 3 is a left side view of a hammer blow plasma bag breaker according to one embodiment of the present invention;

FIG. 4 is a diagram illustrating the relationship between the positions of the bag cutting device, the hammer separating device, the empty bag transferring device and the empty bag draining device in the hammer plasma bag breaking machine according to one embodiment of the present invention;

FIG. 5 is a schematic diagram of a bag cutting device of the hammering type plasma bag breaking machine according to one embodiment of the present invention;

FIG. 6 is an enlarged view of detail A of FIG. 5;

FIG. 7 is an enlarged view of detail B of FIG. 5;

FIG. 8 is a schematic diagram of a hammer separator device of the bag breaker for plasma bags according to one embodiment of the present invention;

FIG. 9 is a schematic view of a first securing mechanism of the hammer separator of the bag breaker for hammer plasma bags in accordance with one embodiment of the present invention;

FIG. 10 is an enlarged view of detail C of FIG. 9;

FIG. 11 is a block diagram of a second securing mechanism of the hammering type separating device of the bag-breaking machine for hammering type plasma bags according to one embodiment of the present invention;

FIG. 12 is a block diagram of a hammer mechanism of a hammer separator device of a hammer bag breaker according to one embodiment of the present invention;

FIG. 13 is a schematic diagram of a hollow bag transfer device of a hammering type plasma bag breaking machine according to one embodiment of the present invention;

FIG. 14 is a first schematic view (from a top view to a bottom view) of an empty bag draining device of a hammer blow type plasma bag breaking machine according to an embodiment of the present invention;

FIG. 15 is a second drawing (from the bottom to the top) of the empty bag draining device of the hammering type plasma bag breaking machine according to one embodiment of the present invention;

FIG. 16 is an enlarged view of detail D of FIG. 15;

FIG. 17 is a third schematic diagram of the hollow bag draining device of the hammering type plasma bag breaking machine (from top to bottom and showing the view of the internal structure) according to one embodiment of the invention;

fig. 18 is an enlarged view of a portion E in fig. 17.

List of reference numerals:

1. a housing; 11. a plasma bag positioning tool; 12. a plasma tank; 13. a packing auger; 14. a discharge pipe; 15. a bag receiving platform; 2. a bag cutting device; 21. a first clamping mechanism; 211. a mounting frame a; 212. a connecting arm a; 213. a connecting frame a; 214. a jaw mechanism a; 215. an arm connecting rod a; 216. a connecting rod a; 217. a rocker a; 218. a connecting rod a; 219. a servo motor a; 22. a second clamping mechanism; 221. a mounting frame b; 222. a slide block a; 223. a connecting frame b; 224. a jaw mechanism b; 23. a first cutter; 231. a first tool holder; 232. a first chute; 233. a slide block b; 234. a first blade; 235. a first spring; 24. a second cutter; 241. a second tool holder; 242. a second chute; 243. a slide block c; 244. a second blade; 245. a second spring; 3. a hammer separator; 31. a first fixing mechanism; 311. a mounting member b; 312. a jaw mechanism c; 3121. a first jaw; 3122. a connecting rod a; 3123. a cylinder a; 313. a shearing mechanism; 3131. a swing rod; 31311. a shearing blade; 3132. a connecting rod b; 3133. a cylinder b; 314. a pivotal shaft; 315. a servo motor c; 32. a second fixing mechanism; 321. a mounting member c; 322. a jaw mechanism d; 33. a hammering mechanism; 331. a mounting member a; 332. a cylinder c; 333. a connecting rod c; 334. a hammer head; 335. quickly mounting a clamp; 4. an empty bag transfer device; 411. a mounting frame c; 412. a first rotating shaft; 413. a second rotating shaft; 414. a connecting arm b; 415. a connecting arm lever b; 416. a connecting rod d; 417. a rocker b; 418. a connecting rod b; 419. a servo motor d; 42. a connecting frame c; 43. a driving mechanism a; 431. a cylinder d; 432. a telescopic rod; 433. a crank; 5. an empty bag draining device; 51. a support; 52. a mounting frame d; 531. an annular slide rail; 532. a moving member; 5321. a roller; 5331. a drive sprocket; 5332. a driven sprocket; 5333. an endless chain; 534. hanging a needle; 541. a bag withdrawing plate; 5411. a groove; 542. a drive mechanism b; 5421. a linear slide rail; 5422. a slider d; 5423. a connecting rod e; 54231. a first pole segment; 54232. a second pole segment; 5424. a cylinder e; 5425. a connecting rod f; 5426. a proximity switch; 6. a control unit; 7. a plasma bag positioning tool of a cleaning machine; 8. a plasma bag.

Detailed Description

First, it should be understood by those skilled in the art that the embodiments described below are only for explaining the technical principle of the present invention and are not intended to limit the scope of the present invention.

It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the term "connected" should be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be directly connected or indirectly connected through intervening media, or may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

The hammering type plasma bag breaking machine will be described in detail with reference to fig. 1 to 18. Fig. 1 is a structural diagram of a hammering type plasma bag breaking machine according to an embodiment of the invention; FIG. 2 is a front view of a hammer blow plasma bag breaker according to one embodiment of the present invention; FIG. 3 is a left side view of a hammer blow plasma bag breaker according to one embodiment of the present invention; FIG. 4 is a diagram illustrating the relationship between the positions of the bag cutting device, the hammer separating device, the empty bag transferring device and the empty bag draining device in the hammer plasma bag breaking machine according to one embodiment of the present invention; FIG. 5 is a schematic diagram of a bag cutting device of the hammering type plasma bag breaking machine according to one embodiment of the present invention; FIG. 6 is an enlarged view of detail A of FIG. 5; FIG. 7 is an enlarged view of detail B of FIG. 5; FIG. 8 is a block diagram of a hammering type separating device of the hammering type plasma bag breaking machine according to one embodiment of the present invention; FIG. 9 is a block diagram of a first securing mechanism of a hammering type separating device of a hammering type plasma bag breaking machine according to an embodiment of the present invention; FIG. 10 is an enlarged view of detail C of FIG. 9; FIG. 11 is a block diagram of a second securing mechanism of the hammering type separating device of the bag-breaking machine for hammering type plasma bags according to one embodiment of the present invention; FIG. 12 is a block diagram of a hammer mechanism of a hammer separator device of a hammer bag breaker according to one embodiment of the present invention; FIG. 13 is a schematic diagram of a hollow bag transfer device of a hammering type plasma bag breaking machine according to an embodiment of the invention; FIG. 14 is a first schematic diagram (from a top view to a bottom view) of the hollow bag draining device of the hammering type plasma bag breaking machine according to one embodiment of the present invention; FIG. 15 is a second schematic diagram (from the bottom to the top) of the hollow bag draining device of the hammering type plasma bag breaking machine according to the embodiment of the present invention; FIG. 16 is an enlarged view of detail D of FIG. 15; FIG. 17 is a third schematic diagram of the hollow bag draining device of the hammering type plasma bag breaking machine (from top to bottom and showing the view of the internal structure) according to one embodiment of the invention; fig. 18 is an enlarged view of a portion E in fig. 17.

As shown in fig. 1 to 4 and with reference to the orientation shown in fig. 2, the plasma bag breaking machine includes a housing 1 as a frame, a bag cutting device 2 provided in the housing 1, a hammer type separating device 3, an empty bag transfer device 4, and an empty bag draining device 5. The rear side of the shell 1 is provided with a plasma bag positioning tool 7 of a cleaning machine, the inside of the shell 1 is provided with a plasma bag positioning tool 11 and a plasma tank 12 which is positioned below the bag cutting device 2, the hammering type separating device 3, the empty bag transfer device 4 and the empty bag draining device 5, the inside of the plasma tank 12 is provided with an auger 13, and the auger 13 is driven by a motor (not shown in the figure), so that plasma blocks in the plasma tank 12 are crushed and output to a plasma melting tank (not shown in the figure) from a discharge pipe 14 on the right side of the shell 1. A bag receiving platform 15 is arranged at the front side of the shell 1 corresponding to the empty bag draining device 5 and used for receiving the empty plasma bag 8 taken down from the empty bag draining device 5. The shell 1 is also provided with a control part 6, and the control part 6 is used for controlling the operations of the bag cutting device 2, the hammering type separating device 3, the empty bag transferring device 4, the empty bag draining device 5 and the auger 13, and can interact with an operator so as to input an operation instruction and output an operation state.

As shown in fig. 4 to 7 and referring to fig. 1, the bag breaking device 2 includes a holding mechanism for moving the plasma bag 8 to the hammer type separating device 3, and a cutter provided on a moving path of the plasma bag 8 so that the lower surface of the plasma bag 8 is opened by the cutter during the movement of the plasma bag 8. Specifically, the gripper mechanism includes a first gripper mechanism 21 and a second gripper mechanism 22, the movement path includes a first path and a second path, the tool includes a first tool 23 and a second tool 24, and the first tool 23 and the second tool 24 are disposed on the first path and the second path, respectively. The first clamping mechanism 21 is used for moving the plasma bag 8 from the plasma bag positioning tool 7 of the cleaning machine to the plasma bag positioning tool 11, and the second clamping mechanism 22 is used for moving the plasma bag 8 from the plasma bag positioning tool 11 to the hammering type separating device 3.

As shown in fig. 5, the first gripper mechanism 21 includes a joint robot arm whose front end is connected to the housing 1, a link frame a213 pivotally connected to the tip end of the multi-joint robot arm, and eight gripper mechanisms a214 provided on the link frame a213, the gripper mechanisms a214 being conventional pneumatic fingers. The multi-joint mechanical arm comprises two mounting frames a211 fixed to the housing 1, two connecting arms a212 connected in sequence in a pivoting manner, and two connecting arm driving portions (such as servo motors a219) respectively driving the two connecting arms a212 to rotate, the connecting frames a213 are connected with the tail ends of the second connecting arms a212 in a pivoting manner, two groups of connecting rods are respectively arranged on two sides of the multi-joint mechanical arm, each group of connecting rods comprises two connecting arm rods a215 and one connecting rod a216, one ends of the two connecting arm rods a215 are respectively connected with rotating shafts at two ends of the connecting arms a212 in a pivoting manner, and two ends of the connecting rod a216 are respectively connected with the other ends of the two connecting arm rods a215 in a pivoting manner, so that a parallelogram mechanism is formed by the two connecting arms a 212.

As shown in fig. 5, a first rotating shaft and a second rotating shaft are disposed between the two mounting brackets a211 and are parallel to each other, the proximal end of the first connecting arm a212 (i.e., the end close to the mounting bracket a211 in the direction of the transmission chain) is pivotally connected to the first rotating shaft on the mounting bracket a211, both ends of the first connecting rod a216 are pivotally connected to the second rotating shaft on the mounting bracket a211 and the other end of the connecting arm a215 connected to the distal end of the first connecting arm a212, respectively, the connecting arm a215 connected to the proximal end of the first connecting arm a212 is a virtual connecting rod and the position of the connecting arm a215 and the mounting bracket a211 is kept unchanged, and the connecting arm a215 pivotally connected to the same rotating shaft is fixedly connected, so that the parallelograms adjacent to each other are interlocked to keep the posture of the connecting bracket a213 unchanged during the action of the multi-joint robot arm. It should be noted that the arm lever a215 pivotally connected to the same rotating shaft may be integrally formed.

Through such setting, can make plasma bag 8 keep stable gesture in the removal process of first fixture 21 centre gripping plasma bag 8, guarantee the accuracy of plasma bag 8 lower surface incision formation position. It is understood that the link arm a215 connected to the proximal end of the first link arm a212 may also be a solid link arm with both ends pivotally connected to the first rotating shaft and the second rotating shaft, respectively; in addition, two sets of links may be provided only on one side of the articulated robot arm, but such stability is not as good as the stability of two sets of links provided on both sides of the articulated robot arm.

As shown in fig. 5, two servo motors a219 are fixed to the two mounting frames a211, respectively. An output shaft of one servo motor a219 is in driving connection with the proximal end of the first connecting arm a212 through a coupler, and the other servo motor a219 is in driving connection with the second connecting arm a212 through a connecting rod assembly. The connecting rod assembly comprises a rocker a217 and a connecting rod a218, wherein the first end of the rocker a217 is pivotally connected with the first rotating shaft, the output shaft of another servo motor a219 is in driving connection with the first end of the rocker a217, the first end of the connecting rod a218 is pivotally connected with the second end of the rocker a217, the second end of the connecting rod a218 is pivotally connected with the second connecting arm a212, and the length between the position where the second end of the connecting rod a218 is connected with the second connecting arm a212 and the proximal end of the second connecting arm a212 is equal to the length of the rocker a 217.

With such an arrangement, the pivoting angle of each connecting arm a212 can be controlled more conveniently, and the action of the first clamping mechanism 21 can be controlled conveniently. Two servo motor a219 are fixed to two mounting brackets a211 respectively, can alleviate the inertia of multi-joint arm at the removal in-process, have further improved the flexibility ratio and the precision that first fixture 21 moved. It should be noted that, the length between the position where the second end of the connecting rod a218 is connected to the second connecting arm a212 and the proximal end of the second connecting arm a212 may also be unequal to the length of the rocker a217, so that the relationship between the rotation angle of the connecting arm a212 and the corresponding angle of the rocker a217 needs to be obtained through experiments, and then the rocker a217 is rotated by a set angle through the servo motor a219 so as to rotate the connecting arm a212 by the corresponding angle.

As shown in fig. 5, the second clamping mechanism 22 includes a mounting bracket b221 fixed to the housing 1, a slider a222 slidably connected to the mounting bracket b221, a connecting bracket b223 fixedly connected to the slider a222, and eight claw mechanisms b224 provided on the connecting bracket b 223. The first cutter 23 is arranged on the left side of the plasma bag positioning tool 11, and the second cutter 24 is arranged on the rear side of the plasma bag positioning tool 11.

It should be noted that the specific structure of the first clamping mechanism 21 is only a preferable arrangement, and it can be adjusted in practical applications, for example, the first clamping mechanism 21 may also be the structure of the second clamping mechanism 22. The specific structure of the second clamping mechanism 22 is only a specific configuration, and it can be adjusted in practical applications, for example, the second clamping mechanism 22 can also be configured as the structure of the first clamping mechanism 21. In addition, the number of the connecting arms in the multi-joint mechanical arm can be three, four or more, and the number of the connecting rods and the number of the connecting rod assemblies in the corresponding group number are correspondingly arranged. In addition, it is only a specific arrangement that each of the first clamping mechanism 21 and the second clamping mechanism 22 includes eight jaw mechanisms, and the number of the jaw mechanisms in each of the first clamping mechanism 21 and the second clamping mechanism 22 may be one, three, six, ten or more.

As shown in fig. 5 and 6, the first tool 23 includes a first tool rest 231 and eight first blades 234, eight vertical first sliding grooves 232 are formed in the first tool rest 231, a sliding block b233 is formed in each first sliding groove 232, the lower portion of the sliding block b233 is connected with the lower portion of the first sliding groove 232 through a first spring 235, and the upper portion of each sliding block b233 is fixedly connected with one first blade 234. Wherein the first blade 234 is a ceramic blade.

As shown in fig. 5 and 7, the second tool 24 includes a second tool rest 241 and three second blades 244, three vertical second sliding grooves 242 are provided on the second tool rest 241, a sliding block c243 is provided in each second sliding groove 242, the lower portion of the sliding block c243 is connected with the lower portion of the second sliding groove 242 through a second spring 245, and the upper portion of each sliding block c243 is fixedly connected with one second blade 244. Wherein the second blade 244 is a ceramic blade.

During the process that the first clamping mechanism 21 clamps the plasma bags 8 and moves from the plasma bag positioning tool 7 of the cleaning machine to the plasma bag positioning tool 11, each first blade 234 forms a first notch on the lower surface of one plasma bag 8 along the length direction of the plasma bag 8. In the process that the second clamping mechanism 22 clamps the plasma bag 8 and moves from the plasma bag positioning tool 11 to the hammer separation device 3, the three second blades 244 form three second cuts in the width direction of the plasma bag 8 on the lower surface of each plasma bag 8. One first cut and three second cuts in the lower surface of each plasma bag 8 form a "feng" shaped opening.

By connecting the blades and the blade holder through the springs, when the first clamping mechanism 21 and the second clamping mechanism 22 clamp the plasma bag 8 and move, the first blade 234 and the second blade 244 can retract downwards for a certain distance when contacting the lower surface of the plasma bag 8, and the first blade 234 and the second blade 244 can be always contacted with the lower surface of the plasma bag 8 which is curved under the action of the first spring 235 and the second spring 245, so that not only can the first notch and the second notch be respectively formed on the lower surface of the plasma bag 8 through the first blade 234 and the second blade 244, but also the situation that the first blade 234 and the second blade 244 are too deep to scratch into the plasma bag 8 at the part where the lower surface of the plasma bag 8 protrudes downwards to cause severe blade abrasion is avoided, and the service lives of the first blade 234 and the second blade 244 are prolonged. The first notch is perpendicular to the second notch, so that the size of the opening can be increased, and the plasma block can be conveniently separated in the process.

It should be noted that the number of the second blades 244 may be one, two, three or more. The number of first blades 234 may be adjusted with the number of plasma bags 8 held on the first holding mechanism 21. The first and second cuts formed on the lower surface of each plasma bag 8 extend in directions perpendicular to each other, which is a preferable arrangement, and can be adjusted in practical applications, for example, the first and second cuts formed on the lower surface of each plasma bag 8 extend in directions forming an acute angle, and the moving directions of the first and second holding mechanisms 21 and 22 and the orientations of the cutting edges of the first and second blades 234 and 244 can be adjusted adaptively. The first blade 234 and the second blade 244 are provided as ceramic blades, which can reduce the attachment time of plasma on the blades, facilitating the dripping of plasma adhering to the blades. The connection between the blade and the blade holder through the spring is only a specific arrangement, and in practical application, the blade and the blade holder can also be connected through an elastic component such as a rubber block or a silica gel block. In addition, the first blade 234 and the second blade 244 may be made of stainless steel.

In another possible embodiment, the first blade 234 is pivotally connected to the first blade holder 231 by a torsion spring, and/or the second blade 244 is pivotally connected to the second blade holder 241 by a torsion spring. In this way, it is also possible to avoid the first blade 234 and/or the second blade 244 from scratching the plasma bag 8 too deeply at the downwardly convex portion of the lower surface of the plasma bag 8, thereby causing severe wear of the blades.

In another possible embodiment, the first tool comprises a first tool rest and at least one first blade, the first tool rest is provided with at least one vertical first sliding groove, each first sliding groove is internally provided with a sliding block, the lower part of each sliding block is connected with the lower part of each first sliding groove through a first spring, and the upper part of each sliding block is fixedly connected with one first blade. The second cutter comprises a second cutter frame and at least one second blade, at least one vertical second sliding groove is formed in the second cutter frame, a sliding block is arranged in each second sliding groove, the lower portion of each sliding block is connected with the lower portion of each second sliding groove through a second spring, and the upper portion of each sliding block is fixedly connected with one second blade. In the process that the first clamping mechanism 21 clamps the plasma bags 8 to move from the plasma bag positioning tool 7 to the plasma bag positioning tool 11 of the cleaning machine, at least one first notch is formed on the lower surface of each of the first blades 234 of one plasma bag 8 along the width direction of the plasma bag 8. During the process that the second clamping mechanism 22 clamps the plasma bags 8 to move from the plasma bag positioning tool 11 to the hammer separation device 3, each second blade 244 forms a second cut on the lower surface of each plasma bag 8 along the length direction of the plasma bag 8. The first and second cuts in the lower surface of each plasma bag form an opening.

In another possible embodiment, the bag striper 2 comprises only one clamping mechanism capable of clamping the plasma bag 8 to move from the washer plasma bag positioning tool 7 to the plasma bag positioning tool 11 and then from the plasma bag positioning tool 11 to the hammer separator 3. Alternatively, the clamping device may be moved along a circular path, and the first tool 23 and the second tool 24 may be arranged at two different positions of the circular path, respectively. The bag cutting device 2 may include only one cutter, and the cutter may form a first notch in the lower surface of the plasma bag 8, and the first notch may form an opening in the lower surface of the plasma bag 8. This is just not as large as the opening in the lower surface of the plasma bag 8 formed by the first and second cuts, and the efficiency of the removal of the plasma clot from the plasma bag 8 is relatively low.

As shown in fig. 8 to 12, the hammer type separating device 3 includes a fixing mechanism for holding both ends of the plasma bag 8 having an opening in the lower surface thereof so as to fix the plasma bag 8, and a hammer mechanism 33 for striking the plasma bag 8 from above the plasma bag 8 so that the plasma cake in the plasma bag 8 is pulled out from the opening. The securing mechanism comprises a first securing mechanism 31 for holding a first end of the plasma bag 8 and a second securing mechanism 32 for holding a second end of the plasma bag 8.

As shown in fig. 9 and 10, the first fixing mechanism 31 includes a mounting member b311, eight jaw mechanisms c312 disposed on the mounting member b311, and eight shearing mechanisms 313 disposed on the mounting member b311, wherein two ends of the mounting member b311 are pivotally connected to the housing 1 through pivot shafts 314, and a servo motor c315 is used for driving the mounting member b311 to rotate by a preset angle. The jaw mechanism c312 includes two pairs of first jaws 3121 engaged with each other and a driving part for driving the opening and closing of each pair of first jaws 3121, the driving part includes two links a3122 and a cylinder a3123, first ends of the two links a3122 are respectively pivotally connected to one first jaw 3121, the cylinder a3123 is fixedly connected to the mounting member b311, and a free end of a telescopic rod of the cylinder a3123 is pivotally connected to second ends of the two links a 3122. The telescopic rod of the cylinder a3123 moves telescopically to make each pair of first claws 3121 open and close. A shearing mechanism 313 is arranged between one pair of first jaws 3121 and the other pair of first jaws 3121 in the jaw mechanism c312, and the shearing mechanism 313 is used for shearing off the connecting pipe at the first end of the plasma bag 8. The shearing mechanism 313 includes two symmetrical swing levers 3131, two connecting rods b3132, and a cylinder b3133, the first ends of the two swing levers 3131 are pivotally connected to the mounting member b311, the first end of each connecting rod b3132 is pivotally connected to the opposite side of the swing lever 3131, the cylinder b3133 is fixed to the mounting member b311, the telescopic rod of the cylinder b3133 is pivotally connected to the second ends of the two connecting rods b3132, and the second end of one swing lever 3131 is provided with a shearing blade 31311. The telescopic rod of the cylinder b3133 is moved to make the two swing rods 3131 swing towards or away from each other, so as to cut off the connection tube at the first end of the plasma bag 8. The servo motor c315 can drop the stub cut off from the first end of the plasma bag 8 to a set collection tank for collection by driving the mounting member b311 to rotate by a preset angle.

It will be appreciated that a cutting blade 31311 may also be provided at the second end of both pendulum bars 3131. In addition, the opening and closing of each pair of first claws 3121 and the swinging of the two swing rods 3131 in the opposite direction or in the opposite direction can also be realized by a scissors mechanism. The mounting member b311 may be fixedly connected to the housing 1.

As shown in fig. 11, the second fixing mechanism 32 includes a mounting member c321, eight click mechanisms d322 provided on the mounting member c 321. The structure of the latch mechanism d322 is the same as the latch mechanism c312 and will not be described in detail.

As shown in fig. 12, the hammering mechanism 33 includes a mounting member a331, a cylinder c332 fixed to the mounting member a331, a link c333 connected to a telescopic rod of the cylinder c332, and a hammer head 334 detachably connected to the link c333 by a snap clip 335. The surface structure of the hammer 334 is a flexible material, preferably an elastic material (such as rubber, silicone, etc.). Wherein the mounting member a331 is coupled to the frame b so as to be slid with respect to the housing 1 by the slider a 222.

Under the state that the first fixing mechanism 31 and the second fixing mechanism 32 respectively clamp the plasma bag 8, the telescopic rod of the cylinder c332 stretches and retracts, the connecting rod c333 drives the hammer 334 to move up and down, and the hammer 334 strikes the upper surface of the plasma bag 8, so that the plasma block in the plasma bag 8 is separated from the opening on the lower surface of the plasma bag 8 and falls into the plasma tank 12.

Through being connected tup 334 with connecting rod c333 detachably, can choose the tup 334 of different specifications for use according to the plasma bag 8 of different specifications to smash the plasma clot in the plasma bag 8 and make the plasma clot deviate from the opening of plasma bag 8 lower surface more conveniently. Connect tup 334 and connecting rod c333 through fast-assembling clamp 335, made things convenient for the dismouting of tup 334 with connecting rod c333, improved the efficiency of changing tup 334, and then improved production efficiency. The surface structure of tup 334 sets flexible material to, can reduce the risk that plasma bag 8 takes place to break when tup 334 hits plasma bag 8, avoids plasma bag 8's incomplete piece to drop and pollutes plasma.

It should be noted that, the detachable connection of the hammer 334 and the connecting rod c333 through the quick-assembly clamp 335 is only a preferable configuration, and in practical applications, it may be adjusted, for example, the hammer 334 and the connecting rod c333 may be detachably connected through a screw connection manner or a pin connection manner, and the hammer 334 and the connecting rod c333 may also be non-detachably connected through welding, bonding, and the like. In addition, the entire hammer head 334 may be made of a flexible material or an elastic material, and only a portion of the hammer head 334 that contacts the plasma strip 8 may be made of a flexible material or an elastic material.

In another possible embodiment, the hammer head 334 and the link c333 may be connected by an elastic member, such as a spring or a rubber block. In the process that the telescopic rod of the cylinder c332 stretches and retracts and the connecting rod c333 drives the hammer 334 to move up and down to hit the plasma bag 8, the elastic component can increase the frequency that the hammer 334 hits the plasma bag 8, and therefore the plasma block dropping efficiency in the plasma bag 8 is improved.

On the basis of the above embodiment, it is preferable that the mounting member c321 is provided with a gripper driven by a driving portion for gripping the plasma bag 8 in order to increase the firmness of the plasma bag 8 and reduce the risk of the plasma bag 8 falling during the striking of the plasma bag 8 by the hammer mechanism 33. The claw mechanism b224 in the second gripper mechanism 22 functions as a gripper provided on the mounting member c321 driven by a driving section, for example. By sharing the jaw mechanism b224, the number of parts is reduced, and the manufacturing cost is reduced.

In another possible embodiment, the first fixing mechanism and the second fixing mechanism may be configured to have two rows of rollers symmetrically arranged up and down, an upper annular belt is sleeved on the upper row of rollers, a lower annular belt is sleeved on the lower row of rollers, a lower side section of the upper annular belt abuts against an upper side section of the lower annular belt, and two ends of the plasma bag move to between the upper annular belt and the lower annular belt from one end of the first fixing mechanism and one end of the second fixing mechanism respectively, move to a set position along with the rotation of the upper annular belt and the lower annular belt, and are clamped and fixed between the upper annular belt and the lower annular belt.

Referring to fig. 14, the empty bag draining device 5 includes a hanging needle 534 for hanging the empty plasma bag 8.

As shown in fig. 13, the empty bag transferring device 4 includes a multi-joint mechanical arm and a connecting frame 42 pivotally connected to a distal end of the multi-joint mechanical arm, the second fixing mechanism 32 is pivotally connected to the connecting frame 42, a driving mechanism a43 for driving the second fixing mechanism 32 to rotate is provided on the connecting frame 42, and when the connecting frame 42 moves to a preset position, the second fixing mechanism 32 can clamp the empty plasma bag 8 and rotate by a set angle so as to hook the empty plasma bag 8 to the hanging needle 534. Specifically, the multi-joint mechanical arm comprises two mounting brackets c411 for fixing to the housing 1, two connecting arms b414 which are sequentially and pivotally connected, and two connecting arm driving parts (such as servo motors d419) for respectively driving the two connecting arms b414 to rotate, the connecting bracket 42 is pivotally connected with the tail end of the last connecting arm b414, two groups of connecting rods are respectively arranged at two sides of the multi-joint mechanical arm, each group of connecting rods comprises two connecting arm rods b415 and one connecting rod d416, one end of each of the two connecting arm rods b415 is respectively and pivotally connected to a rotating shaft at two ends of the connecting arm b414, and two ends of each of the connecting rod d416 are respectively and pivotally connected to the other ends of the two connecting arm rods b415, so as to form a parallelogram mechanism with the corresponding connecting arm b 414.

As shown in fig. 13, a first rotating shaft 412 and a second rotating shaft 413 which are parallel to each other are disposed between the two mounting brackets c411, a proximal end (i.e., one end close to the mounting bracket c411 in the direction of the transmission chain) of the first connecting arm b414 is pivotally connected to the first rotating shaft 412 on the mounting bracket c411, both ends of the first connecting rod d416 are pivotally connected to the second rotating shaft 413 on the mounting bracket c411 and the other end of the connecting arm b415 connected to the distal end of the first connecting arm b414, respectively, the connecting arm b415 connected to the proximal end of the first connecting arm b414 is a virtual connecting rod, and the position of the connecting arm b415 connected to the mounting bracket c411 is kept unchanged, and the connecting arm b415 pivotally connected to the same rotating shaft is fixedly connected, so that parallelogram mechanisms adjacent to each other are interlocked to keep the posture of the connecting bracket 42 unchanged during the multi-joint action. It should be noted that the arm lever b415 pivotally connected to the same rotating shaft may also be integrally formed.

Through such setting, can make plasma bag 8 keep relatively stable gesture in the second end removal process of the terminal second fixed establishment 32 centre gripping plasma bag 8 of empty bag transfer device 4, reduce plasma bag 8 and rock by a wide margin and the risk that drops. It is understood that the link arm b415 connected to the proximal end of the first link arm b414 may also be a solid link arm whose two ends are respectively pivotally connected to the first rotating shaft 412 and the second rotating shaft 413; in addition, the two sets of links may be provided only on one side of the articulated robot arm, but such stability is not as good as the stability of the two sets of links provided on both sides of the articulated robot arm.

As shown in fig. 13, two servo motors d419 are fixed to the two mounting brackets c411, respectively. An output shaft of the servo motor d419 is in driving connection with the proximal end of the first connecting arm b414 through a coupler, and the other servo motor d419 is in driving connection with the second connecting arm b414 through a connecting rod assembly. The connecting rod assembly comprises a rocker b417 and a connecting rod b418, wherein the first end of the rocker b417 is pivotally connected with the first rotating shaft 412, the output shaft of another servo motor d419 is in driving connection with the first end of the rocker b417, the first end of the connecting rod b418 is pivotally connected with the second end of the rocker b417, the second end of the connecting rod b418 is pivotally connected with the second connecting arm b414, and the length between the position where the second end of the connecting rod b418 is connected with the second connecting arm b414 and the proximal end of the second connecting arm b414 is equal to the length of the rocker b 417.

By such an arrangement, the pivoting angle of each connecting arm b414 can be more conveniently controlled, and the action of the empty bag transfer device 4 can be conveniently controlled. Two servo motors d419 are respectively fixed to two mounting brackets c411, so that the inertia of the multi-joint mechanical arm in the moving process can be reduced, and the flexibility and the precision of the action of the empty bag transfer device 4 are further improved. It should be noted that the length between the position where the second end of the connecting rod b418 is connected to the second connecting arm b414 and the proximal end of the second connecting arm b414 may not be equal to the length of the rocker b417, so that the relationship between the rotation angle of the connecting arm b414 and the angle of the corresponding rocker b417 needs to be obtained through experiments, and then the rocker b417 is rotated by a set angle through the servo motor d419 so that the connecting arm b414 rotates by the corresponding angle.

As shown in fig. 13, the driving mechanism a43 includes a cylinder d431 pivotally connected to the connecting frame 42, and a crank 433 pivotally connected to an extension rod 432 of the cylinder d431, and the crank 433 is connected to the second fixing mechanism 32.

By the telescopic rod 432 of the cylinder d431 extending and retracting, the crank 433 rotates counterclockwise by approximately 90 °, and the second fixing mechanism 32 rotates counterclockwise by 90 °, so that the plasma bag 8 clamped by the second fixing mechanism 32 is hooked on the hanging needle 534 on the left side of the empty bag draining device 5. The latch mechanism d322 on the second securing mechanism 32 releases the plasma bag 8 after which the empty bag transfer device 4 moves back to the initial position (the position shown in figure 13).

It should be noted that, in another possible arrangement, the driving mechanism a43 may be replaced by a servo motor disposed on the connecting frame 42, an output shaft of the servo motor is connected to an end of the second fixing mechanism 32, and the servo motor directly drives the second fixing mechanism 32 to rotate by a set angle so as to hook the plasma bag 8 clamped by the second fixing mechanism 32 onto the hanging needle 534 on the left side of the empty bag draining device 5.

In another possible embodiment, the empty bag transfer device may be configured as a robotic arm formed by connecting multiple sliding assemblies, but the empty bag transfer device has a large volume and weight, which is not as flexible and accurate in operation as in the previous embodiment.

As shown in fig. 14 to 18 and with reference to the orientation shown in fig. 14, the empty bag draining device 5 comprises a support 51, an endless conveyor mechanism provided on the support 51, and a plurality of substantially horizontally extending hanging pins 534 located on the left and right sides of the support 51. The annular conveying mechanism is used for driving the hanging needles 534 to circularly move on the left side and the right side of the bracket 51, so that the empty plasma bag 8 is hooked on the hanging needles 534 on the left side of the bracket 51 and is taken down after moving to the right side of the bracket 51. The bracket 51 is fixed to the housing 1 by two mounting brackets d 52.

As shown in fig. 15 and 16, the endless conveying mechanism includes an endless slide track 531 provided on the support 51, sixteen moving members 532 engaged with the endless slide track 531, and a driving mechanism that drives the moving members 532 to move relative to the endless slide track 531. Each moving member 532 is provided with at least one pair of rollers 5321, each pair of rollers 5321 is arranged on two sides of the annular slide track 531 in a spanning manner, and each moving member 532 is fixedly connected with a hanging needle 534. The driving mechanism includes two driving wheels (such as a driving sprocket 5331 and a driven sprocket 5332) disposed on the frame 51 and an endless chain 5333 supported on the two driving wheels, the moving member 532 is connected to an outer edge of the endless chain 5333, and the driving sprocket 5331 is driven by a motor (not shown) disposed on the frame 51. The motor drives the driving sprocket 5331 to rotate, the endless chain 5333 rotates along with the rotation of the driving sprocket 5331, so as to drive the moving member 532 to move around the endless sliding track 531, such that the moving member 532 on the left side of the rack 51 moves to the right side of the rack 51, and the hanging needle 534 on the left side of the rack 51 and the plurality of drained empty plasma bags are moved to the right side of the rack 51 together.

As shown in fig. 17 and 18, the empty bag draining device 5 further includes two bag returning mechanisms, each of which includes a bag returning plate 541 and a driving mechanism b542 connecting the bracket 51 and the bag returning plate 541, and the bag returning plate 541 has four grooves 5411 extending upward from a lower edge. The driving mechanism b542 comprises a linear slide rail 5421, a slide block d5422, a connecting rod e5423, a cylinder e5424 and a connecting rod f5425, the linear slide rail 5421 is arranged on the bracket 51 and is parallel to the axial direction of the hanging needle 534 positioned at the right side of the bracket 51, and the slide block d5422 is connected with the linear slide rail 5421 in a sliding way. The link e5423 comprises a first link section 54231 and a second link section 54232, wherein a first end of the first link section 54231 is pivotally connected with the slider d5422, a first end of the first link section 54231 and a pivot shaft of the slider d5422 are perpendicular to the linear slide rail 5421, and a first end and a second end of the second link section 54232 are respectively and fixedly connected with a second end of the first link section 54231 and the bag withdrawing plate 541. The cylinder e5424 is fixed to the bracket 51, the first end of the link f5425 is pivotally connected to the free end of the telescopic rod of the cylinder e5424, and the second end of the link f5425 is pivotally connected to the second end of the first rod segment 54232. The bracket 51 is provided with a proximity switch 5426.

As shown in fig. 18, during use, the telescopic rod of the cylinder e5424 extends, the link f5425 moves rightwards along with the telescopic rod, the force applied to the second end of the first rod section 54231 by the second end (left end) of the link f5425 causes the first rod section 54231 to generate clockwise rotation around the rotating shaft of the first rod section 54231 and the slider d5422, and the force applied to the second end of the second rod section 54232 by the bag withdrawing plate 541 under the action of gravity causes the first rod section 54231 to generate clockwise rotation around the rotating shaft of the second rod section 5478 and the slider d 5422. The first rod section 54231, the second rod section 54232 and the bag withdrawing plate 541 are subjected to clockwise torque to rotate for a certain angle around the rotating shafts of the first rod section 54231 and the sliding block d5422, so that the bag withdrawing plate 541 moves downwards from the initial position to enable the groove 5411 on the bag withdrawing plate to straddle the corresponding hanging needle 534 (namely, the hanging needle 534 is positioned in the corresponding groove 5411), and then as the telescopic rod of the air cylinder e5424 continues to extend, the sliding block d5422 continues to move rightwards along the linear sliding block 5421, so that the bag withdrawing plate 541 pushes the empty blood plasma bag 8 on the hanging needle 534 positioned on the right side of the bracket 51, and the empty blood plasma bag 8 is separated from the hanging needle 534 and collected to the bag receiving platform 15. Then, the telescopic rod of the cylinder e5424 retracts, the link f5425 moves leftwards along with the retraction, the force of the second end (left end) of the link f5425 to the second end of the first rod section 54231 causes the first rod section 54231 to generate a counterclockwise torque around the rotating shaft of the first rod section 54231 and the slider d5422, the torque is equal to the torque of the first rod segment 54231 clockwise around the rotation axis of the slider d5422 caused by the second end force of the second rod segment 54232 acted by the bag withdrawing plate 541 due to gravity, the bag withdrawing plate 541, the first rod segment 54231, and the second rod segment 54232 move leftward with the slider d5422, when the slide block d5422 moves to the leftmost end of the linear slide rail 5421, the slide block d5422 stops moving, and as the telescopic rod of the cylinder e5424 retracts, the force of the second end (left end) of the connecting rod f5425 on the second end of the first rod section 54231 causes the first rod section 54231 to generate torque which is anticlockwise around the rotating shaft of the first rod section 54231 and the slide block d5422 to increase, so that the bag withdrawing plate 541, the first rod segment 54231 and the second rod segment 54232 rotate counterclockwise around the rotating shafts of the first rod segment 54231 and the slider d 5422. When the second lever segment 54232 rotates counterclockwise to a position corresponding to the proximity switch 5426, the proximity switch 5426 is triggered, the air cylinder e5424 stops, and the bag returning plate 541 is maintained at the initial position.

With such an arrangement, the movement of the bag returning plate 541 can be skillfully realized, so that the bag returning plate 541 can smoothly remove the empty plasma bag 8 from the hanging needle 534 and smoothly return the bag returning plate 541. By setting the bag withdrawing mechanism to the above-described structure, the number of the driving devices is simplified, and removal of the empty plasma bag 8 is facilitated. The empty bag transfer device 4 hooks the empty plasma bag 8 to the hanging needle 534 on the left side of the empty bag draining device 5, and after the empty plasma bag 8 is hung on the hanging needle 534 on the left side of the empty bag draining device 5, the annular conveying mechanism moves the hanging needle 534 on the left side to the right side, and moves the hanging needle 534 on the left side to the left side, so that the empty bag transfer device 4 can continue to hook the empty plasma bag 8 to the hanging needle 534 of the plasma bag 8 which is not hung to the empty. After the empty plasma bags 8 on the right hanging needles 534 are drained, the bag withdrawing mechanism removes the empty plasma bags 8 on the right hanging needles 534 from the corresponding hanging needles 534, so that the empty plasma bags 8 can be continuously hung to drain the plasma in the empty plasma bags 8.

It should be noted that the cylinder e5424 may be set to be opposite to the direction in fig. 18, that is, the cylinder e5424 is entirely located at the right side of the connecting rod f5425, during the retraction of the telescopic rod of the cylinder e5424, the bag withdrawing plate 541 is moved rightward to remove the empty plasma bag 8 on the hanging needle 534 at the right side of the bracket 51, and during the extension of the telescopic rod of the cylinder e5424, the bag withdrawing plate 541 is moved leftward to be reset. The link e5423 can also be provided as a straight rod, and the second end (left end) of the link f5425 is pivotally connected between two ends of the link e5423, and the link f5425 intersects with the link e 5423. In addition, the linear slide rail 5421 may be replaced by a linear slide groove, and the slider d5422 is slidably connected with the linear slide groove. In addition, the empty bag draining device 5 may only include one bag returning mechanism, and the bag returning plate is provided with grooves equal to the number of hanging needles 534 on the right side of the bracket 51.

In another possible embodiment, instead of the proximity switch 5426, a stop member may be provided on the bracket 51 to limit the second lever segment 54232 from further swinging when swinging counterclockwise to the initial position.

In another possible embodiment, the bag withdrawing mechanism may include a plurality of sub bag withdrawing mechanisms, one sub bag withdrawing mechanism is disposed on each moving member 532, each sub bag withdrawing mechanism includes a linear motor and a bag withdrawing plate connected to an expansion shaft of the linear motor, a hole for the corresponding hanging needle to pass through is formed in the middle of the bag withdrawing plate, and the linear motor drives the bag withdrawing plate to move along the axial direction of the hanging needle to remove the empty plasma bag on the hanging needle.

It should be noted that each of the cylinders may be replaced with a linear motor. Because the cylinder is under the dead condition of card, gaseous still can further compression, consequently be difficult to damage, the reliability is higher to the cylinder weight is lighter, can be less the weight of each device, and then improves the action precision.

In another possible embodiment, the empty bag draining device may not include a bag withdrawal mechanism, and the drained empty plasma bag may be manually removed from the needle.

In another possible embodiment, the empty bag draining device may also comprise only a support and a plurality of needles fixed to the support.

So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is apparent to those skilled in the art that the scope of the present invention is not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.

Claims (10)

1. An empty bag transfer device for a plasma bag breaking machine, characterized in that the plasma bag breaking machine comprises a hammer-type separating device and an empty bag draining device, the hammer-type separating device comprises a first fixing mechanism and a second fixing mechanism for clamping two ends of a plasma bag with an opening on the lower surface so as to fix the plasma bag and a hammer mechanism for striking the plasma bag from above the plasma bag so that plasma lumps in the plasma bag are removed from the opening, the empty bag draining device comprises a hanging needle for hanging the empty plasma bag,

The empty bag transfer device comprises a multi-joint mechanical arm and a connecting frame which is connected with the tail end of the multi-joint mechanical arm in a pivoting mode, the second fixing mechanism is connected with the connecting frame in a pivoting mode, a driving mechanism used for driving the second fixing mechanism to rotate is arranged on the connecting frame, and when the connecting frame moves to a preset position, the second fixing mechanism can clamp an empty plasma bag to rotate for a set angle so as to hook the empty plasma bag to the hanging needle.

2. The empty bag transfer device according to claim 1, wherein the multi-joint robot comprises a mounting frame, a plurality of connecting arms pivotally connected in sequence, and a plurality of connecting arm driving portions for respectively driving the plurality of connecting arms to rotate, the connecting frame is pivotally connected to the end of the last connecting arm, the multi-joint robot further comprises a plurality of groups of connecting rods, each group of connecting rods and each connecting arm form a parallelogram mechanism, and the parallelogram mechanisms adjacent to each other are linked to maintain the posture of the connecting frame constant during the action of the multi-joint robot.

3. The empty bag transfer device according to claim 2, wherein each set of links comprises two link arms and a link rod, one end of each of the two link arms is pivotally connected to the rotating shaft at the two ends of the link arm, and the two ends of the link rod are pivotally connected to the other ends of the two link arms;

The connecting arm rod connected to the near-end rotating shaft of the first connecting arm is arranged to be unchanged with the position of the mounting frame, the connecting arm rod connected to the far-end rotating shaft of the last connecting arm is fixedly connected with the connecting frame or integrally formed, and the connecting arm rod connected to the same rotating shaft in a pivoting mode is fixedly connected with the connecting frame or integrally formed.

4. The empty bag transfer device according to claim 3, wherein the mounting frame is provided with a first rotating shaft and a second rotating shaft which are parallel to each other, the proximal end of the first connecting arm is connected to the first rotating shaft, the connecting arm rod connected to the proximal end of the first connecting arm is a virtual connecting rod, and two ends of the first connecting rod are respectively and pivotally connected with the second rotating shaft and the other end of the connecting arm rod connected to the distal end of the first connecting arm.

5. The empty bag transfer device of claim 3, wherein a set of links are provided on each side of the plurality of connecting arms.

6. The empty bag transfer device of claim 4 wherein the plurality of connecting arm drives are secured to the mounting bracket, each connecting arm drive being in driving connection with a corresponding connecting arm via a linkage assembly.

7. The empty bag transfer device of claim 6 wherein the linkage assembly comprises a rocker arm and a connecting rod, a first end of the rocker arm is pivotally connected to the first pivot, a first end of the connecting rod is pivotally connected to a second end of the rocker arm, and a second end of the connecting rod is pivotally connected to a connecting arm.

8. The empty bag transfer device of claim 7, wherein the length between the location where the second end of the connecting rod connects to the respective connecting arm and the proximal end of the corresponding connecting arm is equal to the length of the rocker.

9. The empty bag transfer device of any one of claims 1 to 8 wherein the drive mechanism comprises a linear drive mechanism pivotally connected to the connecting frame, a crank pivotally connected to a telescopic member of the linear drive mechanism, the crank being connected to the second securing mechanism.

10. The empty bag transfer device of claim 9 wherein the linear drive mechanism is an air cylinder.

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