CN116475190A - Equipment and method for automatic cleaning of glass vials holding metal supports - Google Patents

Abstract

The invention discloses a device and a method for automatically cleaning glass vials containing metal brackets, comprising the following steps: the device comprises an equipment matrix, a soaking unit, a vial placement die, a feeding transmission unit and a die transmission unit, wherein the mechanical arm clamping unit and the discharging transmission unit are used for clamping the soaked glass vials which are positioned on the vial placement die to a cleaning unit, and the die transmission unit, the mechanical arm clamping unit and the cleaning unit are controlled by a PLC (programmable logic controller) control unit; according to the invention, the automatic cleaning operation is completed through the cooperation and control of the parts, the glass vials before cleaning are soaked, then the glass vials are automatically transposed and automatically washed and scrubbed through the cooperation of the mechanical arm clamping unit and the cleaning unit, the defect that the traditional equipment does not have an automatic scrubbing function is overcome, and compared with manual scrubbing, the cleaning degree is higher, the efficiency is better, and the backwash rate is greatly reduced.

Description

Equipment and method for automatic cleaning of glass vials containing metal supports

technical field

The invention relates to an automatic cleaning device and method, in particular to an automatic cleaning device and method for glass vials holding metal supports, and belongs to the field of medical devices.

Background technique

Percutaneous coronary intervention is one of the main methods for the treatment of cardiovascular diseases. It has the characteristics of less trauma, faster recovery, and less side effects. Metal stents have been widely used in this field to expand the lesion, so as to restore the diameter of the lumen and improve blood circulation.

Since the metal stent will be implanted in the human body, the cleanliness of the glass vial containing the metal stent is relatively high. Traditional ultrasonic, water pressure flushing, and air pressure flushing cannot guarantee the complete removal of residues and foreign objects remaining on the inner wall of the glass vial. If manually using a wool brush to clean the glass vials one by one, not only the cleaning efficiency is low, but also the cleanliness is unstable. The cleaned glass vials need to be 100% inspected. If found to be unqualified, they need to be washed back in batches. To solve the above problems, it is necessary to provide equipment and methods for automatic cleaning of glass vials containing metal supports.

Contents of the invention

In order to solve the deficiencies in the above-mentioned technologies, the present invention provides equipment and methods for automatic cleaning of glass vials containing metal supports

In order to solve the above technical problems, the technical solution adopted in the present invention is: it provides continuous automatic soaking, transposition, cleaning to the glass vial, and it comprises:

Device substrate as external frame;

Immersion unit providing immersion for glass vials;

The vial placement mold that holds several glass vials;

The feeding transmission unit that drives the vial placement mold to move vertically;

The mold transmission unit that drives the vial placement mold to move horizontally;

gripping unit of the robotic arm that grips the soaked glass vial on the vial placement mold to the cleaning unit;

Transport the cleaned glass vial and its vial placement mold to the unloading transmission unit of the clean storage station;

The mold transmission unit, the manipulator clamping unit and the cleaning unit are controlled by the PLC control unit.

Further, the feeding transmission unit includes a transmission cylinder, and the transmission cylinder is implemented in a manner to provide driving force for the displacement of the vial placement mold and its glass vials on the placement platform along the transmission path of the transmission surface.

Further, the mold transmission unit includes a transmission base and a pneumatic guide rail installed on the transmission base to provide a relative displacement path for the mold clamp. The mold clamp is implemented in the form of clamping a vial containing a number of glass vials to place the mold and controlling transmission to the station to be cleaned by the PLC control unit.

Further, the mechanical arm clamping unit includes a six-axis mechanical arm and a vial clamp installed on the front end of the arm to clamp the glass vial. The vial clamp includes two clamp bodies that cooperate to open and close. The vial clamp is formed in the form of being driven by the six-axis mechanical arm and then rotated by 360°.

Further, the cleaning unit includes a cleaning tank that receives the glass vials from the vial holder, and the cleaning unit also includes a cleaning motor that is located directly above the opening of the cleaning tank and provides a cleaning driving force for the brush, and the brush is configured in such a way that it is fastened by a brush clamping mechanism installed on the output side of the cleaning motor.

Further, there are multiple brushes, and the multiple brushes are driven to rotate by the cleaning motor to clean a corresponding number of glass vials at the same time.

Further, it also includes a signal indicator light protruding from the outside of the device base and an air pressure control unit for controlling the pressure of the vial holder.

A method for automatic cleaning of equipment for glass vials containing metal supports, the method comprising the following steps:

S1. Soaking, place the vial placing mold and the glass vial to be cleaned contained therein in the soaking unit;

S2. Transposition, including vertical transposition and horizontal transposition in sequence,

(1) Transposition in the vertical direction, control the transmission cylinder transmission by the PLC control unit to rise in the vertical direction along the transmission surface (32) of the vial placement mold after soaking and positioned at the placement platform (31) for holding glass vials to be cleaned;

(2) Transposition in the horizontal direction, use the mold clamp to place the raised vial holding the glass vial to be cleaned to the mold and fasten, then, the mold clamp is driven along the pneumatic guide rail to the cleaning station through the PLC control unit.

S3. Clamping, the six-axis mechanical arm moves to carry the vial clamp to the position where the vial is placed on the mold to be cleaned. Under the action of the air pressure control unit, the vial clamp clamps the glass vial to be cleaned. After clamping, the six-axis mechanical arm moves to move the glass vial to be cleaned to the cleaning tank of the cleaning unit;

S4. Cleaning, the cleaning unit first rinses the glass vials through its configured rinse nozzle, and then the cleaning motor drives the brush on the brush clamping mechanism to scrub the glass vials. During this process, the six-axis mechanical arm drives the glass vials on the vial fixture to move up and down to scrub every part of the glass vials, and finally uses the rinse nozzle to rinse the glass vials again;

S5. Homing, after cleaning, the six-axis mechanical arm adjusts the position so that the bottle mouth of the glass vial that has been cleaned on the vial clamp is facing the cavity in the cleaning tank, and then the six-axis mechanical arm performs a swing action to dry the glass vial. After that, the six-axis mechanical arm moves and the dried glass vial is returned to the vial placement mold under the action of the vial clamp and its air pressure control unit;

S6. Material unloading, when all the glass vials in the vial placing mold are cleaned, the unloading drive unit drives and transports the vial placing mold containing the clean glass vials to the clean storage station.

The invention discloses equipment and a method for automatically cleaning glass vials containing metal brackets. The automatic cleaning operation is completed through the cooperation and control of various parts, the glass vials before cleaning are soaked, and then the glass vials are automatically transposed and automatically rinsed and scrubbed through a mechanical arm clamping unit and a cleaning unit.

Description of drawings

Figure 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a structural schematic diagram of the feeding transmission unit of the present invention.

Fig. 3 is a structural schematic diagram of the mold transmission unit of the present invention.

Fig. 4 is a schematic structural diagram of the clamping unit of the robotic arm of the present invention.

Fig. 5 is a structural schematic diagram of the cleaning unit of the present invention.

Fig. 6 is a schematic diagram of the three-dimensional structure of the present invention.

In the figure: 1. Equipment base; 2. Soaking unit; 3. Feeding transmission unit; 4. Vial placement mold; 5. Mold transmission unit; 6. Manipulator clamping unit; 7. Cleaning unit; 8. Unloading transmission unit; Arm; 62, vial clamp; 71, cleaning tank; 72, brush; 73, brush clamping mechanism; 74, cleaning motor.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

This embodiment discloses an equipment and method for automatically cleaning glass vials containing metal supports, as shown in Figures 1-6, which provides continuous and automatic soaking, transposition, and cleaning for glass vials.

As shown in Figure 1, the automatic cleaning equipment for glass vials includes an equipment base 1 as an external frame, a soaking unit 2 for soaking glass vials, a vial placement mold 4 that holds several glass vials, a feeding transmission unit 3 that drives the vial placement mold 4 to move back in the vertical direction, a mold transmission unit 5 that drives the vial placement mold 4 to move back in the horizontal direction, and a mechanical arm holding unit 6 that clamps the soaked glass vials on the vial placement mold 4 to the cleaning unit 7. The vial and the vial placing mold 4 are transported to the unloading transmission unit 8 of the clean storage station, wherein the mold transmission unit 5 , the mechanical arm clamping unit 6 , and the cleaning unit 7 are controlled by the PLC control unit 11 .

As shown in FIG. 2 , the feeding transmission unit 3 includes a transmission cylinder 33 , and the transmission cylinder 33 is implemented to provide driving force for the displacement of the vial placement mold 4 and its glass vials on the placement platform 31 along the transmission path of the transmission surface 32 .

As shown in Figure 3, the mold transmission unit 5 includes a transmission base 51 and a pneumatic guide rail 52 installed on the transmission base 51 to provide a relative displacement path for the mold clamp 53. The mold clamp 53 is implemented in the form of clamping a vial containing a number of glass vials to place the mold 4 and controlling transmission to the station to be cleaned by the PLC control unit 11.

As shown in Figure 4, the mechanical arm clamping unit 6 includes a six-axis mechanical arm 61 and a vial clamp 62 mounted on the front end of the arm for clamping glass vials. The vial clamp 62 includes two clamping bodies that cooperate to open and close. The vial clamp 62 is formed in a form that is driven by the six-axis mechanical arm 61 and then rotated by 360°. The vial clamp 62 can simultaneously clamp a plurality of glass vials. efficiency;

Preferably, the moving distance of the six-axis robotic arm 61 is 0-1000 mm, and the moving speed is 50-500 mm/s.

As shown in Figure 5, the cleaning unit 7 includes a cleaning tank 71 that receives the glass vial from the vial holder 62. The cleaning unit 7 also includes a cleaning motor 74 that is positioned directly above the opening of the cleaning tank 71 and provides a cleaning driving force for the brush 72. The brush 72 is configured in such a way that it is fastened by a brush clamping mechanism 73 installed on the output side of the cleaning motor 74;

Preferably, there are multiple brushes 72, and the multiple brushes are driven to rotate by the cleaning motor 74 to simultaneously clean a corresponding number of glass vials. Specifically, the brush clamping mechanism 73 holds at most four brushes 72 at the same time to improve brushing efficiency.

In this embodiment, a signal indicator light 10 protruding from the device base 1 and an air pressure control unit 9 for controlling the pressure of the vial holder 62 are also included.

This embodiment can be compatible with glass vials of different specifications. The diameter range of the preferred glass vials is 5mm to 20mm, and the length range is 50mm to 100mm. When the specifications of the glass vials are different, the air pressure control unit 9 controls the opening and closing size of the vial clamps 62, so as to adapt to glass vials of different specifications and improve the compatibility of the device. Needless to say, the pressure control of the vial clamps 62 by the air pressure control unit 9 includes boosting, maintaining pressure, and depressurizing.

It should be noted that the specific control program of the PLC control unit 11 is not the content to be protected in the present invention, so the specific control logic and flow of the PLC control unit 11 will not be shown and described.

A method for an apparatus for automatic cleaning of glass vials holding metal supports, comprising the steps of:

S1. Soaking, place the vial placing mold 4 and the glass vial to be cleaned contained therein in the soaking unit 2;

S2. Transposition, including vertical transposition and horizontal transposition in sequence,

(1) Transposition in the vertical direction, control the transmission cylinder 33 transmission by the PLC control unit 11 to rise in the vertical direction along the transmission surface 32 after soaking and being positioned at the vial placement mold 4 of the glass vial to be cleaned on the placement platform 31;

(2) Transposition in the horizontal direction, utilize the mold clamp 53 to place the vial mold 4 for holding the glass vial to be cleaned after the rise to fasten, then, the mold clamp 53 is transmitted to the station to be cleaned along the pneumatic guide rail 52 by the PLC control unit 11.

S3. Clamping, the six-axis mechanical arm 61 moves to carry the vial clamp 62 to the position where the vial is placed on the mold 4 to be cleaned. Under the action of the air pressure control unit 9, the vial clamp 62 clamps the glass vial to be cleaned. After clamping, the six-axis mechanical arm 61 moves the glass vial to be cleaned to the cleaning tank 71 of the cleaning unit 7;

S4. Cleaning, the cleaning unit 7 first rinses the glass vials through its configured rinse nozzle, and then the cleaning motor 74 drives the hairbrush 72 on the brush clamping mechanism 73 to scrub the glass vials. In the process, the six-axis mechanical arm 61 drives the glass vials on the vial clamp 62 to move up and down to scrub every place of the glass vials, and finally uses the rinse nozzle to rinse the glass vials again;

S5. Homing, after cleaning, the six-axis mechanical arm 61 adjusts the position so that the bottle mouth of the glass vial that has been cleaned on the vial clamp 62 is facing the cavity in the cleaning tank 71, and then the six-axis mechanical arm 61 implements a swing action to dry the glass vial. After that, the six-axis mechanical arm 61 moves and the dried glass vial is put back in the vial placement mold 4 under the action of the vial clamp 62 and its air pressure control unit 9;

S6. Unloading, when all the glass vials in the vial placing mold 4 are cleaned, the unloading transmission unit 8 drives and transports the vial placing mold 4 containing the clean glass vials to the clean storage station.

Preferably, in S4, the operating rotation speed of the cleaning motor 74 is 10-100 revolutions/s.

In this embodiment, after completing a glass vial cleaning process, the device returns to the initial position to start the next cleaning process, thus forming a cleaning cycle.

The equipment and method for automatic cleaning of glass vials containing metal brackets disclosed by the present invention, through the cooperation and control of various parts, completes the automatic cleaning operation, soaks the glass vials before cleaning, and then automatically transposes and automatically rinses and scrubs the glass vials through the mechanical arm clamping unit and the cleaning unit 7, eliminating the defect that traditional equipment does not have the automatic scrubbing function.

The above-mentioned embodiments are not limitations to the present invention, and the present invention is not limited to the above-mentioned examples. Changes, modifications, additions or substitutions made by those skilled in the art within the scope of the technical solution of the present invention also belong to the protection scope of the present invention.

Claims (9)

1. A device for automatic cleaning of glass vials containing metal supports, which provides continuous automatic soaking, transposition, and cleaning to glass vials, and is characterized in that it includes: A device base (1) as an external frame; An immersion unit (2) providing immersion for glass vials; The vial placement mold (4) that holds several glass vials; Drive the feeding transmission unit (3) of the vial placement mold (4) to move forward in the vertical direction; Drive the mold transmission unit (5) that places the mold (4) in the horizontal direction to move backwards in the vial; Clamping the robotic arm clamping unit (6) of the soaked glass vial located on the vial placement mold (4) to the cleaning unit (7); Transport the cleaned glass vial and its vial placement mold (4) to the unloading transmission unit (8) of the clean storage station; The mold transmission unit (5), the mechanical arm clamping unit (6), and the cleaning unit (7) are controlled by a PLC control unit (11). 2. The equipment for automatic cleaning of glass vials containing metal supports according to claim 1, characterized in that: the feeding transmission unit (3) includes a transmission cylinder (33), and the transmission cylinder (33) is implemented in such a way that the vial placement mold (4) and the glass vials on the placement platform (31) are displaced along the transmission path of the transmission surface (32) to provide driving force. 3. The equipment for automatic cleaning of glass vials containing metal supports according to claim 1, characterized in that: the mold transmission unit (5) includes a transmission base (51) and a pneumatic guide rail (52) installed on the transmission base (51) to provide a relative displacement path for the mold clamp (53), and the mold clamp (53) is in the form of clamping the vial placement mold (4) containing a number of glass vials and controlling transmission to the station to be cleaned by the PLC control unit (11) implement. 4. The equipment used to automatically clean the glass bottle for the glass bracket according to claim 1 is characterized by: the robotic arm clip unit (6) includes a six -axis robotic arm (61) and a small bottle fixture (62) installed on the front of the arm to hold the glass bottle. Specifically, the small bottle fixture (62) is formed by driving the six -axis robotic arm (61) and then rotating 360 °. 5. The device for automatic cleaning of glass vials containing metal supports according to claim 4, characterized in that: said cleaning unit (7) includes a cleaning tank (71) that receives the glass vials from the vial holder (62), and the cleaning unit (7) also includes a cleaning motor (74) that is positioned directly above the opening of the cleaning tank (71) and provides cleaning driving force for the brush (72), and the brush (72) can pass through the brush clip installed on the output side of the cleaning motor (74) The holding mechanism (73) is configured in a fastening manner. 6. the equipment for automatically cleaning the glass vials of holding metal support according to claim 5, characterized in that: the quantity of described hair brushes (72) is a plurality of, and a plurality of described hair brushes are driven to rotate by cleaning motor (74) to clean the glass vials of corresponding quantity simultaneously. 7. The device according to claim 1 or 4, which is used for automatic cleaning of glass vials containing metal supports, is characterized in that: it also includes a signal indicator light (10) protruding from the outside of the equipment base (1) and an air pressure control unit (9) that controls the pressure of the vial clamps (62). 8. A method for automatically cleaning the equipment for the glass vials holding the metal support as claimed in any one of claims 1-7, characterized in that the method comprises the following steps: S1. Soaking, place the vial placing mold (4) and the glass vial to be cleaned contained therein in the soaking unit (2); S2. Transposition, including vertical transposition and horizontal transposition in sequence, (1) transposition in the vertical direction, control the transmission cylinder (33) transmission by the PLC control unit (11) to place the vial mold (4) placed in the glass vials to be cleaned after soaking and positioned on the placement platform (31) in the vertical direction along the transmission surface (32); (2) Transposition in the horizontal direction, using the mold clamp (53) to fasten the raised vial placement mold (4) containing the glass vial to be cleaned, and then, the mold clamp (53) is driven to the station to be cleaned along the pneumatic guide rail (52) through the PLC control unit (11). S3. Clamping, the six-axis mechanical arm (61) moves to carry the vial clamp (62) to the position where the vial is placed on the mold (4) to be cleaned, and under the action of the air pressure control unit (9), the vial clamp (62) clamps the glass vial to be cleaned. After clamping, the six-axis mechanical arm (61) moves the glass vial to be cleaned to the cleaning tank (71) of the cleaning unit (7); S4. Cleaning, the cleaning unit (7) first rinses the glass vials through its configured rinse nozzle, and then the cleaning motor (74) drives the brush (72) on the brush clamping mechanism (73) to scrub the glass vials. In the process, the six-axis mechanical arm (61) drives the glass vials on the vial holder (62) to move up and down, so as to scrub every place of the glass vials, and finally use the rinse nozzle to rinse the glass vials again; S5. Homing, after cleaning, the six-axis mechanical arm (61) adjusts the position so that the bottle mouth of the glass vial that has been cleaned on the vial clamp (62) faces the cavity in the cleaning tank (71), and then the six-axis mechanical arm (61) implements a swinging action to dry the glass vial. After that, the six-axis mechanical arm (61) moves and the dried glass vial is put back in the vial placement mold (4) under the action of the vial clamp (62) and its air pressure control unit (9); S6. Unloading, when all the glass vials in the vial placing mold (4) are cleaned, the feeding transmission unit (8) drives and transports the vial placing mold (4) containing the clean glass vials to the clean storage station. 9. The method according to claim 8, characterized in that: in said S4, the operating rotation speed of the cleaning motor (74) is 10-100 rpm.