WO2018010647A1 - 混药器组装机 - Google Patents

混药器组装机 Download PDF

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Publication number
WO2018010647A1
WO2018010647A1 PCT/CN2017/092531 CN2017092531W WO2018010647A1 WO 2018010647 A1 WO2018010647 A1 WO 2018010647A1 CN 2017092531 W CN2017092531 W CN 2017092531W WO 2018010647 A1 WO2018010647 A1 WO 2018010647A1
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WO
WIPO (PCT)
Prior art keywords
assembly
cover
mixing cup
puncture needle
drive assembly
Prior art date
Application number
PCT/CN2017/092531
Other languages
English (en)
French (fr)
Inventor
邱宇
李科
张云
Original Assignee
重庆莱美药业股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 重庆莱美药业股份有限公司 filed Critical 重庆莱美药业股份有限公司
Priority to US16/317,519 priority Critical patent/US20190283192A1/en
Priority to JP2019500530A priority patent/JP6794524B2/ja
Priority to EP17826983.3A priority patent/EP3482871B1/en
Publication of WO2018010647A1 publication Critical patent/WO2018010647A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
    • B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
    • B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61J—CONTAINERS SPECIALLY ADAPTED FOR MEDICAL OR PHARMACEUTICAL PURPOSES; DEVICES OR METHODS SPECIALLY ADAPTED FOR BRINGING PHARMACEUTICAL PRODUCTS INTO PARTICULAR PHYSICAL OR ADMINISTERING FORMS; DEVICES FOR ADMINISTERING FOOD OR MEDICINES ORALLY; BABY COMFORTERS; DEVICES FOR RECEIVING SPITTLE
    • A61J1/00—Containers specially adapted for medical or pharmaceutical purposes
    • A61J1/14—Details; Accessories therefor
    • A61J1/20—Arrangements for transferring or mixing fluids, e.g. from vial to syringe
    • A61J1/2089—Containers or vials which are to be joined to each other in order to mix their contents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01F—MIXING, e.g. DISSOLVING, EMULSIFYING OR DISPERSING
    • B01F21/00—Dissolving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C65/00—Joining or sealing of preformed parts, e.g. welding of plastics materials; Apparatus therefor
    • B29C65/78—Means for handling the parts to be joined, e.g. for making containers or hollow articles, e.g. means for handling sheets, plates, web-like materials, tubular articles, hollow articles or elements to be joined therewith; Means for discharging the joined articles from the joining apparatus
    • B29C65/80—Rotatable transfer means for loading or unloading purposes, i.e. turret transfer means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001—Article feeders for assembling machines

Definitions

  • the invention relates to the technical field of mixing device assembly, in particular to a mixing device assembly machine.
  • the applicant has designed a hybrid device for use with an infusion soft bag and a vial in the prior patent.
  • the existing assembly equipment cannot complete the automatic assembly of the drug mixture, which seriously restricts the industrialization and popularization of the drug mixture.
  • the invention provides a mixing device assembly machine which can effectively improve work efficiency, save human resources and effectively ensure product quality.
  • a mixer assembly machine comprising: a frame provided with a rotatable indexing table, and a plurality of fixtures fixedly disposed on the indexing table; a cup mounting device disposed on the frame and docked with the indexing table for mounting a mixing cup on a fixture of the indexing table; a rubber plug mounting device disposed on the frame And docked with the indexing table for mounting the rubber plug in the mixing cup; the elastic snap mounting device is disposed on the frame and docked with the indexing table for elasticity
  • the buckle is installed in the mixing cup;
  • the puncture needle mounting device is disposed on the frame and is docked with the indexing table for mounting the puncture needle in the mixing cup;
  • the cover mounting device is disposed at The frame is coupled to the indexing table for mounting the cover plate on the mixing cup;
  • the welding device is disposed on the frame and is docked with the indexing table for An easy tear film covering the cover plate and soldered to the mixing cup; an output device disposed at the
  • the mixing cup mounting device, the rubber plug mounting device, the elastic snap mounting device, the puncture needle mounting device, the cover mounting device, the welding device, and the output device are sequentially along the indexing table
  • the outer circumference is arranged to form a ring shape.
  • the assembly machine further includes: a drip device for dropping a predetermined amount of liquid into the mixing cup during the assembly of the mixer.
  • the drip device includes a conduit for dropping a liquid into the mixing cup and a flow regulating device located on the conduit.
  • the mixing cup mounting device includes: a mixing cup conveying mechanism and a mixing cup gripping mechanism; the mixing cup conveying mechanism is for conveying a mixing cup, the mixing cup holder The taking mechanism is configured to clamp the mixed medicine cup on the mixing cup conveying mechanism, and place the mixed medicine cup on the fixture of the indexing table.
  • the mixing cup conveying mechanism comprises: a mixing cup oscillating disc and a mixing cup conveying rail; one end of the mixing cup conveying rail is docked with the mixing cup oscillating disc, and the other end Interfacing with the indexing table.
  • the mixed cup conveying track is a double conveying track
  • the mixed cup oscillating disk is a double oscillating disk
  • each oscillating disk correspondingly abuts one conveying track.
  • the mixing cup gripping mechanism comprises: a mixing cup transverse driving assembly, a mixing cup longitudinal driving assembly, and a gripping shaft; and the mixing cup longitudinal driving assembly is disposed on the mixed medicine a cup transverse drive assembly movable laterally under the driving of the mixing cup transverse drive assembly; the gripping shaft being disposed on the mixing cup longitudinal drive assembly for longitudinally driving the assembly in the mixing cup Drive the vertical movement.
  • the mixing cup mounting device further includes: a front blocking component and a rear blocking component respectively located on both sides of the clamping shaft, the front blocking component being adjacent to the mixing cup oscillation disk,
  • the rear blocking assembly is adjacent to the indexing table.
  • the mixed cup mounting device further includes: a mixed cup detector for detecting whether a mixed cup is present on the mixed cup conveying track; when the mixed cup detector is not detected When the mixing cup conveys the mixing cup on the track, the front blocking component and the mixing cup longitudinal driving component are in a retracted state, and the rear blocking component and the mixing cup transverse driving component are in an extended state; When the cup detector detects the mixing cup on the mixing cup conveying track, the front blocking assembly protrudes, and then the mixing cup longitudinal driving assembly extends to insert the clamping shaft into the mixing cup The rear blocking component is retracted, and then the mixing cup lateral drive assembly is retracted to place the mixing cup on the fixture of the indexing table.
  • a mixed cup detector for detecting whether a mixed cup is present on the mixed cup conveying track
  • the front blocking component and the mixing cup longitudinal driving component are in a retracted state
  • the rear blocking component and the mixing cup transverse driving component are in an extended state
  • the rubber plug mounting device includes: a rubber stopper conveying mechanism and a rubber stopper clamping mechanism; the rubber stopper conveying mechanism is configured to transport the rubber stopper, and the rubber stopper clamping mechanism is used for clamping A rubber plug on the rubber stopper conveying mechanism, and the rubber stopper is placed in the mixing cup.
  • the rubber stopper conveying mechanism includes: a rubber stopper oscillating disc and a rubber stopper conveying rail; one end of the rubber stopper conveying rail is butted to the rubber plug oscillating disc, and the other end is opposite to the indexing Docking.
  • the rubber plug conveying rail is a single conveying rail
  • the rubber plug oscillating disc is a single oscillating disc
  • the rubber plug gripping mechanism comprises: a rubber plug lateral drive assembly, a rubber plug longitudinal drive assembly and a rubber plug vacuum suction head; the rubber plug longitudinal drive assembly is disposed at the rubber plug lateral drive The component is movable laterally under the driving of the rubber plug lateral driving component; the rubber plug vacuum suction head is disposed on the rubber plug longitudinal driving component, and can be longitudinally moved by the rubber plug longitudinal driving component .
  • the rubber plug mounting device further includes: a rubber plug detector for detecting whether there is a rubber plug on the rubber plug conveying track; when the rubber plug detector does not detect the rubber plug conveying
  • the rubber plug longitudinal drive assembly is in a retracted state when the rubber plug on the track is in a retracted state; when the rubber plug detector detects the rubber plug on the rubber plug transport track,
  • the rubber plug longitudinal driving component protrudes, and the rubber plug is sucked by the rubber plug vacuum suction head, and then the rubber plug longitudinal driving component and the rubber plug horizontal driving component are sequentially retracted, and the rubber plug is brought over the mixing medicine cup. Then, the rubber plug longitudinal drive assembly extends again to install the rubber plug in the mixing cup.
  • the rubber stopper conveying rail is adjacent to one end of the indexing table.
  • a step is provided to prevent the rubber plug from derailing.
  • the rubber stopper conveying rail is provided with a protective plate for preventing the rubber stopper from being ejected.
  • the elastic snap mounting device includes: an elastic snap conveying mechanism and an elastic snap clamping mechanism; the elastic snap conveying mechanism is configured to transport an elastic buckle, and the elastic snap clip The taking mechanism is configured to clamp the elastic buckle on the elastic buckle conveying mechanism, and place the elastic buckle on the mixing cup.
  • the elastic buckle transport mechanism includes: an elastic snap oscillation disk and an elastic snap transport track; one end of the elastic snap transport track is docked with the elastic snap oscillation disk, and the other end Interfacing with the indexing table.
  • the elastic snap conveying rail is a single conveying rail
  • the elastic snapping oscillating disc is a single oscillating disc
  • the elastic snap clamping mechanism comprises: an elastic snap lateral drive assembly, an elastic snap longitudinal drive assembly and an elastic snap vacuum suction head; the elastic snap longitudinal drive assembly is disposed at the The elastic snap lateral drive assembly is laterally movable by the elastic snap lateral drive assembly; the elastic snap vacuum suction head is disposed on the elastic snap longitudinal drive assembly, and the elastic The longitudinal movement of the buckle longitudinal drive assembly is driven.
  • the elastic snap mounting device further includes: an elastic snap detector for detecting whether there is an elastic buckle on the elastic buckle transport rail; when the elastic snap detector is not detected When the elastic buckle on the elastic buckle transporting track, the elastic snap longitudinal driving assembly is in a retracted state, the elastic snap lateral driving component is in an extended state; when the elastic snap detector detects the When the elastic buckle buckles the rubber plug on the rail, the elastic buckle longitudinal driving assembly protrudes, and the elastic buckle is sucked by the elastic snap vacuum suction head, and then the elastic buckle longitudinal driving component and the elastic buckle The lateral drive assembly is retracted in sequence, and the elastic snap is brought over the mixing cup, and then the elastic snap longitudinal drive assembly extends again to mount the elastic snap into the mixing cup.
  • the puncture needle mounting device includes: a puncture needle transport mechanism and a puncture needle gripping mechanism; the puncture needle transport mechanism is configured to transport a puncture needle, and the puncture needle is gripped The mechanism is for gripping a puncture needle on the puncture needle delivery mechanism and placing the puncture needle on the mixing cup.
  • the puncture needle transport mechanism includes a puncture needle oscillation disk and a puncture needle transport track; one end of the puncture needle transport track is docked with the puncture needle oscillation plate, and the other end is opposite to the index table Docking.
  • the puncture needle transporting track is a single transporting track
  • the puncture needle oscillating disk is a single oscillating disk
  • the puncture needle gripping mechanism comprises a puncture needle lateral drive assembly, a puncture needle longitudinal drive assembly and a puncture needle vacuum suction head;
  • the puncture needle longitudinal drive assembly is disposed on the puncture needle lateral drive assembly
  • the needle can be moved laterally under the driving of the needle driving device;
  • the needle vacuum nozzle is disposed on the needle longitudinal driving assembly and can be longitudinally moved by the longitudinal driving assembly of the needle.
  • the puncture needle mounting device further includes: a puncture needle detector for detecting whether there is a puncture needle on the puncture needle transporting track; and the puncture needle detector does not detect the puncture needle transporting
  • the puncture needle longitudinal drive assembly is in a retracted state, the puncture needle lateral drive assembly is in an extended state;
  • the puncture needle detector detects the puncture needle on the puncture needle transport track,
  • the longitudinal driving assembly of the puncture needle is extended, and the puncture needle is sucked by the puncture needle vacuum suction head, and then the longitudinal driving component of the puncture needle and the lateral driving component of the puncture needle are sequentially retracted, and the puncture needle is brought to the top of the mixing cup.
  • the needle longitudinal driving assembly is extended again, and the puncture needle is installed in the mixing cup.
  • the cover mounting device includes: a cover conveying mechanism and a cover clamping mechanism; the cover conveying mechanism is for conveying a cover, and the cover clamping mechanism is for clamping A cover plate on the cover conveying mechanism, and the cover plate is placed on the mixing cup.
  • the cover conveying mechanism includes a cover oscillating disk and a cover conveying track; one end of the cover conveying track is butted against the cover oscillating disk, and the other end is opposite to the indexing table Docking.
  • the cover transport track is a single transport track
  • the cover oscillating disk is a single oscillating disk
  • the cover gripping mechanism includes a cover lateral drive assembly, a cover longitudinal drive assembly, and a cover vacuum nozzle; the cover longitudinal drive assembly is disposed on the cover lateral drive assembly The cover can be moved laterally under the driving of the cover lateral drive assembly; the cover vacuum nozzle is disposed on the cover longitudinal drive assembly and can be longitudinally moved by the cover longitudinal drive assembly.
  • the cover mounting device further includes: a cover blocking assembly adjacent to the cover oscillating disk for blocking a cover of the cover oscillating disk to the cover transport track board.
  • the cover mounting device further includes: a cover detector for detecting whether a cover plate exists on the cover transport rail; and the cover detector does not detect the cover transport
  • the cover longitudinal drive assembly and the cover block assembly are in a retracted state, and the cover lateral drive assembly is in an extended state; when the cover detector detects the cover transport track
  • the cover blocking assembly is extended, and then the cover longitudinal drive assembly is extended, and the cover is sucked by the cover vacuum suction head, and then the cover longitudinal drive assembly and the cover are laterally
  • the drive assembly is retracted in sequence, bringing the cover over the mixing cup, and then the cover longitudinal drive assembly extends again to mount the cover to the mixing cup.
  • the welding device includes: a film feeding mechanism, a film pulling mechanism, a welding mechanism, and a film cutting mechanism; and the film feeding mechanism is configured to send the easy tear film to the film pulling mechanism, the film pulling film
  • the mechanism is for feeding the easy tear film to the top of the mixing cup, and the welding mechanism is for welding the easy tear film above the mixing cup to the mixing cup, and the slitting mechanism is used for cutting the easy tear film.
  • the film feeding mechanism includes: a film roll holder, a tensioning cylinder, a fixing roller, and a film feeding roller; the tensioning cylinder drives the film feeding roller to easily tear the film roll holder The film is fed to the film pulling mechanism by a fixed roller.
  • the film pulling mechanism comprises: an easy tear film lateral driving component, an easy tear film longitudinal driving component and an easy tear film vacuum suction head; the easy tear film longitudinal driving component is disposed on the easy tearing
  • the film lateral driving component is laterally movable under the driving of the easy-to-peel film lateral driving component; the easy-to-peel film vacuum suction head is disposed on the easy-to-peel film longitudinal driving component, and can be longitudinally The longitudinal movement of the drive assembly is carried out.
  • the film pulling mechanism further includes: a stamper assembly for pressing the easily tearable film by the pressing film block before the easy-to-peel film vacuum suction head sucks the easily tearable film.
  • the pressing block is pressed against the side of the easily tearable film to provide an anti-slip mat.
  • the welding mechanism includes a solder film driving assembly and a solder film mold, and the solder film mold is connected to a driving end of the solder film driving assembly.
  • the welding film mold is provided with a heating rod and a temperature sensor.
  • the slitting mechanism includes a slit film driving assembly and a slitting blade, and the slitting blade is coupled to a driving end of the slit film driving assembly.
  • the welding apparatus further includes: a film repairing mechanism for modifying the shape of the easy-to-peel film welded to the mixing cup to facilitate tearing off during use.
  • the film repairing mechanism includes: a film repair driving assembly and a reticle, the trowel blade being coupled to a driving end of the film repair driving assembly.
  • the trowel is a serrated knife.
  • the driving end of the film repair driving assembly is provided with a blade holder, and the trowel blade is mounted on the blade holder.
  • the heater is provided in the holder.
  • the output device includes: an output driving assembly and an output rail, the output rail is docked with the indexing table, and a driving shaft of the output driving assembly is to be mounted on the indexing table The assembled blender is pushed into the output track.
  • the mixing device assembly machine of the invention is controlled by a PLC, and the components of the mixing device interface are conveyed to the predetermined position of the device through a feeding system composed of an array oscillating disk and a track, and each part is passed through a robot, a vacuum suction head or a gripping device. It is assembled on an indexing table driven by a servo motor or a pneumatic indexing table or an intermittent splitter, which effectively improves work efficiency, saves human resources, and ensures product assembly quality.
  • FIG. 1 is a schematic view showing the structure of a blender to which the mixer assembly machine provided in the embodiment of the present invention is applied;
  • Figure 1a is a schematic view showing the structure of a mixing cup and a rubber stopper of a component in a drug mixture
  • Figure 1b is a schematic view showing the structure of the elastic buckle of the components in the mixing device
  • Figure 1c is a schematic view showing the structure of a puncture needle of a component in a drug mixture
  • Figure 1d is a schematic structural view of a cover of a component in a drug blender
  • Figure 1e is a schematic view showing the structure of each component in the mixing device
  • FIG. 2 is a schematic structural view of a mixer assembly machine provided in an embodiment of the present invention.
  • FIG. 3 is a schematic view showing the structure of the mixing cup mounting device of Figure 2;
  • Figure 4 is a schematic view showing the structure of the rubber plug mounting device of Figure 2;
  • Figure 5 is a schematic view showing the structure of the elastic snap mounting device of Figure 2;
  • Figure 6 is a schematic view showing the structure of the puncture needle mounting device of Figure 2;
  • FIG. 7 is a schematic structural view of a drip device of a mixed drug assembly machine provided in an embodiment of the present invention.
  • Figure 8 is a schematic view showing the structure of the cover mounting device of Figure 2;
  • Figure 9 is a schematic view showing the structure of the film feeding mechanism of the welding device of Figure 2;
  • Figure 10 is a schematic view showing the structure of the film pulling mechanism of the welding device of Figure 2;
  • FIG 11 is a schematic view showing the structure of the welding mechanism of the welding device of Figure 2;
  • Figure 12 is a schematic view showing the structure of the slitting mechanism of the welding device of Figure 2;
  • Figure 13 is a schematic view showing the structure of the film repairing mechanism of the welding device of Figure 2;
  • Figure 14 is a schematic view showing the structure of the output device of Figure 2;
  • 15 is a schematic view showing the working flow of a mixer assembly machine provided in an embodiment of the present invention.
  • 1 is a mixing cup
  • 2 is a rubber stopper
  • 3 is an elastic buckle
  • 4 is a puncture needle
  • 5 is a cover plate
  • 6 is an easy tear film
  • 100 is a frame
  • 101 is an indexing table
  • 102 is a fixture
  • 200 is a mixing cup mounting device, 201 is a mixing cup oscillating disc, and 202 is a mixing cup conveying rail.
  • 203 is a mixing cup transverse driving component, 204 is a mixing cup longitudinal driving component, 205 is a clamping shaft, 206 is a front blocking component, and 207 is a rear blocking component;
  • 300 is a rubber plug mounting device, 301 is a rubber plug oscillating disc, 302 is a rubber plug conveying rail, 303 is a rubber plug lateral driving component, 304 is a rubber plug longitudinal driving component, and 305 is a rubber plug vacuum suction head;
  • 400 is an elastic snap mounting device
  • 401 is an elastic snap oscillating disc
  • 402 is an elastic snap transport rail
  • 403 is an elastic snap lateral drive assembly
  • 404 is an elastic snap longitudinal drive assembly
  • 405 is an elastic snap vacuum suction head ;
  • 500 is a puncture needle installation device
  • 501 is a puncture needle oscillation plate
  • 502 is a puncture needle transport track
  • 503 is a puncture needle lateral drive assembly
  • 504 is a puncture needle longitudinal drive assembly
  • 505 is a puncture needle vacuum suction head
  • 506 is a catheter
  • 508 is a liquid container
  • 600 is a cover mounting device, 601 is a cover oscillating disc, 602 is a cover transport track, 603 is a cover lateral drive assembly, 604 is a cover longitudinal drive assembly, 605 is a cover vacuum nozzle; 606 is a cover blocked Component
  • 700 is a welding device
  • 701 is a film roll holder
  • 702 is a tensioning cylinder
  • 703 is a fixed roll
  • 704 is a film feed roll
  • 705 is an easy tear film lateral drive assembly
  • 706 is an easy tear film longitudinal drive assembly
  • 707 is easy to tear.
  • 708 is a stamping module
  • 709 is a lamination block
  • 710 is a welding film driving assembly
  • 711 is a welding film mold
  • 712 is a slit film driving assembly
  • 713 is a slitting knife
  • 714 is a laminating driving assembly.
  • 800 is an output device, 801 is an output drive component, and 802 is an output track.
  • FIG. 1 is a schematic structural view of a mixing device suitable for a mixing device assembly machine provided in an embodiment of the present invention
  • FIG. 1a is a schematic structural view of a mixing cup and a rubber stopper of a component in a mixing device
  • 1b is a schematic structural view of an elastic buckle of a component in the drug mixture
  • FIG. 1c is a schematic structural view of a puncture needle of a component in the drug mixture
  • FIG. 1d is a schematic structural view of a cover plate of a component in the drug mixture
  • the mixing device assembled by the mixer assembly machine provided by the invention comprises a mixing cup 1, a rubber stopper 2, an elastic buckle 3, a puncture needle 4, a cover plate 5 and an easy tear film 6 .
  • the rubber plug 2, the elastic buckle 3, the puncture needle 4 are disposed in the mixing cup 1, the cover plate 5 covers the cup mouth of the mixing cup 1, and the easy tear film 6 covers the cover plate 5.
  • the shapes of the various components of the hybrid device shown in FIG. 1 are only used to enable the public to better understand the mixing device assembled by the mixer assembly machine provided by the present invention, and cannot be used to limit the present. The scope of protection of the invention.
  • FIG. 2 is a schematic view showing the structure of a mixer assembly machine provided in an embodiment of the present invention.
  • the mixing device assembly machine of the embodiment includes at least a frame 100, a mixing cup mounting device 200, a rubber plug mounting device 300, an elastic snap mounting device 400, a puncture needle mounting device 500, a drip device, and a cover mounting device. 600, welding device 700 and output device 800.
  • the mixing cup mounting device 200, the rubber plug mounting device 300, the elastic snap mounting device 400, the puncture needle mounting device 500, the cover mounting device 600, the welding device 700, and the output device 800 are sequentially formed along the outer circumference of the indexing table 101.
  • the rings are connected to the indexing table 101 on the frame 100 in order, so that the various parts of the mixer can be assembled on the indexing table 101 efficiently and orderly.
  • the mixed cup mounting device 200 first interfaces with the indexing table 101, and the mixed medicine cup 1 is attached to the jig 102 of the indexing table 101.
  • the indexing table 101 continues to rotate by a predetermined angle, so that the fixture 102 is rotated to the docking point with the rubber plug mounting device 300, and the rubber plug mounting device 300 mounts the rubber plug 2 to the mixing cup 1 Inside.
  • the indexing table 101 continues to rotate by a predetermined angle, so that the fixture 102 is rotated to the interface with the elastic snap mounting device 400, and the elastic snap mounting device 400 mounts the elastic buckle 3 to the mixed drug.
  • the indexing table 101 continues to rotate by a predetermined angle, so that the fixture 102 is rotated to and the puncture needle mounting device 500 At the docking point, the puncture needle mounting device 500 mounts the puncture needle 4 in the mixing cup 1.
  • the indexing table 101 continues to rotate by a predetermined angle, so that the jig 102 is rotated to the interface with the cover mounting device 600, and the cover mounting device 600 covers the cover 5 to the cup of the mixing cup 1. On the mouth.
  • the indexing table 101 continues to rotate by a predetermined angle, so that the fixture 102 is rotated to the interface with the welding device 700, and the welding device 700 covers the easy-to-peel film 6 on the cover plate 5, and The easy-to-peel film 6 is welded to the mixing cup 1, and the assembly of the mixing device is completed.
  • the indexing table 101 continues to rotate a predetermined angle such that the fixture 102 is rotated to the interface with the output device 800, and the output device 800 removes the assembled blender from the fixture 102. And the taken out of the mixer is output.
  • the rack 100 is provided with an indexing table 101 rotatable relative to the rack 100, and the indexing table 101 is rotated by its own center as a center of rotation under the driving of a servo motor or a pneumatic indexing table or an intermittent splitter drive. .
  • the mesa of the indexing table 101 is in the shape of a circle, a regular polygon or other centrally symmetrical pattern.
  • the mesa of the indexing table 101 shown in Fig. 1 has a circular shape.
  • a plurality of fixtures 102 are fixedly arranged in an annular shape, and the fixtures 102 are used for fixing the mixing cups fed into the fixtures 102 by clamping.
  • the mixing cup can be rotated following the rotation of the indexing table 101.
  • Figure 3 is a schematic view showing the structure of the mixing cup mounting device of Figure 2.
  • the structure of the mixing cup mounting device 200 includes as shown in FIG. 3: a mixing cup conveying mechanism and a mixing cup gripping mechanism, and the mixing cup conveying mechanism is used for conveying the mixing cup to the gripping mechanism of the mixing cup gripping mechanism.
  • the mixing cup gripping mechanism is used for gripping the mixing cup on the mixing cup conveying mechanism, and placing the mixing cup on the fixture 102 of the indexing table 101.
  • the mixed cup conveying mechanism includes a mixing cup oscillating disc 201 and a mixing cup conveying rail 202, and one end of the mixing cup conveying rail 202 is docked with the discharging port of the mixing cup oscillating disc 201, and the mixing cup conveying rail The other end of the 202 is docked with the indexing table 101, and the mixing cup oscillating disc 201 conveys the mixing cup to the indexing table 101 through the mixing cup conveying rail 202.
  • the number of the mixing cup conveying rails 202 may be one or more, and the number of the mixing cup oscillating discs 201 may be one or more, and it should be noted that The number 202 of mixing bowl conveyor tracks should be the same as the number of mixing bowl oscillating discs 201 such that each oscillating disc is correspondingly docked to a conveyor track, ie, responsible for conveying a mixing cup.
  • the mixing cup conveying rail 202 is a double conveying rail
  • the mixing cup oscillating disc 201 is a double oscillating disc. This embodiment is not intended to limit the scope of protection of the present invention.
  • the mixing cup gripping mechanism includes a mixing cup transverse drive assembly 203, a mixing cup longitudinal drive assembly 204, and a gripping shaft 205.
  • the mixing cup longitudinal driving assembly 204 is disposed on the mixing cup transverse driving assembly 203.
  • the mixing cup longitudinal driving assembly 204 can be laterally moved by the mixing cup transverse driving assembly 203, and the clamping shaft 205 is disposed on the mixing cup.
  • the gripping shaft 205 is longitudinally movable by the mixing cup longitudinal drive assembly 204.
  • the gripping shaft 205 can be inserted into the mixing cup under the driving of the mixing cup longitudinal driving assembly 204 and the mixing cup lateral driving assembly 203 to place the mixing cup on the fixture 102 of the indexing table 101.
  • the mixing cup transverse drive assembly 203 and the mixing cup longitudinal drive assembly 204 are both driving cylinders, and the mixing cup longitudinal drive assembly 204 is coupled to the cylinder rod of the mixing cup transverse drive assembly 203, and the clamping shaft 205 is mixed with The cylinder rod of the cup longitudinal drive assembly 204 is coupled.
  • the mixing cup mounting device 200 further includes: a mixing cup detector and a front blocking assembly 206 and a rear blocking assembly 207 respectively located on both sides of the gripping shaft 205, the front blocking member 206 and the rear blocking member 207 each having a flap
  • the cylinder, the front blocking assembly 206 is adjacent to the mixing cup oscillating disc 201, the rear blocking assembly 207 is adjacent to the indexing table 101, and the mixing cup detector is for detecting whether there is a mixing cup on the mixing cup conveying rail 202, when the mixing cup detector is When the mixing cup on the mixing cup transport track 202 is not detected, the front blocking assembly 206 is in a retracted state, ie, the flap of the front blocking assembly 206 is retracted, and the mixing cup longitudinal drive assembly 204 is also in a retracted state, ie The cylinder rod of the mixing cup longitudinal drive assembly 204 is retracted, the rear blocking assembly 207, and the mixing cup transverse drive assembly 203 are in an extended state, that is, the flap of the rear blocking
  • the medicine cup is pushed forward to cause
  • the mixing cup longitudinal drive assembly 204 then drives its cylinder rod to extend to insert the gripping shaft 205 into the mixing cup, and the rear blocking assembly 207 drives its flap to retract, and then the mixing cup is laterally Drive component 203 drives its cylinder rod to retract to place the mixing cup on the fixture 102 of the indexing table 101, after which the gripping shaft 205 of the mixing cup is separated from the cup, and the rear blocking assembly 207 drives its flap to extend.
  • the blocking component 206 drives its flap to retract, returns to the initial state, the indexing table 101 rotates, the empty fixture 102 enters the mixing cup installation station, waits for the next cycle, and the mixing cup is taken to the next station. That is, the rubber plug installation station.
  • Fig. 4 is a view showing the structure of the rubber plug mounting device of Fig. 2.
  • the structure of the rubber plug mounting device 300 includes: a rubber plug conveying mechanism and a rubber plug clamping mechanism, the rubber plug conveying mechanism is used for conveying the rubber plug, and the rubber plug clamping mechanism is used for clamping the rubber plug conveying mechanism. Plug the rubber plug and install the rubber plug into the mixing cup.
  • the rubber plug conveying mechanism includes a rubber plug oscillating disc 301 and a rubber plug conveying rail 302.
  • One end of the rubber plug conveying rail 302 is docked with the rubber plug oscillating disc 301, and the other end of the rubber plug conveying rail 302 is docked with the indexing table 101.
  • the rubber plug oscillating disc 301 conveys the rubber plug to the indexing table 101 through the rubber stopper conveying rail 302.
  • the rubber plug conveying rail 302 is a single conveying rail
  • the rubber plug oscillating disc 301 is a single oscillating disc, which is responsible for the conveying of the two rubber plugs.
  • the rubber plug gripping mechanism includes a rubber plug lateral drive assembly 303, a rubber plug longitudinal drive assembly 304, and a rubber plug vacuum nozzle 305.
  • the rubber plug longitudinal drive assembly 304 is disposed on the rubber plug lateral drive assembly 303.
  • the rubber plug longitudinal drive assembly 304 can be laterally moved by the rubber plug lateral drive assembly 303.
  • the rubber plug vacuum suction nozzle 305 is disposed on the rubber plug longitudinal drive assembly.
  • the rubber plug vacuum tip 305 is longitudinally movable by the rubber plug longitudinal drive assembly 304.
  • the rubber plug vacuum nozzle 305 holds the rubber plug under the rubber plug longitudinal drive assembly 304 and the rubber plug lateral drive assembly 303 to install the rubber plug into the mixing cup.
  • the rubber plug lateral drive assembly 303 and the rubber plug longitudinal drive assembly 304 are both drive cylinders, and the rubber plug longitudinal drive assembly 304 is coupled to the cylinder rod of the rubber plug lateral drive assembly 303, the rubber plug vacuum nozzle 305 and the rubber plug longitudinally The cylinder rods of the drive assembly 304 are coupled.
  • the rubber plug mounting device 300 also includes a rubber plug detector for detecting the presence or absence of a rubber plug on the rubber plug transport track 302.
  • the PLC controller controls the cylinder rod of the rubber plug longitudinal driving assembly 304 to be in a retracted state, and controls The cylinder rod of the rubber plug lateral drive assembly 303 is in an extended state;
  • the PLC controller controls the cylinder rod of the rubber plug longitudinal drive assembly 304 to protrude through the glue
  • the plug vacuum nozzle 305 sucks the rubber plug, and then controls the cylinder rod of the rubber plug longitudinal drive assembly 304, the cylinder rod of the rubber plug lateral drive assembly 303 to be sequentially retracted, and the rubber plug is brought over the mixing cup, and then the rubber plug is controlled longitudinally.
  • the cylinder rod of the driving assembly 304 is extended again to install the rubber plug in the mixing cup, and then returns to the initial state, the indexing table 101 rotates, the empty fixture 102 enters the rubber plug installation station, waits for the next cycle, and mixes The cup is taken to the next station, the elastic snap-fit station.
  • one end of the rubber plug transporting track 302 near the indexing table 101 is provided with a step for preventing the rubber plug from being separated from the rubber plug conveying rail 302, and the rubber plug conveying rail 302 is provided with a protection against the popping out of the rubber plug. board.
  • Figure 5 is a schematic view showing the structure of the elastic snap mounting device of Figure 2.
  • the structure of the elastic snap mounting device 400 includes an elastic snap conveying mechanism and an elastic snap clamping mechanism.
  • the elastic snap conveying mechanism is used for conveying the elastic buckle, and the elastic snap clamping mechanism is used for clamping.
  • the elastic buckle on the elastic buckle conveying mechanism and the elastic buckle is installed in the mixing cup.
  • the elastic snap-transport mechanism includes an elastic snap-on oscillating disc 401 and an elastic snap-transporting rail 402.
  • One end of the elastic snap-transporting rail 402 is docked with the elastic snap-on oscillating disc 401, and the other end of the elastic snap-fed transporting track 402
  • the elastic buckle oscillating disc 401 is transported to the indexing table 101 through the elastic snap conveying rail 402.
  • the elastic buckle conveying rail 402 is a single conveying rail
  • the elastic snapping oscillating disc 401 is a single oscillating disc, which is responsible for the transportation of the two elastic buckles.
  • the elastic snap gripping mechanism includes an elastic snap lateral drive assembly 403, an elastic snap longitudinal drive assembly 404, and an elastic snap vacuum nozzle 405.
  • the elastic snap longitudinal drive assembly 404 is disposed on the elastic snap lateral drive assembly 403.
  • the elastic snap forward drive assembly 404 can be laterally moved by the elastic snap lateral drive assembly 403.
  • the elastic snap vacuum nozzle 405 is disposed on On the elastic snap longitudinal drive assembly 404, the resilient snap vacuum nozzle 405 is longitudinally movable by the resilient snap longitudinal drive assembly 404. In this way, the elastic snap vacuum nozzle 405 sucks the elastic buckle under the driving of the elastic snap longitudinal driving component 404 and the elastic snap lateral driving component 403 to Install the elastic clip into the mixing cup.
  • the elastic snap lateral drive assembly 403 and the elastic snap longitudinal drive assembly 404 are both driving cylinders, and the elastic snap longitudinal drive assembly 404 is coupled to the cylinder rod of the elastic snap lateral drive assembly 403, and the elastic snap vacuum nozzle 405 is coupled to the cylinder rod of the resilient snap longitudinal drive assembly 404.
  • the elastic snap mounting device 400 further includes an elastic snap detector for detecting the presence or absence of an elastic snap on the elastic snap transport track 402.
  • the elastic buckle longitudinal driving assembly 404 is in the retracted state, that is, the cylinder rod of the elastic snap longitudinal driving assembly 404 is retracted, and the elastic card is
  • the buckle lateral drive assembly 403 is in an extended state, that is, the cylinder rod of the elastic snap lateral drive assembly 403 is extended; when the elastic buckle detector detects the elastic buckle on the elastic buckle transport rail 402, the elastic buckle is longitudinally driven
  • the assembly 404 drives the cylinder rod to extend, and the elastic buckle is sucked by the elastic snap vacuum nozzle 405, and then the cylinder rod of the elastic snap longitudinal drive assembly 404 and the cylinder rod of the elastic snap lateral drive assembly 403 are sequentially retracted.
  • the elastic buckle is brought over the mixing cup, and then the elastic snap longitudinal driving assembly 404 drives the cylinder rod to extend again to install the elastic buckle in the mixing cup, and then returns to the initial state, the indexing table 101 rotates, and the space is empty.
  • the fixture 102 enters the elastic snap installation station, waits for the next cycle, and the mixing cup is brought to the next station, the puncture needle installation station.
  • the elastic buckle mounting station Since the elastic buckle needs to be stuck in the mixing cup, the amount of downward pressure is large, and in order to prevent deformation or damage of the mixing cup, the elastic buckle mounting station has metal support.
  • Fig. 6 is a view showing the structure of the puncture needle mounting device of Fig. 2.
  • the structure of the puncture needle mounting device 500 includes a puncture needle transport mechanism and a puncture needle gripping mechanism as shown in FIG. 6.
  • the puncture needle transport mechanism is used for transporting the puncture needle
  • the puncture needle gripping mechanism is used for gripping the puncture needle transport mechanism. Puncture the needle and install the needle into the mixing cup.
  • the puncture needle transport mechanism includes a puncture needle oscillation disk 501 and a puncture needle transport track 502.
  • One end of the puncture needle transport track 502 is docked with the puncture needle oscillation disk 501, and the other end of the puncture needle transport track 502 is docked with the index table 101.
  • the puncture needle oscillating disc 501 transports the puncture needle to the indexing table 101 through the puncture needle transporting track 502.
  • the puncture needle transport track 502 is a single transport track
  • the puncture needle oscillation disk 501 is Single oscillating disc, responsible for the delivery of two puncture needles.
  • the puncture needle gripping mechanism includes a puncture needle lateral drive assembly 503, a puncture needle longitudinal drive assembly 504, and a puncture needle vacuum tip 505.
  • the puncture needle longitudinal drive assembly 504 is disposed on the puncture needle lateral drive assembly 503.
  • the puncture needle longitudinal drive assembly 504 can be laterally moved by the puncture needle lateral drive assembly 503.
  • the puncture needle vacuum suction head 505 is disposed on the puncture needle longitudinal drive assembly.
  • the puncture needle vacuum tip 505 is longitudinally movable by the puncture needle longitudinal drive assembly 504.
  • the puncture needle vacuum tip 505 sucks the puncture needle under the driving of the puncture needle longitudinal drive assembly 504 and the puncture needle lateral drive assembly 503 to mount the puncture needle into the mixing cup.
  • the puncture needle lateral drive assembly 503 and the puncture needle longitudinal drive assembly 504 are both drive cylinders
  • the puncture needle longitudinal drive assembly 504 is coupled to the cylinder rod of the puncture needle lateral drive assembly 503, the puncture needle vacuum nozzle 505 and the puncture needle longitudinally
  • the cylinder rods of the drive assembly 504 are connected.
  • the puncture needle mounting device 500 also includes a puncture needle detector for detecting the presence or absence of a puncture needle on the puncture needle transport track 502.
  • the puncture needle longitudinal drive assembly 504 is in a retracted state, ie, the cylinder rod of the puncture needle longitudinal drive assembly 504 is retracted, and the puncture needle lateral drive assembly 503 is In the extended state, that is, the cylinder rod of the puncture needle lateral drive assembly 503 is extended;
  • the puncture needle longitudinal drive assembly 504 drives the cylinder rod to extend through the puncture
  • the needle vacuum nozzle 505 sucks the puncture needle, and then the cylinder rod of the puncture needle longitudinal drive assembly 504 and the cylinder rod of the puncture needle lateral drive assembly 503 are sequentially retracted, and the puncture needle is brought over the mixing cup, and then the puncture needle longitudinal drive assembly
  • the mixer assembly machine further includes a drip device for dropping a predetermined amount of liquid into the mixing cup during the assembly of the mixing device, which is required to be described
  • the process position of the injection device is relatively random, and can be installed between the mixing cup mounting device 200 and the rubber plug mounting device 300, or between the rubber plug mounting device 300 and the elastic snap mounting device 400, and can also be installed in the elastic state. Between the buckle mounting device 400 and the puncture needle mounting device 500, even It is installed between the puncture needle mounting device 500 and the cap mounting device 600, but it should be noted that the drip must be completed before the cap is installed.
  • Fig. 7 is a view showing the structure of a drip device of a mixer assembly machine provided in an embodiment of the present invention.
  • the structure of the drip device includes, as shown in Fig. 7, a conduit 506 for dropping liquid into the mixing cup and a flow regulating device 507 located on the conduit 506, and the conduit 506 and the flow regulating device 507 are used for dropping into the mixing cup.
  • the instilled liquid may be water for injection.
  • the flow regulating device 507 can be a peristaltic pump.
  • Fig. 8 is a view showing the structure of the cover mounting device of Fig. 2.
  • the structure of the cover mounting device 600 includes a cover conveying mechanism and a cover clamping mechanism as shown in FIG. 8.
  • the cover conveying mechanism is used for conveying the cover plate
  • the cover clamping mechanism is used for clamping the cover conveying mechanism. Cover and install the cover onto the mixing cup.
  • the cover transport mechanism includes a cover oscillating disc 601 and a cover transport rail 602.
  • One end of the cover transport rail 602 is docked with the cover oscillating disc 601, and the other end of the cover transport rail 602 is docked with the indexing table 101.
  • the cover oscillating disc 601 conveys the cover to the indexing table 101 through the cover transport rail 602.
  • the cover transport rail 602 is a single transport track
  • the cover oscillating disc 601 is a single oscillating disc, which is responsible for the transport of the two cover plates.
  • the cover gripping mechanism includes a cover lateral drive assembly 603, a cover longitudinal drive assembly 604, and a cover vacuum nozzle 605.
  • the cover longitudinal drive assembly 604 is disposed on the cover lateral drive assembly 603.
  • the cover longitudinal drive assembly 604 can be laterally moved by the cover lateral drive assembly 603.
  • the cover vacuum nozzle 605 is disposed on the cover longitudinal drive assembly.
  • the cover vacuum nozzle 605 is longitudinally movable by the cover longitudinal drive assembly 604.
  • the cover vacuum nozzle 605 draws the cover under the driving of the cover longitudinal drive assembly 604 and the cover lateral drive assembly 603 to mount the cover to the mixing cup.
  • cover lateral drive assembly 603 and the cover longitudinal drive assembly 604 are both cylinder rod connections for driving the cylinder cover longitudinal drive assembly 604 and the cover transverse drive assembly 603, and the cover vacuum nozzle 605 and the cover are longitudinally driven.
  • the cylinder rods of assembly 604 are connected.
  • the cover mounting device 600 also includes a cover blocking assembly 606 and a puncture needle detector.
  • the cover blocking assembly 606 is adjacent to the cover oscillating plate 601. Since the cover is relatively thin, the cover blocking assembly 606 extends when the cover is pressed under the cover vacuum 605, blocking the next set of covers to prevent mutual squeezing Pressure interference, the cover block assembly 606 is a cylinder with a flap.
  • the cover detector is configured to detect whether there is a cover on the cover transport rail 602.
  • the PLC controller controls the cylinder rod of the cover longitudinal drive assembly 604,
  • the flap of the cover blocking assembly 606 is in a retracted state, and the control cover lateral drive assembly 603 is in an extended state, that is, the cover lateral drive assembly 603 drives its cylinder rod to extend;
  • the cover detector detects the cover transport track
  • the PLC controller controls the flap of the cover block assembly 606 to extend, and then the cylinder rod of the cover longitudinal drive assembly 604 is extended, and the cover is sucked by the cover vacuum nozzle 605, and then controlled.
  • the cylinder rod of the cover longitudinal drive assembly 604, the cylinder rod of the cover lateral drive assembly 603 are sequentially retracted, and the cover plate is brought over the mixing cup, and then the cylinder rod of the control cover longitudinal drive assembly 604 is extended again, and the cover is closed.
  • the plate is mounted on the mixing cup, and then returns to the initial state, the indexing table 101 rotates, the empty fixture 102 enters the cover installation station, waits for the next cycle, and the mixing cup is brought to the next station, that is, welding Installation station.
  • the welding device 700 is disposed on the frame 100 and interfaces with the indexing table 101 for welding the easy-to-peel film to the mixing cup to complete the assembly of the mixing device.
  • the welding device 700 includes a film feeding mechanism, a film pulling mechanism, a welding mechanism, and a film cutting mechanism.
  • the film feeding mechanism is used for sending the easy tear film to the film pulling mechanism
  • the film pulling mechanism is used for sending the easy tear film to the top of the mixing cup
  • the welding mechanism is used for welding the easy tear film above the mixing cup to the mixed medicine.
  • the slitting mechanism is used to cut the easily tearable film.
  • Fig. 9 is a view showing the structure of the film feeding mechanism of the welding device of Fig. 2.
  • the structure of the film feeding mechanism includes a film roll holder 701, a tension cylinder 702, a fixed roller 703, and a film feed roller 704 as shown in FIG.
  • the film feeding roller 704 is connected to the driving end of the tensioning cylinder 702, and the film winding bracket 701 and the fixed roller 703 are both disposed on the welding device.
  • the tensioning cylinder 702 drives the film feeding roller 704, and the easy tear film on the film wrapping frame 701 is sent to the film pulling mechanism through the fixing roller 703, that is, the tensioning cylinder.
  • the fixing roller 703 that is, the tensioning cylinder.
  • Fig. 10 is a view showing the structure of the film drawing mechanism of the welding device of Fig. 2.
  • the film pulling mechanism includes an easy tear film lateral driving assembly 705, an easy tear film longitudinal driving assembly 706, and an easy tear film vacuum suction nozzle 707.
  • the easy-to-peel film longitudinal drive assembly 706 is disposed on the easy-to-peel film lateral drive assembly 705.
  • the easy-to-peel film longitudinal drive assembly 706 can be laterally moved by the easy-to-peel film lateral drive assembly 705.
  • the easy-to-peel film vacuum suction nozzle 707 is disposed on the On the easy-to-peel film longitudinal drive assembly 706, the easy-to-peel film vacuum nozzle 707 can be moved longitudinally by the easy-to-peel film longitudinal drive assembly 706.
  • the easy-to-peel film vacuum nozzle 707 sucks the easy-to-peel film under the driving of the easy-to-peel film longitudinal driving assembly 706 and the easy-to-peel film lateral driving assembly 705 to feed the easy-to-peel film over the mixing cup.
  • the easy-to-peel film lateral drive assembly 705 and the easy-to-peel film longitudinal drive assembly 706 are both drive cylinders, and the easy-to-peel film longitudinal drive assembly 706 is coupled to the cylinder rod of the easy-to-peel film lateral drive assembly 705. 707 is coupled to the cylinder rod of the easy-to-peel film longitudinal drive assembly 706.
  • the film pulling mechanism further includes a die assembly 708 for pressing the easy tear film through the pressing block 709 before the easy tear film vacuum nozzle 707 sucks the easy tear film.
  • the pressing block 709 is connected to the driving end of the pressing cylinder of the stamper assembly 708, and when the pressing block 709 is extended, the easily tearable film can be pressed.
  • one side of the pressing block 709 pressed against the easy-to-peel film is provided with an anti-slip mat.
  • Figure 11 is a view showing the structure of the welding mechanism of the welding device of Figure 2.
  • the welding mechanism includes a solder film driving assembly 710 and a solder film mold 711.
  • the solder film mold 711 is connected to the driving end of the solder film driving unit 710, and is driven by the solder film driving unit 710 to solder the easy-to-peel film to the mixing cup.
  • the welding film mold 711 is made of special mold steel, coated on it, with heating rod and temperature sensor in the mold, and the welding temperature is controlled and adjusted by PLC. The welding force is large, in order to prevent the mixing cup from being crushed, the support is provided under the mixing cup.
  • solder film driving assembly 710 is a driving cylinder, and the cylinder rod of the solder film driving assembly 710 is connected to the solder film mold 711.
  • Fig. 12 is a view showing the structure of the slitting mechanism of the welding device of Fig. 2.
  • the slitting mechanism includes a slit film driving assembly 712 and a slitting blade 713 connected to the driving end of the slit film driving assembly 712, which is driven by the slit film driving assembly 712 to cut the easy tear film.
  • the slit film driving assembly 712 is a driving cylinder, and the cylinder rod of the slit film driving assembly 712 is coupled to the slitting blade 713.
  • the easy-to-tear film is manually fed into the track, the die assembly 708 is extended, and the easy-to-tear film is pressed by the pressing module 709.
  • the easy-to-peel film longitudinal driving assembly 706 drives the cylinder rod to extend, and the film is easily torn.
  • the suction head 707 sucks the easy tear film from the contact film in the hole below the track, the tension cylinder 702 protrudes to release the easy tear film, and the die assembly 708 drives the pressing block 709 to lift up and retract, and is easy to tear.
  • the film lateral drive assembly 705 drives its cylinder rod to extend, and the easy tear film is forwarded to a predetermined length, and the easy tear film is sent to the top of the mixing cup.
  • the solder film driving assembly 710 drives its cylinder rod to extend, and the welding film mold 711 presses the easy tear film to start welding (the welding quality is controlled by the welding time and the welding temperature).
  • the stamper assembly 708 drives the driving pressing block 709 to protrude, and presses the easy tear film of the track;
  • the slit film driving assembly 712 drives the cylinder rod to extend, and the easy tear film is cut by the slitting knife 713;
  • the cylinder 702 is retracted to tension the film roll, and the easy-to-peel film vacuum nozzle 707 is disconnected from the vacuum state.
  • the easy-to-peel film longitudinal driving assembly 706 drives the cylinder rod to retract away from the easy-to-peel film, and the easy-to-peel film lateral driving assembly 705 drives the cylinder rod to shrink. return.
  • the station returns to the initial state, and the indexing table 101 rotates to perform the next action.
  • the welding device 700 further includes: a film repairing mechanism for modifying the shape of the easy-to-peel film welded to the mixing cup for easy tearing during use.
  • Figure 13 is a view showing the structure of the film repairing mechanism of the welding device of Figure 2.
  • the film repair mechanism includes a film lift drive assembly 714 and a reticle 715.
  • the trowel 715 is coupled to the drive end of the lap drive assembly 714, which is modified by the lap drive assembly 714 to modify the shape of the tear film.
  • the driving end of the film repair driving assembly 714 is provided with a blade holder 716, and the film adjusting blade 715 is mounted on the blade holder 716.
  • a heating function can be added to the blade holder 716 as needed, for example, a heater is disposed in the blade holder 716. .
  • the film repair driving assembly 714 is a driving cylinder
  • the knife seat 716 is connected to the cylinder rod of the film repair driving assembly 714, and can be moved up and down.
  • the trowel blade 715 is mounted on the tool holder 716 and can be bent into a shape to be cut. .
  • the lancet 715 is a serrated knife that can be bent into a shape that requires cutting.
  • the easy-to-peel film welded to the mixing cup and the mixing cup are sent to the film-repairing mechanism, and after the film-removing mechanism detects the easy-to-peel film and the mixing cup, the film-trigger driving component 714 is activated to control the film.
  • the knife 715 presses and cuts the interface of the easy tear film, cuts out the specified shape on the interface of the easy tear film, and then tears the waste edge through the mechanical structure, so that the interface of the easy tear film becomes the final design shape, so as to be teared during use. under.
  • the output device 800 is disposed on the gantry 100 and interfaces with the indexing table 101 for outputting the assembled medicinalnator.
  • Fig. 14 is a view showing the structure of the output device of Fig. 2.
  • Output device 800 includes an output drive assembly 801 and an output track 802.
  • the output track 802 is docked with the indexing table 101, and the driving shaft of the output driving component 801 pushes the assembled mixer on the indexing table 101 to the output rail 802, so that the finished product of the mixing device slides down to the storage box or belt. Finish the assembly work.
  • the output drive assembly 801 is then retracted and the indexing table 101 is rotated to complete one cycle of production.
  • the output drive assembly 801 is a drive cylinder.
  • Figure 15 is a flow chart showing the operation of the mixer assembly machine provided in the embodiment of the present invention.
  • the mixing cup is in place: the mixing cup is sent to the predetermined position by the conveying system consisting of the oscillating disc and the track, and the robot (or the gripping device) feeds the mixing cup into the fixture on the rotary indexing table.
  • the indexing table is rotated to the next station.
  • Rubber plug installation The rubber plug conveying system consisting of the oscillating disc and the track sends the rubber plug to the set position.
  • the equipment sucks up the rubber plug through the vacuum suction head and is installed in the mixing cup by the cylinder.
  • the device has a rubber plug for detecting by a vacuum detection and a photoelectric sensor. If it is found that the rubber plug is not in place or is not sucked up by the vacuum head, a shutdown alarm is issued, waiting for the worker to handle. After the rubber plug is installed, the indexing table is rotated to the next station.
  • the elastic snap-on conveying system consisting of an oscillating disc and a track delivers the elastic card to the set Position, the device installs the elastic snap into the mixing cup through the gripping device, and ensures that the buckle is caught in the mixing cup through the cylinder pressing distance and the force.
  • the indexing table is rotated to the next station.
  • Puncture needle installation The puncture needle conveying system consisting of an oscillating disc and a track sends the puncture needle to the set position.
  • the device is grasped by a vacuum suction head (or robot) and then sent to the mixing device to ensure the puncture needle through the stroke and force of the cylinder.
  • the puncture needle is detected by photoelectric sensor and vacuum detection. If it is found that the puncture needle is not in place or is not picked up, the machine will stop alarming and wait for the worker to handle.
  • This station is equipped with a peristaltic pump. Through the peristaltic pump and the catheter, a certain amount of water for injection, that is, a drip station, can be dropped into the mixing cup during the installation of the puncture needle. The indexing table is then rotated to the next station.
  • the device After the cover is transported into place, the device sucks the cover through the vacuum suction head, installs it on the mixing cup through the cylinder, and detects the cover through photoelectric sensor and vacuum detection. If the cover is not in place or not When it is picked up, it will stop the alarm and wait for the workers to handle it. At this point the indexing table is rotated to the next station.
  • Easy tear film welding The easy tear film is fixed on the rotating wheel on the bracket, and the length of the film fed forward is determined by the stroke of the conveying cylinder with the suction cup. The film just covers the mixed cup, and the heated welding mold is pressed by the cylinder to ensure that the easy tear film is well welded. At the same time, the cutter on the cylinder will cut off the easy tear film, that is, the easy tear film is cut. The indexing disk is rotated to the next station.
  • the easy-to-tear film of a predetermined length may also be cut first, and then the easy-to-peel film is welded to the mixing cup.
  • the easy tear film forming station is equipped with a sawtooth cutter of the same shape as the required shape.
  • the cylinder drives the cutter to press down, and the easy tear film is formed and cut.
  • the station has a vacuum collection structure that sucks away the generated debris.
  • the cylinder pushes the combined mixing cup from the fixture and feeds it into the collection box through the slide.
  • the mixer assembly machine of the present invention is controlled by a PLC, and the various parts of the mixer interface are transported to the predetermined position of the device through the feeding system composed of the array oscillating disc and the track, through the robot, the vacuum nozzle or the gripper.
  • the device feeds each part into an indexing table driven by a servo motor or a pneumatic indexing table or an intermittent splitter, which effectively improves work efficiency, saves human resources, and can Guarantee the quality of product assembly.

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Abstract

一种混药器组装机，包括：机架（100）、混药杯安装装置（200）、胶塞安装装置（300）、弹性卡扣安装装置（400）、穿刺针安装装置（500）、盖板安装装置（600）、焊接装置（700）和输出装置（800），所述混药杯安装装置（200）、胶塞安装装置（300）、弹性卡扣安装装置（400）、穿刺针安装装置（500）、盖板安装装置（600）、焊接装置（700）和输出装置（800）依次沿着所述分度台（101）外圆周设置形成环状。该混药器组装机由PLC控制，通过数组振荡盘和轨道组成的供料系统将混药器接口的各个部分输送到设备既定位置，通过机械手、真空吸头或抓取装置将各个部分送入由伺服马达或气动分度台或间歇分割器驱动的分度台（101）上进行组装，有效地提高了工作效率，节约了人力资源，且能保证产品组装质量。

Description

混药器组装机 技术领域
本发明涉及混药器组装技术领域，特别涉及一种混药器组装机。
背景技术
为彻底解决输液安全问题，本申请人在此前的专利中，设计了一种与输液软袋及西林瓶联用的混药器。然而，由于混药器结构较为复杂，部件较多，现有的组装设备，并不能完成混药器的自动组装，严重制约了混药器的产业化和推广使用。
现有的各类设备，并不能实现混药器的自动化组装，更不能实现能够满足医用标准的混药器组装。
发明内容
本发明提供一种可有效提高工作效率、节约人力资源且有效保证产品质量的混药器组装机。
根据本发明的一个方面，提供一种混药器组装机，所述组装机包括：机架，设置有可旋转的分度台，所述分度台上固定设置有多个卡具；混药杯安装装置，设置在所述机架上，并与所述分度台对接，用于将混药杯安装于所述分度台的卡具上；胶塞安装装置，设置在所述机架上，并与所述分度台对接，用于将胶塞安装于混药杯内；弹性卡扣安装装置，设置在所述机架上，并与所述分度台对接，用于将弹性卡扣安装于混药杯内；穿刺针安装装置，设置在所述机架上，并与所述分度台对接，用于将穿刺针安装于混药杯内；盖板安装装置，设置在所述机架上，并与所述分度台对接，用于将盖板安装于混药杯上；焊接装置，设置在所述机架上，并与所述分度台对接，用于将易撕膜覆盖在所述盖板上，并焊接在所述混药杯上；输出装置，设置在所述 机架上，并与所述分度台对接，用于输出组装后的混药器。
进一步，在上述的发明中，所述混药杯安装装置、胶塞安装装置、弹性卡扣安装装置、穿刺针安装装置、盖板安装装置、焊接装置和输出装置依次沿着所述分度台外圆周设置形成环状。
进一步，在上述的发明中，所述组装机还包括：滴注装置，用于在混药器组装过程中向混药杯中滴入定量的液体。
进一步，在上述的发明中，所述滴注装置包括：用于向混药杯滴入液体的导管和位于所述导管上的流量调节装置。
进一步，在上述的发明中，所述混药杯安装装置包括：混药杯输送机构和混药杯夹取机构；所述混药杯输送机构用于输送混药杯，所述混药杯夹取机构用于夹取混药杯输送机构上的混药杯，并将该混药杯置于所述分度台的卡具上。
进一步，在上述的发明中，所述混药杯输送机构包括：混药杯振荡盘和混药杯输送轨道；所述混药杯输送轨道的一端与所述混药杯振荡盘对接，另一端与所述分度台对接。
进一步，在上述的发明中，所述混药杯输送轨道为双输送轨道，所述混药杯振荡盘为双振荡盘，每个振荡盘对应地对接一个输送轨道。
进一步，在上述的发明中，所述混药杯夹取机构包括：混药杯横向驱动组件、混药杯纵向驱动组件和夹取轴；所述混药杯纵向驱动组件设置于所述混药杯横向驱动组件上，可在所述混药杯横向驱动组件的带动下横向移动；所述夹取轴设置于所述混药杯纵向驱动组件上，可在所述混药杯纵向驱动组件的带动下纵向移动。
进一步，在上述的发明中，所述混药杯安装装置还包括：分别位于所述夹取轴两侧的前阻挡组件和后阻挡组件，所述前阻挡组件靠近所述混药杯振荡盘，所述后阻挡组件靠近所述分度台。
进一步，在上述的发明中，所述混药杯安装装置还包括：混药杯检测器，用于检测所述混药杯输送轨道上是否存在混药杯；当混药杯检测器未检测到 所述混药杯输送轨道上的混药杯时，所述前阻挡组件、混药杯纵向驱动组件处于缩回状态，所述后阻挡组件、混药杯横向驱动组件处于伸出状态；当混药杯检测器检测到所述混药杯输送轨道上的混药杯时，所述前阻挡组件伸出，接着所述混药杯纵向驱动组件伸出将所述夹取轴插入混药杯中，所述后阻挡组件缩回，接着所述混药杯横向驱动组件缩回将混药杯置于所述分度台的卡具上。
进一步，在上述的发明中，所述胶塞安装装置包括：胶塞输送机构和胶塞夹取机构；所述胶塞输送机构用于输送胶塞，所述胶塞夹取机构用于夹取胶塞输送机构上的胶塞，并将该胶塞置于所述混药杯内。
进一步，在上述的发明中，所述胶塞输送机构包括：胶塞振荡盘和胶塞输送轨道；所述胶塞输送轨道的一端与所述胶塞振荡盘对接，另一端与所述分度台对接。
进一步，在上述的发明中，所述胶塞输送轨道为单输送轨道，所述胶塞振荡盘为单振荡盘。
进一步，在上述的发明中，所述胶塞夹取机构包括：胶塞横向驱动组件、胶塞纵向驱动组件和胶塞真空吸头；所述胶塞纵向驱动组件设置于所述胶塞横向驱动组件上，可在所述胶塞横向驱动组件的带动下横向移动；所述胶塞真空吸头设置于所述胶塞纵向驱动组件上，可在所述胶塞纵向驱动组件的带动下纵向移动。
进一步，在上述的发明中，所述胶塞安装装置还包括：胶塞检测器，用于检测所述胶塞输送轨道上是否存在胶塞；当胶塞检测器未检测到所述胶塞输送轨道上的胶塞时，所述胶塞纵向驱动组件处于缩回状态，所述胶塞横向驱动组件处于伸出状态；当胶塞检测器检测到所述胶塞输送轨道上的胶塞时，所述胶塞纵向驱动组件伸出，通过所述胶塞真空吸头吸住胶塞，接着所述胶塞纵向驱动组件、胶塞横向驱动组件依次缩回，将胶塞带到混药杯上方，接着所述胶塞纵向驱动组件再次伸出，将胶塞安装于混药杯内。
进一步，在上述的发明中，所述胶塞输送轨道靠近所述分度台的一端有 设置有防止胶塞出轨的台阶。
进一步，在上述的发明中，所述胶塞输送轨道上设置有防止胶塞弹出的防护板。
进一步，在上述的发明中，所述弹性卡扣安装装置包括：弹性卡扣输送机构和弹性卡扣夹取机构；所述弹性卡扣输送机构用于输送弹性卡扣，所述弹性卡扣夹取机构用于夹取弹性卡扣输送机构上的弹性卡扣，并将该弹性卡扣置于所述混药杯上。
进一步，在上述的发明中，所述弹性卡扣输送机构包括：弹性卡扣振荡盘和弹性卡扣输送轨道；所述弹性卡扣输送轨道的一端与所述弹性卡扣振荡盘对接，另一端与所述分度台对接。
进一步，在上述的发明中，所述弹性卡扣输送轨道为单输送轨道，所述弹性卡扣振荡盘为单振荡盘。
进一步，在上述的发明中，所述弹性卡扣夹取机构包括：弹性卡扣横向驱动组件、弹性卡扣纵向驱动组件和弹性卡扣真空吸头；所述弹性卡扣纵向驱动组件设置于所述弹性卡扣横向驱动组件上，可在所述弹性卡扣横向驱动组件的带动下横向移动；所述弹性卡扣真空吸头设置于所述弹性卡扣纵向驱动组件上，可在所述弹性卡扣纵向驱动组件的带动下纵向移动。
进一步，在上述的发明中，所述弹性卡扣安装装置还包括：弹性卡扣检测器，用于检测所述弹性卡扣输送轨道上是否存在弹性卡扣；当弹性卡扣检测器未检测到所述弹性卡扣输送轨道上的弹性卡扣时，所述弹性卡扣纵向驱动组件处于缩回状态，所述弹性卡扣横向驱动组件处于伸出状态；当弹性卡扣检测器检测到所述弹性卡扣输送轨道上的胶塞时，所述弹性卡扣纵向驱动组件伸出，通过所述弹性卡扣真空吸头吸住弹性卡扣，接着所述弹性卡扣纵向驱动组件、弹性卡扣横向驱动组件依次缩回，将弹性卡扣带到混药杯上方，接着所述弹性卡扣纵向驱动组件再次伸出，将弹性卡扣安装于混药杯内。
进一步，在上述的发明中，所述穿刺针安装装置包括：穿刺针输送机构和穿刺针夹取机构；所述穿刺针输送机构用于输送穿刺针，所述穿刺针夹取 机构用于夹取穿刺针输送机构上的穿刺针，并将该穿刺针置于所述混药杯上。
进一步，在上述的发明中，所述穿刺针输送机构包括穿刺针振荡盘和穿刺针输送轨道；所述穿刺针输送轨道的一端与所述穿刺针振荡盘对接，另一端与所述分度台对接。
进一步，在上述的发明中，所述穿刺针输送轨道为单输送轨道，所述穿刺针振荡盘为单振荡盘。
进一步，在上述的发明中，所述穿刺针夹取机构包括穿刺针横向驱动组件、穿刺针纵向驱动组件和穿刺针真空吸头；所述穿刺针纵向驱动组件设置于所述穿刺针横向驱动组件上，可在所述穿刺针横向驱动组件的带动下横向移动；所述穿刺针真空吸头设置于所述穿刺针纵向驱动组件上，可在所述穿刺针纵向驱动组件的带动下纵向移动。
进一步，在上述的发明中，所述穿刺针安装装置还包括：穿刺针检测器，用于检测所述穿刺针输送轨道上是否存在穿刺针；当穿刺针检测器未检测到所述穿刺针输送轨道上的穿刺针时，所述穿刺针纵向驱动组件处于缩回状态，所述穿刺针横向驱动组件处于伸出状态；当穿刺针检测器检测到所述穿刺针输送轨道上的穿刺针时，所述穿刺针纵向驱动组件伸出，通过所述穿刺针真空吸头吸住穿刺针，接着所述穿刺针纵向驱动组件、穿刺针横向驱动组件依次缩回，将穿刺针带到混药杯上方，接着所述穿刺针纵向驱动组件再次伸出，将穿刺针安装于混药杯内。
进一步，在上述的发明中，所述盖板安装装置包括：盖板输送机构和盖板夹取机构；所述盖板输送机构用于输送盖板，所述盖板夹取机构用于夹取盖板输送机构上的盖板，并将该盖板置于所述混药杯上。
进一步，在上述的发明中，所述盖板输送机构包括盖板振荡盘和盖板输送轨道；所述盖板输送轨道的一端与所述盖板振荡盘对接，另一端与所述分度台对接。
进一步，在上述的发明中，所述盖板输送轨道为单输送轨道，所述盖板振荡盘为单振荡盘。
进一步，在上述的发明中，所述盖板夹取机构包括盖板横向驱动组件、盖板纵向驱动组件和盖板真空吸头；所述盖板纵向驱动组件设置于所述盖板横向驱动组件上，可在所述盖板横向驱动组件的带动下横向移动；所述盖板真空吸头设置于所述盖板纵向驱动组件上，可在所述盖板纵向驱动组件的带动下纵向移动。
进一步，在上述的发明中，所述盖板安装装置还包括：盖板阻挡组件，其靠近所述盖板振荡盘，用于阻挡所述盖板振荡盘输向所述盖板输送轨道的盖板。
进一步，在上述的发明中，所述盖板安装装置还包括：盖板检测器，用于检测所述盖板输送轨道上是否存在盖板；当盖板检测器未检测到所述盖板输送轨道上的盖板时，所述盖板纵向驱动组件、盖板阻挡组件处于缩回状态，所述盖板横向驱动组件处于伸出状态；当盖板检测器检测到所述盖板输送轨道上的盖板时，所述盖板阻挡组件伸出，接着所述盖板纵向驱动组件伸出，通过所述盖板真空吸头吸住盖板，接着所述盖板纵向驱动组件、盖板横向驱动组件依次缩回，将盖板带到混药杯上方，接着所述盖板纵向驱动组件再次伸出，将盖板安装于混药杯上。
进一步，在上述的发明中，所述焊接装置包括：送膜机构、拉膜机构、焊接机构和切膜机构；所述送膜机构用于将易撕膜送到拉膜机构，所述拉膜机构用于将易撕膜送到混药杯上方，所述焊接机构用于将混药杯上方的易撕膜焊接于该混药杯上，所述切膜机构用于切断易撕膜。
进一步，在上述的发明中，所述送膜机构包括：卷膜支架、张紧气缸、固定辊和送膜辊；所述张紧气缸带动送膜辊，将所述卷膜支架上的易撕膜通过固定辊送到拉膜机构。
进一步，在上述的发明中，所述拉膜机构包括：易撕膜横向驱动组件、易撕膜纵向驱动组件和易撕膜真空吸头；所述易撕膜纵向驱动组件设置于所述易撕膜横向驱动组件上，可在所述易撕膜横向驱动组件的带动下横向移动；所述易撕膜真空吸头设置于所述易撕膜纵向驱动组件上，可在所述易撕膜纵 向驱动组件的带动下纵向移动。
进一步，在上述的发明中，所述拉膜机构还包括：压模组件，用于在所述易撕膜真空吸头吸住易撕膜之前，通过压膜块压紧易撕膜。
进一步，在上述的发明中，所述压膜块压向易撕膜的一面设置有防滑垫。
进一步，在上述的发明中，所述焊接机构包括：焊膜驱动组件和焊膜模具，所述焊膜模具与所述焊膜驱动组件的驱动端连接。
进一步，在上述的发明中，所述焊膜模具内设置有加热棒和温度传感器。
进一步，在上述的发明中，所述切膜机构包括：切膜驱动组件和切膜刀，所述切膜刀与所述切膜驱动组件的驱动端连接。
进一步，在上述的发明中，所述焊接装置还包括：修膜机构，用于对焊接到混药杯上的易撕膜的形状进行修饰，便于使用时撕下。
进一步，在上述的发明中，所述修膜机构包括：修膜驱动组件和修膜刀，所述修膜刀与所述修膜驱动组件的驱动端连接。
进一步，在上述的发明中，所述修膜刀为锯齿刀。
进一步，在上述的发明中，所述修膜驱动组件的驱动端设置有刀座，所述修膜刀安装于所述刀座上。
进一步，在上述的发明中，所述刀座内设置有加热器。
进一步，在上述的发明中，所述输出装置包括：输出驱动组件和输出轨道，所述输出轨道与所述分度台对接，所述输出驱动组件的驱动轴将所述分度台卡具上组装好的混药器推入输出轨道。
本发明的混药器组装机由PLC控制，通过数组振荡盘和轨道组成的供料系统将混药器接口的各个部件输送到设备既定位置，通过机械手、真空吸头或抓取装置将各个部分送入由伺服马达或气动分度台或间歇分割器驱动的分度台上进行组装，有效地提高了工作效率，节约了人力资源，且能保证产品组装质量。
附图说明
图1显示了本发明具体实施方式中提供的混药器组装机所适用的混药器的结构示意图；
图1a为混药器中的部件之混药杯和胶塞的结构示意图；
图1b为混药器中的部件之弹性卡扣的结构示意图；
图1c为混药器中的部件之穿刺针的结构示意图；
图1d为混药器中的部件之盖板的结构示意图；
图1e为混药器中的各个部件组合完成的结构示意图；
图2显示了本发明具体实施方式中提供的混药器组装机的结构示意图；
图3显示了图2中混药杯安装装置的结构示意图；
图4显示了图2中胶塞安装装置的结构示意图；
图5显示了图2中弹性卡扣安装装置的结构示意图；
图6显示了图2中穿刺针安装装置的结构示意图；
图7显示了本发明具体实施方式中提供的混药器组装机的滴注装置的结构示意图；
图8显示了图2中盖板安装装置的结构示意图；
图9显示了图2中焊接装置的送膜机构的结构示意图；
图10显示了图2中焊接装置的拉膜机构的结构示意图；
图11显示了图2中焊接装置的焊接机构的结构示意图；
图12显示了图2中焊接装置的切膜机构的结构示意图；
图13显示了图2中焊接装置的修膜机构的结构示意图；
图14显示了图2中输出装置的结构示意图；
图15显示了本发明具体实施方式中提供的混药器组装机的工作流程示意图；
图中：
1为混药杯，2为胶塞，3为弹性卡扣，4为穿刺针，5为盖板，6为易撕膜；100为机架，101为分度台,102为卡具；
200为混药杯安装装置，201为混药杯振荡盘，202为混药杯输送轨道， 203为混药杯横向驱动组件，204为混药杯纵向驱动组件，205为夹取轴，206为前阻挡组件，207为后阻挡组件；
300为胶塞安装装置，301为胶塞振荡盘，302为胶塞输送轨道，303为胶塞横向驱动组件，304为胶塞纵向驱动组件，305为胶塞真空吸头；
400为弹性卡扣安装装置，401为弹性卡扣振荡盘，402为弹性卡扣输送轨道，403为弹性卡扣横向驱动组件，404为弹性卡扣纵向驱动组件，405为弹性卡扣真空吸头；
500为穿刺针安装装置，501为穿刺针振荡盘，502为穿刺针输送轨道，503为穿刺针横向驱动组件，504为穿刺针纵向驱动组件，505为穿刺针真空吸头，506为导管，507为蠕动泵，508为液体容器；
600为盖板安装装置，601为盖板振荡盘，602为盖板输送轨道，603为盖板横向驱动组件，604为盖板纵向驱动组件，605为盖板真空吸头；606为盖板阻挡组件；
700为焊接装置，701为卷膜支架，702为张紧气缸，703为固定辊，704为送膜辊，705为易撕膜横向驱动组件，706为易撕膜纵向驱动组件，707为易撕膜真空吸头，708为压模组件，709为压膜块，710为焊膜驱动组件，711为焊膜模具，712为切膜驱动组件，713为切膜刀，714为修膜驱动组件，715为修膜刀，716为刀座；
800为输出装置，801为输出驱动组件，802为输出轨道。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚明了，下面结合具体实施方式并参照附图，对本发明进一步详细说明。应该理解，这些描述只是示例性的，而并非要限制本发明的范围。此外，在以下说明中，省略了对公知结构和技术的描述，以避免不必要地混淆本发明的概念。
图1显示了本发明具体实施方式中提供的混药器组装机所适用的混药器的结构示意图；图1a为混药器中的部件之混药杯和胶塞的结构示意图；图 1b为混药器中的部件之弹性卡扣的结构示意图；图1c为混药器中的部件之穿刺针的结构示意图；图1d为混药器中的部件之盖板的结构示意图；图1e为混药器中的各个部件组合完成的结构示意图。
为了使得公众更好的理解本发明提供的混药器组装机，在对混药器组装机进行说明之前，首先介绍在背景技术中提到的本申请人在此前的专利中提出的混药器。参见图1中1a至1e，采用发明提供的混药器组装机进行组装的混药器包括混药杯1、胶塞2、弹性卡扣3、穿刺针4、盖板5和易撕膜6。胶塞2、弹性卡扣3、穿刺针4设置在混药杯1内，盖板5覆盖在混药杯1的杯口，易撕膜6覆盖在盖板5上。需要说明的是，图1中所示的混药器各个部件的形状仅用于使得公众更好的理解采用本发明提供的混药器组装机进行组装的混药器，并不能用来限制本发明的保护范围。
图2显示了本发明具体实施方式中提供的混药器组装机的结构示意图。
下面结合图2所述的结构示意图，具体说明本实施例的混药器组装机。
本实施例的混药器组装机至少包括：机架100、混药杯安装装置200、胶塞安装装置300、弹性卡扣安装装置400、穿刺针安装装置500、滴注装置、盖板安装装置600、焊接装置700和输出装置800。
混药杯安装装置200、胶塞安装装置300、弹性卡扣安装装置400、穿刺针安装装置500、盖板安装装置600、焊接装置700和输出装置800依次沿着分度台101外圆周设置形成环状，并分别依次与机架100上的分度台101对接，使得混药器的各个部分能高效且有序地在分度台101上组装。具体的，混药杯安装装置200首先与分度台101对接，将混药杯1安装于分度台101的卡具102上。混药杯1安装完成之后，分度台101继续旋转预定角度，使得该卡具102旋转到与胶塞安装装置300的对接处，胶塞安装装置300将胶塞2安装于该混药杯1内。胶塞2安装完成之后，分度台101继续旋转预定角度，使得该卡具102旋转到与弹性卡扣安装装置400的对接处，弹性卡扣安装装置400将弹性卡扣3安装于该混药杯1内。弹性卡扣3安装完成之后，分度台101继续旋转预定角度，使得该卡具102旋转到与穿刺针安装装置500 的对接处，穿刺针安装装置500将穿刺针4安装于该混药杯1内。穿刺针4安装完成之后，分度台101继续旋转预定角度，使得该卡具102旋转到与盖板安装装置600的对接处，盖板安装装置600将盖板5覆盖于混药杯1的杯口上。盖板5安装完成之后，分度台101继续旋转预定角度，使得该卡具102旋转到与焊接装置700的对接处，焊接装置700将易撕膜6覆盖在所述盖板5上，并将该易撕膜6焊接在所述混药杯1上，至此完成混药器的组装。在混药器的组装完成之后，分度台101继续旋转预定角度，使得该卡具102旋转到与输出装置800的对接处，输出装置800将组装后的混药器从卡具102上取出，并将取出的混药器输出。
机架100设置有相对该机架100可旋转的分度台101，该分度台101在伺服马达或气动分度台或间歇分割器驱动等驱动装置驱动作用下以自身中心为旋转中心进行旋转。分度台101的台面形状为圆形、正多边形或其他中心对称图形。图1中示出的分度台101的台面形状为圆形。在分度台101台面的圆周上，呈环状的固定设置有多个卡具102，该卡具102用于将送入该卡具102中的混药杯通过卡紧的方式固定，以使得该混药杯能够跟随分度台101的旋转而转动。
图3显示了图2中混药杯安装装置的结构示意图。
混药杯安装装置200的结构如图3所示包括：混药杯输送机构和混药杯夹取机构，混药杯输送机构用于将混药杯输送至混药杯夹取机构的夹取范围内，混药杯夹取机构用于夹取混药杯输送机构上的混药杯，并将该混药杯置于分度台101的卡具102上。
具体来说，混药杯输送机构包括混药杯振荡盘201和混药杯输送轨道202，混药杯输送轨道202的一端与混药杯振荡盘201的出料口对接，混药杯输送轨道202的另一端与分度台101对接，混药杯振荡盘201通过混药杯输送轨道202将混药杯输送到分度台101。
在本发明实施例中，混药杯输送轨道202的数量可以为一个，也可以为多个，混药杯振荡盘201的数量可以为一个，也可以为多个，需要说明的是， 混药杯输送轨道的数量202与混药杯振荡盘201的数量应当一致，使得每个振荡盘对应地对接一个输送轨道，即负责输送一个混药杯。图2中给出的实施例中，混药杯输送轨道202为双输送轨道，混药杯振荡盘201为双振荡盘，该实施例不用来限制本发明的保护范围，
具体来说，混药杯夹取机构包括混药杯横向驱动组件203、混药杯纵向驱动组件204和夹取轴205。混药杯纵向驱动组件204设置于混药杯横向驱动组件203上，该混药杯纵向驱动组件204可在混药杯横向驱动组件203的带动下横向移动，夹取轴205设置于混药杯纵向驱动组件204上，该夹取轴205可在混药杯纵向驱动组件204的带动下纵向移动。这样，夹取轴205在混药杯纵向驱动组件204和混药杯横向驱动组件203的带动下可插入混药杯中，以将混药杯置于分度台101的卡具102上。
可选地，混药杯横向驱动组件203和混药杯纵向驱动组件204均为驱动气缸，混药杯纵向驱动组件204与混药杯横向驱动组件203的气缸杆连接，夹取轴205与混药杯纵向驱动组件204的气缸杆连接。
混药杯安装装置200还包括：混药杯检测器以及分别位于夹取轴205两侧的前阻挡组件206和后阻挡组件207，前阻挡组件206和后阻挡组件207均为带有挡片的气缸，前阻挡组件206靠近混药杯振荡盘201，后阻挡组件207靠近分度台101，混药杯检测器用于检测混药杯输送轨道202上是否存在混药杯，当混药杯检测器未检测到混药杯输送轨道202上的混药杯时，前阻挡组件206处于缩回状态，即前阻挡组件206的挡片缩回，混药杯纵向驱动组件204也处于缩回状态，即混药杯纵向驱动组件204的气缸杆缩回，后阻挡组件207、混药杯横向驱动组件203处于伸出状态，即后阻挡组件207的挡片和混药杯横向驱动组件203的气缸杆均伸出；当混药杯检测器检测到混药杯输送轨道202上的混药杯时，前阻挡组件206驱动其挡片伸出使得挡片将混药杯输送轨道202遮挡，防止后面的混药杯往前挤以导致卡在混药杯输送轨道202中，接着混药杯纵向驱动组件204驱动其气缸杆伸出将夹取轴205插入混药杯中，后阻挡组件207驱动其挡片缩回，接着混药杯横向驱动组件 203驱动其气缸杆缩回将混药杯置于分度台101的卡具102上，之后取混药杯的夹取轴205从杯中离开，后阻挡组件207驱动其挡片伸出，前阻挡组件206驱动其挡片缩回，回到起始状态，分度台101转动，空卡具102进入该混药杯安装工位，等待下一个循环，混药杯被带入下一个工位即胶塞安装工位。
图4显示了图2中胶塞安装装置的结构示意图。
胶塞安装装置300的结构如图4所示包括：胶塞输送机构和胶塞夹取机构，胶塞输送机构用于输送胶塞，胶塞夹取机构用于夹取胶塞输送机构上的胶塞，并将该胶塞安装到混药杯内。
具体来说，胶塞输送机构包括胶塞振荡盘301和胶塞输送轨道302，胶塞输送轨道302的一端与胶塞振荡盘301对接，胶塞输送轨道302的另一端与分度台101对接，胶塞振荡盘301通过胶塞输送轨道302将胶塞输送到分度台101。
本实施例中，胶塞输送轨道302为单输送轨道，胶塞振荡盘301为单振荡盘，负责两个胶塞的输送。
具体来说，胶塞夹取机构包括胶塞横向驱动组件303、胶塞纵向驱动组件304和胶塞真空吸头305。胶塞纵向驱动组件304设置于胶塞横向驱动组件303上，该胶塞纵向驱动组件304可在胶塞横向驱动组件303的带动下横向移动，胶塞真空吸头305设置于胶塞纵向驱动组件304上，该胶塞真空吸头305可在胶塞纵向驱动组件304的带动下纵向移动。这样，胶塞真空吸头305在胶塞纵向驱动组件304和胶塞横向驱动组件303的带动下吸住胶塞，以将胶塞安装到混药杯内。
可选地，胶塞横向驱动组件303和胶塞纵向驱动组件304均为驱动气缸，胶塞纵向驱动组件304与胶塞横向驱动组件303的气缸杆连接，胶塞真空吸头305与胶塞纵向驱动组件304的气缸杆连接。
胶塞安装装置300还包括胶塞检测器，该胶塞检测器用于检测胶塞输送轨道302上是否存在胶塞。当胶塞检测器未检测到胶塞输送轨道302上的胶塞时，PLC控制器控制胶塞纵向驱动组件304的气缸杆处于缩回状态，控制 胶塞横向驱动组件303的气缸杆处于伸出状态；当胶塞检测器检测到胶塞输送轨道302上的胶塞时，PLC控制器控制胶塞纵向驱动组件304的气缸杆伸出，通过胶塞真空吸头305吸住胶塞，接着控制胶塞纵向驱动组件304的气缸杆、胶塞横向驱动组件303的气缸杆依次缩回，将胶塞带到混药杯上方，接着控制胶塞纵向驱动组件304的气缸杆再次伸出将胶塞安装于混药杯内，之后回到起始状态，分度台101转动，空卡具102进入该胶塞安装工位，等待下一个循环，混药杯被带入下一个工位即弹性卡扣安装工位。
在本实施例中，优选地，胶塞输送轨道302靠近分度台101的一端有设置有防止胶塞脱离胶塞输送轨道302的台阶，胶塞输送轨道302上设置有防止胶塞弹出的防护板。
图5显示了图2中弹性卡扣安装装置的结构示意图。
弹性卡扣安装装置400的结构如图5所示包括：弹性卡扣输送机构和弹性卡扣夹取机构，弹性卡扣输送机构用于输送弹性卡扣，弹性卡扣夹取机构用于夹取弹性卡扣输送机构上的弹性卡扣，并将该弹性卡扣安装到混药杯内。
具体来说，弹性卡扣输送机构包括弹性卡扣振荡盘401和弹性卡扣输送轨道402，弹性卡扣输送轨道402的一端与弹性卡扣振荡盘401对接，弹性卡扣输送轨道402的另一端与分度台101对接，弹性卡扣振荡盘401通过弹性卡扣输送轨道402将弹性卡扣输送到分度台101。
本实施例中，弹性卡扣输送轨道402为单输送轨道，弹性卡扣振荡盘401为单振荡盘，负责两个弹性卡扣的输送。
具体来说，弹性卡扣夹取机构包括弹性卡扣横向驱动组件403、弹性卡扣纵向驱动组件404和弹性卡扣真空吸头405。弹性卡扣纵向驱动组件404设置于弹性卡扣横向驱动组件403上，该弹性卡扣纵向驱动组件404可在弹性卡扣横向驱动组件403的带动下横向移动，弹性卡扣真空吸头405设置于弹性卡扣纵向驱动组件404上，该弹性卡扣真空吸头405可在弹性卡扣纵向驱动组件404的带动下纵向移动。这样，弹性卡扣真空吸头405在弹性卡扣纵向驱动组件404和弹性卡扣横向驱动组件403的带动下吸住弹性卡扣，以 将弹性卡扣安装到混药杯内。
可选地，弹性卡扣横向驱动组件403和弹性卡扣纵向驱动组件404均为驱动气缸，弹性卡扣纵向驱动组件404与弹性卡扣横向驱动组件403的气缸杆连接，弹性卡扣真空吸头405与弹性卡扣纵向驱动组件404的气缸杆连接。
弹性卡扣安装装置400还包括弹性卡扣检测器，该弹性卡扣检测器用于检测弹性卡扣输送轨道402上是否存在弹性卡扣。当弹性卡扣检测器未检测到弹性卡扣输送轨道402上的弹性卡扣时，弹性卡扣纵向驱动组件404处于缩回状态，即弹性卡扣纵向驱动组件404的气缸杆缩回，弹性卡扣横向驱动组件403处于伸出状态，即弹性卡扣横向驱动组件403的气缸杆伸出；当弹性卡扣检测器检测到弹性卡扣输送轨道402上的弹性卡扣时，弹性卡扣纵向驱动组件404驱动其气缸杆伸出，通过弹性卡扣真空吸头405吸住弹性卡扣，接着弹性卡扣纵向驱动组件404的气缸杆、弹性卡扣横向驱动组件403的气缸杆依次缩回，将弹性卡扣带到混药杯上方，接着弹性卡扣纵向驱动组件404再次驱动其气缸杆伸出将弹性卡扣安装于混药杯内，之后回到起始状态，分度台101转动，空卡具102进入该弹性卡扣安装工位，等待下一个循环，混药杯被带入下一个工位即穿刺针安装工位。
由于弹性卡扣需要卡到混药杯中，下压力量较大，为了防止混药杯变形或受损，在此弹性卡扣安装工位有金属支撑。
图6显示了图2中穿刺针安装装置的结构示意图。
穿刺针安装装置500的结构如图6所示包括：穿刺针输送机构和穿刺针夹取机构，穿刺针输送机构用于输送穿刺针，穿刺针夹取机构用于夹取穿刺针输送机构上的穿刺针，并将该穿刺针安装到混药杯内。
具体来说，穿刺针输送机构包括穿刺针振荡盘501和穿刺针输送轨道502，穿刺针输送轨道502的一端与穿刺针振荡盘501对接，穿刺针输送轨道502的另一端与分度台101对接，穿刺针振荡盘501通过穿刺针输送轨道502将穿刺针输送到分度台101。
本实施例中，穿刺针输送轨道502为单输送轨道，穿刺针振荡盘501为 单振荡盘，负责两个穿刺针的输送。
具体来说，穿刺针夹取机构包括穿刺针横向驱动组件503、穿刺针纵向驱动组件504和穿刺针真空吸头505。穿刺针纵向驱动组件504设置于穿刺针横向驱动组件503上，该穿刺针纵向驱动组件504可在穿刺针横向驱动组件503的带动下横向移动，穿刺针真空吸头505设置于穿刺针纵向驱动组件504上，该穿刺针真空吸头505可在穿刺针纵向驱动组件504的带动下纵向移动。这样，穿刺针真空吸头505在穿刺针纵向驱动组件504和穿刺针横向驱动组件503的带动下吸住穿刺针，以将穿刺针安装到混药杯内。
可选地，穿刺针横向驱动组件503和穿刺针纵向驱动组件504均为驱动气缸，穿刺针纵向驱动组件504与穿刺针横向驱动组件503的气缸杆连接，穿刺针真空吸头505与穿刺针纵向驱动组件504的气缸杆连接。
穿刺针安装装置500还包括穿刺针检测器，该穿刺针检测器用于检测穿刺针输送轨道502上是否存在穿刺针。当穿刺针检测器未检测到穿刺针输送轨道502上的穿刺针时，穿刺针纵向驱动组件504处于缩回状态，即穿刺针纵向驱动组件504的气缸杆缩回，穿刺针横向驱动组件503处于伸出状态，即穿刺针横向驱动组件503的气缸杆伸出；当穿刺针检测器检测到穿刺针输送轨道502上的穿刺针时，穿刺针纵向驱动组件504驱动其气缸杆伸出，通过穿刺针真空吸头505吸住穿刺针，接着穿刺针纵向驱动组件504的气缸杆、穿刺针横向驱动组件503的气缸杆依次缩回，将穿刺针带到混药杯上方，接着穿刺针纵向驱动组件504再次驱动其气缸杆伸出将穿刺针安装于混药杯内，之后回到起始状态，分度台101转动，空卡具102进入该穿刺针安装工位，等待下一个循环，混药杯被带入下一个工位即盖板安装工位。
在本发明的另一个实施例中，混药器组装机还包括滴注装置，该滴注装置用于在混药器组装过程中向混药杯中滴入定量的液体，需要说明的是滴注装置的工序位置较为随意，可以安装在混药杯安装装置200和胶塞安装装置300之间，也可以安装在胶塞安装装置300和弹性卡扣安装装置400之间，还可以安装在弹性卡扣安装装置400和穿刺针安装装置500之间，甚至也可以 安装在穿刺针安装装置500和盖板安装装置600之间，但需要说明的是，必须在安装盖板之前完成滴注。
图7显示了本发明具体实施方式中提供的混药器组装机的滴注装置的结构示意图。
滴注装置的结构如图7所示包括：用于向混药杯滴入液体的导管506和位于导管506上的流量调节装置507，导管506和流量调节装置507用于向混药杯中滴入定量的液体，即蠕动泵507通过导管506将液体容器中的液体注射到混药杯中。
可选地，滴入的液体可以为注射用水。
可选地，流量调节装置507可以为蠕动泵。
图8显示了图2中盖板安装装置的结构示意图。
盖板安装装置600的结构如图8所示包括：盖板输送机构和盖板夹取机构，盖板输送机构用于输送盖板，盖板夹取机构用于夹取盖板输送机构上的盖板，并将该盖板安装到混药杯上。
具体来说，盖板输送机构包括盖板振荡盘601和盖板输送轨道602，盖板输送轨道602的一端与盖板振荡盘601对接，盖板输送轨道602的另一端与分度台101对接，盖板振荡盘601通过盖板输送轨道602将盖板输送到分度台101。
本实施例中，盖板输送轨道602为单输送轨道，盖板振荡盘601为单振荡盘，负责两个盖板的输送。
具体来说，盖板夹取机构包括盖板横向驱动组件603、盖板纵向驱动组件604和盖板真空吸头605。盖板纵向驱动组件604设置于盖板横向驱动组件603上，该盖板纵向驱动组件604可在盖板横向驱动组件603的带动下横向移动，盖板真空吸头605设置于盖板纵向驱动组件604上，该盖板真空吸头605可在盖板纵向驱动组件604的带动下纵向移动。这样，盖板真空吸头605在盖板纵向驱动组件604和盖板横向驱动组件603的带动下吸住盖板，以将盖板安装到混药杯上。
可选地，盖板横向驱动组件603和盖板纵向驱动组件604均为驱动气缸盖板纵向驱动组件604与盖板横向驱动组件603的气缸杆连接，盖板真空吸头605与盖板纵向驱动组件604的气缸杆连接。
盖板安装装置600还包括盖板阻挡组件606和穿刺针检测器。盖板阻挡组件606靠近盖板振荡盘601，由于盖板比较薄，因此在盖板真空吸头605下压取盖板时盖板阻挡组件606伸出，挡住下一组盖板，防止相互挤压干涉，该盖板阻挡组件606为带有挡片的气缸。盖板检测器用于检测盖板输送轨道602上是否存在盖板，当盖板检测器未检测到盖板输送轨道602上的盖板时，PLC控制器控制盖板纵向驱动组件604的气缸杆、盖板阻挡组件606的挡片处于缩回状态，控制盖板横向驱动组件603处于伸出状态，即盖板横向驱动组件603驱动其气缸杆伸出；当盖板检测器检测到盖板输送轨道602上的盖板时，PLC控制器控制盖板阻挡组件606的挡片伸出，接着控制盖板纵向驱动组件604的气缸杆伸出，通过盖板真空吸头605吸住盖板，接着控制盖板纵向驱动组件604的气缸杆、盖板横向驱动组件603的气缸杆依次缩回，将盖板带到混药杯上方，接着控制盖板纵向驱动组件604的气缸杆再次伸出，将盖板安装于混药杯上，之后回到起始状态，分度台101转动，空卡具102进入该盖板安装工位，等待下一个循环，混药杯被带入下一个工位即焊接安装工位。
焊接装置700设置在机架100上并与分度台101对接，该焊接装置700用于将易撕膜焊接于混药杯上完成混药器的组装。
焊接装置700包括：送膜机构、拉膜机构、焊接机构和切膜机构。其中送膜机构用于将易撕膜送到拉膜机构，拉膜机构用于将易撕膜送到混药杯上方，焊接机构用于将混药杯上方的易撕膜焊接于该混药杯上，切膜机构用于切断易撕膜。
图9显示了图2中焊接装置的送膜机构的结构示意图。
送膜机构的结构如图9所示包括：卷膜支架701、张紧气缸702、固定辊703和送膜辊704。其中送膜辊704与张紧气缸702的驱动端连接，卷膜支架 701和固定辊703均设置于焊接装置上，送膜时，张紧气缸702带动送膜辊704，将卷膜支架701上的易撕膜通过固定辊703送到拉膜机构，即张紧气缸702每次松开固定长度的易撕膜，易撕膜经过固定辊703进入拉膜机构。
图10显示了图2中焊接装置的拉膜机构的结构示意图。
拉膜机构包括：易撕膜横向驱动组件705、易撕膜纵向驱动组件706和易撕膜真空吸头707。易撕膜纵向驱动组件706设置于易撕膜横向驱动组件705上，该易撕膜纵向驱动组件706可在易撕膜横向驱动组件705的带动下横向移动，易撕膜真空吸头707设置于易撕膜纵向驱动组件706上，该易撕膜真空吸头707可在易撕膜纵向驱动组件706的带动下纵向移动。这样，易撕膜真空吸头707在易撕膜纵向驱动组件706和易撕膜横向驱动组件705的带动下吸住易撕膜，以将易撕膜送到混药杯的上方。
可选地，易撕膜横向驱动组件705和易撕膜纵向驱动组件706均为驱动气缸，易撕膜纵向驱动组件706与易撕膜横向驱动组件705的气缸杆连接，易撕膜真空吸头707与易撕膜纵向驱动组件706的气缸杆连接。
在本实施例中，拉膜机构还包括压模组件708，压模组件708用于在易撕膜真空吸头707吸住易撕膜之前，通过压膜块709压紧易撕膜，该压膜块709与压模组件708的压膜气缸的驱动端连接，当压膜块709伸出时，可压紧易撕膜。优选地，压膜块709压向易撕膜的一面设置有防滑垫。
图11显示了图2中焊接装置的焊接机构的结构示意图。
焊接机构包括：焊膜驱动组件710和焊膜模具711。焊膜模具711与焊膜驱动组件710的驱动端连接，由焊膜驱动组件710带动其移动，将易撕膜焊接到混药杯上。焊膜模具711采用特种模具钢制作，上有涂层，模具中有加热棒和温度传感器，通过PLC控制和调节焊接温度。焊接时力量较大，为防止混药杯被压坏，在混药杯下设置有支撑。
可选地，焊膜驱动组件710为驱动气缸，该焊膜驱动组件710的气缸杆与焊膜模具711连接。
图12显示了图2中焊接装置的切膜机构的结构示意图。
切膜机构包括：切膜驱动组件712和切膜刀713，切膜刀713与切膜驱动组件712的驱动端连接，由切膜驱动组件712带动其将易撕膜切断。
可选地，切膜驱动组件712为驱动气缸，该切膜驱动组件712的气缸杆与切膜刀713连接。
这样，初始阶段时将易撕膜手工送入轨道，压模组件708伸出，通过压模块709压紧易撕膜，易撕膜纵向驱动组件706驱动其气缸杆伸出，易撕膜真空吸头707从轨道下方的孔内接触膜将易撕膜吸住，张紧气缸702伸出将易撕膜松开，压模组件708驱动压膜块709向上抬起即缩回，易撕膜横向驱动组件705驱动其气缸杆伸出，将易撕膜向前送既定长度，易撕膜被送到混药杯上方。焊膜驱动组件710驱动其气缸杆伸出，焊膜模具711压紧易撕膜开始焊接(焊接质量通过焊接时间和焊接温度控制)。此时压模组件708驱动驱动压膜块709伸出，将轨道的易撕膜压住；切膜驱动组件712驱动其气缸杆伸出，通过切膜刀713将易撕膜切断；张紧气缸702收回将膜卷张紧，易撕膜真空吸头707断开真空状态，易撕膜纵向驱动组件706驱动其气缸杆收回离开易撕膜，易撕膜横向驱动组件705驱动其气缸杆缩回。工位回归起始状态，分度台101旋转，进行下一动作。
可选地，焊接装置700还包括：修膜机构，该修膜机构用于对焊接到混药杯上的易撕膜的形状进行修饰，便于使用时撕下。
图13显示了图2中焊接装置的修膜机构的结构示意图。
修膜机构包括：修膜驱动组件714和修膜刀715。修膜刀715与修膜驱动组件714的驱动端连接，由修膜驱动组件714带动其对易撕膜的形状进行修饰。具体地，修膜驱动组件714的驱动端设置有刀座716，修膜刀715安装于刀座716上，根据需要可以在刀座716上增设加热功能，例如在刀座716内设置有加热器。
可选地，修膜驱动组件714为驱动气缸，刀座716与修膜驱动组件714的气缸杆连接，可以上下移动，修膜刀715安装于刀座716上，可以弯折成需要切割的形状。
可选地，修膜刀715为锯齿刀，可以弯折成需要切割的形状。
这样，焊接到混药杯上的易撕膜及该混药杯被送往修膜机构，修膜机构检测到该易撕膜和混药杯后，启动修膜驱动组件714，进而控制修膜刀715下压切割易撕膜的接口，在易撕膜的接口上切出指定形状，之后通过机械结构将废边撕掉，使得易撕膜的接口成为最终设计的形状，以便于使用时撕下。
输出装置800设置在机架100上并与分度台101对接，该输出装置800用于输出组装后的混药器。
图14显示了图2中输出装置的结构示意图。
输出装置800包括：输出驱动组件801和输出轨道802。输出轨道802与分度台101对接，输出驱动组件801的驱动轴将分度台101卡具102上组装好的混药器推入输出轨道802，使得混药器成品滑落到存贮箱或皮带上完成组装工作。之后输出驱动组件801缩回，分度台101旋转，完成一个周期的生产。
可选地，输出驱动组件801为驱动气缸。
图15显示了本发明具体实施方式中提供的混药器组装机的工作流程示意图。
下面结合图15所示的流程示意图，介绍本实施例的混药器组装机的工作过程。
混药杯到位：混药杯被振荡盘和轨道组成的输送系统送到既定位置，机械手(或抓取装置)将混药杯送入旋转分度台上夹具中。分度台旋转到下一个工位。
胶塞安装：振荡盘和轨道组成的胶塞输送系统将胶塞送到即定位置，设备通过真空吸头将胶塞吸起，被气缸安装到混药杯中。设备具有通过真空检测和光电传感器对胶塞进行检测，如果发现胶塞没有到位或者未被真空头吸起则进行停机报警，等待工人处理。胶塞安装到位后分度台旋转到下一个工位。
卡扣安装：振荡盘和轨道组成的弹性卡扣输送系统将弹性卡扣送到即定 位置，设备通过抓取装置将弹性卡扣安装入混药杯中，并通过气缸下压距离和力量保证卡扣卡入混药杯中。分度台旋转到下一个工位。
穿刺针安装：振荡盘和轨道组成的穿刺针输送系统将穿刺针送到即定位置，设备通过真空吸头(或机械手)抓取后送入混药器，通过气缸的行程和力量保证穿刺针安装的位置。通过光电传感器和真空检测对穿刺针进行检测，如果发现穿刺针没有到位或未被拾取则停机报警，等待工人处理。此工位安装有蠕动泵，通过蠕动泵和导管可以在穿刺针安装过程中往混药杯中滴入定量的注射用水，即滴注工位。此后分度台旋转到下一个工位。
盖板安装：盖板被输送到位后，设备通过真空吸头将盖板吸取，通过气缸安装到混药杯上，通过光电传感器和真空检测对盖板进行检测，如果发现盖板没有到位或未被拾取则停机报警，等待工人处理。此时分度台旋转到下一个工位。
易撕膜焊接：易撕膜固定在支架上的旋转轮上，通过带有吸盘的输送气缸的行程来决定每次往前送膜的长度。膜刚好覆盖到混药杯上，加热的焊接模具通过气缸作用下压保证易撕膜焊接良好。同时，气缸上的刀具会将易撕膜切断，即易撕膜切断。分度盘旋转到下一个工位。
需要说明的是，也可以先切割预定长度的易撕膜，然后将该易撕膜焊接到混药杯上。
易撕膜成型：易撕膜成型工位安装有和所要求形状相同的锯齿刀，当混药杯进入改工位后，气缸带动刀具下压，对易撕膜进行成型切割。该工位有真空收集结构，可以将产生的碎屑吸走。
产品输送：气缸将组合好的混药杯从夹具中推下，通过滑道送入收集箱中。
如上所述，本发明的混药器组装机由PLC控制，通过数组振荡盘和轨道组成的供料系统将混药器接口的各个部分输送到设备既定位置，通过机械手、真空吸头或抓取装置将各个部分送入由伺服马达或气动分度台或间歇分割器驱动的分度台上进行组装，有效地提高了工作效率，节约了人力资源，且能 保证产品组装质量。
应当理解的是，本发明的上述具体实施方式仅仅用于示例性说明或解释本发明的原理，而不构成对本发明的限制。因此，在不偏离本发明的精神和范围的情况下所做的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。此外，本发明所附权利要求旨在涵盖落入所附权利要求范围和边界、或者这种范围和边界的等同形式内的全部变化和修改例。

Claims (47)

  1. 一种混药器组装机，其特征在于，所述组装机包括：
    机架(100)，设置有可旋转的分度台(101)，所述分度台(101)上固定设置有多个卡具(102)；
    混药杯安装装置(200)，设置在所述机架(100)上，并与所述分度台(101)对接，用于将混药杯安装于所述卡具(102)上；
    胶塞安装装置(300)，设置在所述机架(100)上，并与所述分度台(101)对接，用于将胶塞安装于混药杯内；
    弹性卡扣安装装置(400)，设置在所述机架(100)上，并与所述分度台(101)对接，用于将弹性卡扣安装于混药杯内；
    穿刺针安装装置(500)，设置在所述机架(100)上，并与所述分度台(101)对接，用于将穿刺针安装于混药杯内；
    盖板安装装置(600)，设置在所述机架(100)上，并与所述分度台(101)对接，用于将盖板安装于混药杯上；
    焊接装置(700)，设置在所述机架(100)上，并与所述分度台(101)对接，用于将易撕膜覆盖在所述盖板上，并焊接在所述混药杯上；
    输出装置(800)，设置在所述机架(100)上，并与所述分度台(101)对接，用于输出组装后的混药器。
  2. 如权利要求1所述的组装机，其特征在于，所述混药杯安装装置(200)、胶塞安装装置(300)、弹性卡扣安装装置(400)、穿刺针安装装置(500)、盖板安装装置(600)、焊接装置(700)和输出装置(800)依次沿着所述分度台(101)外圆周设置形成环状。
  3. 如权利要求1或2所述的组装机，其特征在于，所述组装机还包括：滴注装置，用于在混药器组装过程中向混药杯中滴入定量的液体。
  4. 如权利要求3所述的组装机，其特征在于，所述滴注装置包括：用于向混药杯滴入液体的导管(506)和位于所述导管(506)上的流量调 节装置(507)。
  5. 如权利要求1至4中任一项所述的组装机，其特征在于，所述混药杯安装装置(200)包括：混药杯输送机构和混药杯夹取机构；所述混药杯输送机构用于输送混药杯，所述混药杯夹取机构用于夹取混药杯输送机构上的混药杯，并将该混药杯置于所述卡具(102)上。
  6. 如权利要求5所述的组装机，其特征在于，所述混药杯输送机构包括：混药杯振荡盘(201)和混药杯输送轨道(202)；所述混药杯输送轨道(202)的一端与所述混药杯振荡盘(201)对接，另一端与所述分度台(101)对接。
  7. 如权利要求6所述的组装机，其特征在于，所述混药杯输送轨道(202)为双输送轨道，所述混药杯振荡盘(201)为双振荡盘，每个振荡盘对应地对接一个输送轨道。
  8. 如权利要求6所述的组装机，其特征在于，所述混药杯夹取机构包括：混药杯横向驱动组件(203)、混药杯纵向驱动组件(204)和夹取轴(205)；所述混药杯纵向驱动组件(204)设置于所述混药杯横向驱动组件(203)上，可在所述混药杯横向驱动组件(203)的带动下横向移动；所述夹取轴(205)设置于所述混药杯纵向驱动组件(204)上，可在所述混药杯纵向驱动组件(204)的带动下纵向移动。
  9. 如权利要求8所述的组装机，其特征在于，所述混药杯安装装置(200)还包括：分别位于所述夹取轴(205)两侧的前阻挡组件(206)和后阻挡组件(207)，所述前阻挡组件(206)靠近所述混药杯振荡盘(201)，所述后阻挡组件(207)靠近所述分度台(101)。
  10. 如权利要求9所述的组装机，其特征在于，所述混药杯安装装置(200)还包括：混药杯检测器，用于检测所述混药杯输送轨道(202)上是否存在混药杯；
    当混药杯检测器未检测到所述混药杯输送轨道(202)上的混药杯时，所述前阻挡组件(206)、混药杯纵向驱动组件(204)处于缩回状态，所述 后阻挡组件(207)、混药杯横向驱动组件(203)处于伸出状态；
    当混药杯检测器检测到所述混药杯输送轨道(202)上的混药杯时，所述前阻挡组件(206)伸出，接着所述混药杯纵向驱动组件(204)伸出将所述夹取轴(205)插入混药杯中，所述后阻挡组件(207)缩回，接着所述混药杯横向驱动组件(203)缩回将混药杯置于所述分度台(101)的卡具(102)上。
  11. 如权利要求1至10中任一项所述的组装机，其特征在于，所述胶塞安装装置(300)包括：胶塞输送机构和胶塞夹取机构；所述胶塞输送机构用于输送胶塞，所述胶塞夹取机构用于夹取胶塞输送机构上的胶塞，并将该胶塞置于所述混药杯内。
  12. 如权利要求11所述的组装机，其特征在于，所述胶塞输送机构包括：胶塞振荡盘(301)和胶塞输送轨道(302)；所述胶塞输送轨道(302)的一端与所述胶塞振荡盘(301)对接，另一端与所述分度台(101)对接。
  13. 如权利要求12所述的组装机，其特征在于，所述胶塞输送轨道(302)为单输送轨道，所述胶塞振荡盘(301)为单振荡盘。
  14. 如权利要求12所述的组装机，其特征在于，所述胶塞夹取机构包括：胶塞横向驱动组件(303)、胶塞纵向驱动组件(304)和胶塞真空吸头(305)；所述胶塞纵向驱动组件(304)设置于所述胶塞横向驱动组件(303)上，可在所述胶塞横向驱动组件(303)的带动下横向移动；所述胶塞真空吸头(305)设置于所述胶塞纵向驱动组件(304)上，可在所述胶塞纵向驱动组件(304)的带动下纵向移动。
  15. 如权利要求14所述的组装机，其特征在于，所述胶塞安装装置(300)还包括：胶塞检测器，用于检测所述胶塞输送轨道(302)上是否存在胶塞；
    当胶塞检测器未检测到所述胶塞输送轨道(302)上的胶塞时，所述胶塞纵向驱动组件(304)处于缩回状态，所述胶塞横向驱动组件(303)处于伸出状态；
    当胶塞检测器检测到所述胶塞输送轨道(302)上的胶塞时，所述胶塞纵向驱动组件(304)伸出，通过所述胶塞真空吸头(305)吸住胶塞，接着所述胶塞纵向驱动组件(304)、胶塞横向驱动组件(303)依次缩回，将胶塞带到混药杯上方，接着所述胶塞纵向驱动组件(304)再次伸出，将胶塞安装于混药杯内。
  16. 如权利要求11至15中任一项所述的组装机，其特征在于，所述胶塞输送轨道(302)靠近所述分度台(101)的一端有设置有防止胶塞出轨的台阶。
  17. 如权利要求11至15中任一项所述的组装机，其特征在于，所述胶塞输送轨道(302)上设置有防止胶塞弹出的防护板。
  18. 如权利要求1至17中任一项所述的组装机，其特征在于，所述弹性卡扣安装装置(400)包括：弹性卡扣输送机构和弹性卡扣夹取机构；所述弹性卡扣输送机构用于输送弹性卡扣，所述弹性卡扣夹取机构用于夹取弹性卡扣输送机构上的弹性卡扣，并将该弹性卡扣置于所述混药杯内。
  19. 如权利要求18所述的组装机，其特征在于，所述弹性卡扣输送机构包括：弹性卡扣振荡盘(401)和弹性卡扣输送轨道(402)；所述弹性卡扣输送轨道(402)的一端与所述弹性卡扣振荡盘(401)对接，另一端与所述分度台(101)对接。
  20. 如权利要求19所述的组装机，其特征在于，所述弹性卡扣输送轨道(402)为单输送轨道，所述弹性卡扣振荡盘(401)为单振荡盘。
  21. 如权利要求19所述的组装机，其特征在于，所述弹性卡扣夹取机构包括：弹性卡扣横向驱动组件(403)、弹性卡扣纵向驱动组件(404)和弹性卡扣真空吸头(405)；所述弹性卡扣纵向驱动组件(404)设置于所述弹性卡扣横向驱动组件(403)上，可在所述弹性卡扣横向驱动组件(403)的带动下横向移动；所述弹性卡扣真空吸头(405)设置于所述弹性卡扣纵向驱动组件(404)上，可在所述弹性卡扣纵向驱动组件(404)的带动下纵向移动。
  22. 如权利要求21所述的组装机，其特征在于，所述弹性卡扣安装装置(400)还包括：弹性卡扣检测器，用于检测所述弹性卡扣输送轨道(402)上是否存在弹性卡扣；
    当弹性卡扣检测器未检测到所述弹性卡扣输送轨道(402)上的弹性卡扣时，所述弹性卡扣纵向驱动组件(404)处于缩回状态，所述弹性卡扣横向驱动组件(403)处于伸出状态；
    当弹性卡扣检测器检测到所述弹性卡扣输送轨道(402)上的胶塞时，所述弹性卡扣纵向驱动组件(404)伸出，通过所述弹性卡扣真空吸头(405)吸住弹性卡扣，接着所述弹性卡扣纵向驱动组件(404)、弹性卡扣横向驱动组件(403)依次缩回，将弹性卡扣带到混药杯上方，接着所述弹性卡扣纵向驱动组件(404)再次伸出，将弹性卡扣安装于混药杯内。
  23. 如权利要求1至22中任一项所述的组装机，其特征在于，所述穿刺针安装装置(500)包括：穿刺针输送机构和穿刺针夹取机构；所述穿刺针输送机构用于输送穿刺针，所述穿刺针夹取机构用于夹取穿刺针输送机构上的穿刺针，并将该穿刺针置于所述混药杯内。
  24. 如权利要求23所述的组装机，其特征在于，所述穿刺针输送机构包括穿刺针振荡盘(501)和穿刺针输送轨道(502)；所述穿刺针输送轨道(502)的一端与所述穿刺针振荡盘(501)对接，另一端与所述分度台(101)对接。
  25. 如权利要求24所述的组装机，其特征在于，所述穿刺针输送轨道(502)为单输送轨道，所述穿刺针振荡盘(501)为单振荡盘。
  26. 如权利要求24所述的组装机，其特征在于，所述穿刺针夹取机构包括穿刺针横向驱动组件(503)、穿刺针纵向驱动组件(504)和穿刺针真空吸头(505)；所述穿刺针纵向驱动组件(504)设置于所述穿刺针横向驱动组件(503)上，可在所述穿刺针横向驱动组件(503)的带动下横向移动；所述穿刺针真空吸头(505)设置于所述穿刺针纵向驱动组件(504)上，可在所述穿刺针纵向驱动组件(504)的带动下纵向移动。
  27. 如权利要求26所述的组装机，其特征在于，所述穿刺针安装装置(500)还包括：穿刺针检测器，用于检测所述穿刺针输送轨道(502)上是否存在穿刺针；
    当穿刺针检测器未检测到所述穿刺针输送轨道(502)上的穿刺针时，所述穿刺针纵向驱动组件(504)处于缩回状态，所述穿刺针横向驱动组件(503)处于伸出状态；
    当穿刺针检测器检测到所述穿刺针输送轨道(502)上的穿刺针时，所述穿刺针纵向驱动组件(504)伸出，通过所述穿刺针真空吸头(505)吸住穿刺针，接着所述穿刺针纵向驱动组件(504)、穿刺针横向驱动组件(503)依次缩回，将穿刺针带到混药杯上方，接着所述穿刺针纵向驱动组件(504)再次伸出，将穿刺针安装于混药杯内。
  28. 如权利要求1至27中任一项所述的组装机，其特征在于，所述盖板安装装置(600)包括：盖板输送机构和盖板夹取机构；所述盖板输送机构用于输送盖板，所述盖板夹取机构用于夹取盖板输送机构上的盖板，并将该盖板置于所述混药杯上。
  29. 如权利要求28所述的组装机，其特征在于，所述盖板输送机构包括盖板振荡盘(601)和盖板输送轨道(602)；所述盖板输送轨道(602)的一端与所述盖板振荡盘(601)对接，另一端与所述分度台(101)对接。
  30. 如权利要求29所述的组装机，其特征在于，所述盖板输送轨道(602)为单输送轨道，所述盖板振荡盘(601)为单振荡盘。
  31. 如权利要求29所述的组装机，其特征在于，所述盖板夹取机构包括盖板横向驱动组件(603)、盖板纵向驱动组件(604)和盖板真空吸头(605)；所述盖板纵向驱动组件(604)设置于所述盖板横向驱动组件(603)上，可在所述盖板横向驱动组件(603)的带动下横向移动；所述盖板真空吸头(605)设置于所述盖板纵向驱动组件(604)上，可在所述盖板纵向驱动组件(604)的带动下纵向移动。
  32. 如权利要求31所述的组装机，其特征在于，所述盖板安装装置 (600)还包括：盖板阻挡组件(606)，其靠近所述盖板振荡盘(601)，用于阻挡所述盖板振荡盘(601)输向所述盖板输送轨道(602)的盖板。
  33. 如权利要求32所述的组装机，其特征在于，所述盖板安装装置(600)还包括：盖板检测器，用于检测所述盖板输送轨道(602)上是否存在盖板；
    当盖板检测器未检测到所述盖板输送轨道(602)上的盖板时，所述盖板纵向驱动组件(604)、盖板阻挡组件(606)处于缩回状态，所述盖板横向驱动组件(603)处于伸出状态；
    当盖板检测器检测到所述盖板输送轨道(602)上的盖板时，所述盖板阻挡组件(606)伸出，接着所述盖板纵向驱动组件(604)伸出，通过所述盖板真空吸头(605)吸住盖板，接着所述盖板纵向驱动组件(604)、盖板横向驱动组件(603)依次缩回，将盖板带到混药杯上方，接着所述盖板纵向驱动组件(604)再次伸出，将盖板安装于混药杯上。
  34. 如权利要求1至33中任一项所述的组装机，其特征在于，所述焊接装置(700)包括：送膜机构、拉膜机构、焊接机构和切膜机构；所述送膜机构用于将易撕膜送到拉膜机构，所述拉膜机构用于将易撕膜送到混药杯上方，所述焊接机构用于将混药杯上方的易撕膜焊接于该混药杯上，所述切膜机构用于切断易撕膜。
  35. 如权利要求34所述的组装机，其特征在于，所述送膜机构包括：卷膜支架(701)、张紧气缸(702)、固定辊(703)和送膜辊(704)；所述张紧气缸(702)带动送膜辊(704)，将所述卷膜支架(701)上的易撕膜通过固定辊(703)送到拉膜机构。
  36. 如权利要求35所述的组装机，其特征在于，所述拉膜机构包括：易撕膜横向驱动组件(705)、易撕膜纵向驱动组件(706)和易撕膜真空吸头(707)；所述易撕膜纵向驱动组件(706)设置于所述易撕膜横向驱动组件(705)上，可在所述易撕膜横向驱动组件(705)的带动下横向移动；所述易撕膜真空吸头(707)设置于所述易撕膜纵向驱动组件(706)上， 可在所述易撕膜纵向驱动组件(706)的带动下纵向移动。
  37. 如权利要求36所述的组装机，其特征在于，所述拉膜机构还包括：压模组件(708)，用于在所述易撕膜真空吸头(707)吸住易撕膜之前，通过压膜块(709)压紧易撕膜。
  38. 如权利要求37所述的组装机，其特征在于，所述压膜块(709)压向易撕膜的一面设置有防滑垫。
  39. 如权利要求34所述的组装机，其特征在于，所述焊接机构包括：焊膜驱动组件(710)和焊膜模具(711)，所述焊膜模具(711)与所述焊膜驱动组件(710)的驱动端连接。
  40. 如权利要求39所述的组装机，其特征在于，所述焊膜模具(711)内设置有加热棒和温度传感器。
  41. 如权利要求34所述的组装机，其特征在于，所述切膜机构包括：切膜驱动组件(712)和切膜刀(713)，所述切膜刀(713)与所述切膜驱动组件(712)的驱动端连接。
  42. 如权利要求1至41中任一项所述的组装机，其特征在于，所述焊接装置(700)还包括：修膜机构，用于对焊接到混药杯上的易撕膜的形状进行修饰，便于使用时撕下。
  43. 如权利要求42所述的组装机，其特征在于，所述修膜机构包括：修膜驱动组件(714)和修膜刀(715)，所述修膜刀(715)与所述修膜驱动组件(714)的驱动端连接。
  44. 如权利要求43所述的组装机，其特征在于，所述修膜刀(715)为锯齿刀。
  45. 如权利要求43所述的组装机，其特征在于，所述修膜驱动组件(714)的驱动端设置有刀座(716)，所述修膜刀(715)安装于所述刀座(716)上。
  46. 如权利要求45所述的组装机，其特征在于，所述刀座(716)内设置有加热器。
  47. 如权利要求1至46中任一项所述的组装机，其特征在于，所述输出装置(800)包括：输出驱动组件(801)和输出轨道(802)，所述输出轨道(802)与所述分度台(101)对接，所述输出驱动组件(801)的驱动轴将所述分度台(101)卡具(102)上组装好的混药器推入输出轨道(802)。
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