WO2023070927A1 - Reversing transfer mechanism and medical instrument cleaning conveyor line - Google Patents

Abstract

A reversing transfer mechanism (100) and a pre-filled syringe cleaning conveyor line (200). The reversing transfer mechanism (100) comprises a support (10), a swing assembly (20) and a retrieval assembly (30), the swing assembly (20) being rotatably connected to the support (10), and the retrieval assembly (30) being mounted on the swing assembly (20) in a following manner. The swing assembly (20) can swing in a reciprocating manner within a preset angle range, and is used to acquire syringes one by one or in groups from a syringe conveying device (210), and transfer the syringes to a cleaning device.

Description

Reversing transfer mechanism and medical equipment cleaning conveyor line

related application

This application claims the priority of the Chinese patent application filed on November 1, 2021, with the application number 202111285201.7, and the title of the invention is "Reversing Transfer Mechanism and Medical Device Cleaning Conveyor Line", the entire content of which is incorporated in this application by reference middle.

technical field

The present application relates to the technical field of medical device production equipment, in particular to a reversing transfer mechanism and a medical device cleaning conveying line.

Background technique

Pre-filled syringes have the advantages of quick and convenient injection and no need for medical staff to manually collect injections, so they are welcomed by medical institutions. In order to ensure the cleanliness and safety of injections, there is an important link in the production of prefilled syringes: cleaning and drying the prefilled syringes.

An important prerequisite for efficient cleaning is to keep the injection tubes reaching the cleaning equipment at a specific nozzle orientation angle and tube body position, and to ensure the consistency of all injection tube body positions so that the cleaning agent can fully wash. Use conventional transportation equipment to transfer the injection tube to the cleaning equipment. Although the transfer volume is larger, the tube body position or nozzle orientation angle of the injection tube on the delivery equipment is difficult to meet the tube body position/nozzle orientation angle required by the cleaning operation. And conventional transportation equipment does not have the function of adjusting the position/angle of the injection tube.

Contents of the invention

In view of this, it is necessary to provide a reversing transfer mechanism for the medical instrument cleaning conveyor line, including a frame, a swing assembly and a retrieving assembly, the swing assembly is rotatably connected to the frame, and the retrieving assembly The material component is installed on the swing component along with it.

The oscillating assembly is used for obtaining the injection tube from the injection tube delivery device, and moving the injection tube to the cleaning device by swinging within a preset angle range.

The reversing transfer mechanism provided by this application is used to switch the direction of the injection tube between the injection tube conveying equipment and the cleaning equipment. After the feeding component obtains the injection tube, the swing component drives the injection tube to rotate through a preset angle. The body position/orifice orientation angle of the injection tube can be adjusted to the position/orientation angle required by the cleaning operation. Therefore, when the mechanism is used in the medical device cleaning conveying line, the cleaning conveying line has the ability to control the injection Tube automatic transfer and angle adjustment functions without human intervention.

In one of the embodiments, the material fetching assembly can move relatively close to or away from the injection tube delivery device when the swing assembly rotates to the pre-fetching position.

With such a setting, the retrieving component can move close to the injection tube delivery device to obtain the injection tube, which is convenient for the retrieving component to obtain the injection tube in the direction of negative pressure adsorption of the injection tube, and can also move away from the injection tube delivery device to drive the injection tube and the injection tube. The tube delivery device separates to prevent the syringe delivery device from hitting the syringe on the take-up assembly.

In one of the embodiments, the reversing transfer mechanism further includes a reversing drive assembly, the swing assembly is rotatably mounted on the reversing drive assembly, and the frame further includes a reversing drive assembly that slides with the reversing drive assembly. Fitting first guide.

The reversing drive assembly can slide along the axial direction of the first guide part when the swing assembly is rotated to the pre-fetching position, so as to drive the swing assembly and the reclaiming assembly along the axial direction of the first guide part. Synchronized translational movement.

In such a configuration, the movement direction of the fetching assembly moving towards or away from the injection tube delivery device is consistent with the guiding direction of the first guide part, and can also improve the consistency of the contact position between the fetching assembly and the injection tube.

In one embodiment, the first guide part includes a plurality of guide posts arranged in parallel, and the reversing drive assembly is in sliding fit with at least two of the guide posts.

In this way, the degree of freedom of rotation between the reversing drive assembly and the frame is eliminated, so that the reversing drive assembly can only perform lifting and translation movements in the axial direction of the guide column, which can ensure that the retrieving assembly moves close to the injection tube delivery equipment The time can always point to the conveying chute.

In one of the embodiments, the material fetching assembly can move relatively close to or move away from the cleaning device in translation when the swing assembly is rotated to the pre-discharging position.

With such arrangement, the material taking assembly can put the injection tube into the clamping device by being relatively close to the cleaning device, and can also move the material taking component out of the clamping device by moving relatively away from the cleaning device, so as to prevent the clamping device from colliding with the material taking component.

In one of the embodiments, the reversing transfer mechanism further includes a movably connected bearing structure and a reversing driving source, the bearing structure is connected to the frame, and the reversing driving source is drivingly connected to the swing assembly .

The supporting structure is provided with a second guide part, and the reversing drive source can drive the swing assembly to stop running when it is rotated to the pre-discharging position, and move synchronously with the swing assembly along the second guide part. .

In this way, the movement direction of the material fetching assembly moving close to or away from the clamping device of the cleaning device is consistent with the extension direction of the second guide part, which can also improve the positional consistency of the material retrieval assembly placing the injection tube in the clamping device.

In one of the embodiments, the reversing transfer mechanism further includes an auxiliary driving source and a sliding fitting seat fixedly connected with the reversing driving source, and the second guide part is slidingly and guidingly connected with the sliding fitting seat; The auxiliary driving source is installed on the bearing structure, and is drivingly connected to at least one of the sliding fitting seat and the reversing driving source.

With such an arrangement, the sliding fitting seat is directly used for slidingly contacting the second guide part, without setting a sliding pair between the reversing drive source and the second guide part.

In one of the embodiments, the reversing transfer mechanism further includes an auxiliary driving source connected to the carrying structure, a lifting driving source connected to the reversing driving source, and a first guide portion disposed on the carrying structure.

The auxiliary driving source drives the carrying structure to move in translation along the second guide part, so as to drive the reversing driving source to follow the carrying structure to translate synchronously.

When the oscillating assembly rotates to the pre-fetching position, the lifting drive source can drive the reversing drive source to move in translation along the first guide part, so that the retrieving assembly is relatively close to the injection pipe delivery device.

The present application also provides a cleaning and conveying line for medical equipment, which is characterized in that it includes injection tube conveying equipment, cleaning equipment, and the above-mentioned reversing and transferring mechanism.

The cleaning device includes a clamping device for positioning the injection pipe, the injection pipe delivery device has a conveying trough that can move back and forth, and the reversing transfer mechanism is used to move the injection pipe from the conveying trough. loaded into the holding device.

In one of the embodiments, the cleaning and conveying line for medical instruments further includes a detection unit, which is used for detecting the arrangement of the syringes on the syringe delivery equipment.

With this setting, the detection unit can detect missing parts on the delivery trough of the injection tube conveying equipment, abnormal orientation of the injection tube in one of the delivery troughs, damage to the injection tube in one of the delivery troughs, etc. , Feedback information to the control system after detecting the abnormality of incoming items. For example, when the detection unit detects a missing part or a damaged injection tube, the control system can control the reversing transfer mechanism to stop running to skip the abnormality, and rotate and transfer the next normal incoming item; when the detection unit detects that the injection tube is facing When inconsistent, the control system can control and change the direction of rotation of the swing assembly, so that the position of the tube body/the orientation angle of the nozzle when the injection tube is rotated and transferred to the cleaning device is consistent.

In one of the embodiments, the number of the conveying troughs is multiple, and the multiple conveying troughs are arranged in parallel and can move in circles; the length direction of the conveying troughs is perpendicular to the swing assembly. Turn the centerline.

In this way, the length direction of the conveying trough is parallel to the plane where the swing assembly rotates around the center line of rotation, so the transfer track of the injection tube can be limited in a plane, and it is not easy to be separated from other parts in the medical device cleaning conveying line. Device collision interference.

In one embodiment, the cleaning equipment further includes a rotary transfer mechanism, the rotary transfer mechanism has a rotation axis, and the clamping device is installed on the outer side of the rotation transfer mechanism and can rotate around the rotation axis. ; The rotation center line of the swing assembly is perpendicular to the rotation axis.

In this way, the rotary transfer mechanism can drive the clamping device to move back and forth around the rotation axis, and use fewer clamping devices to continuously clamp and position the injection tubes that arrive at the cleaning equipment one by one. The reciprocating rotation in the plane transfers the syringe.

Description of drawings

FIG. 1 is a schematic perspective view of a three-dimensional structure of a reversing transfer mechanism according to an embodiment of the present application.

Fig. 2 is a schematic perspective view of a three-dimensional structure of a medical instrument cleaning delivery line according to an embodiment of the present application.

Explanation of reference signs:

100. Reversing transfer mechanism; 200. Cleaning delivery line for pre-filled injection tubes; 210. Injection tube delivery equipment; 220. Cleaning equipment;

10. Rack; 11. First guide part; 12. Lifting drive source; 20. Swing component; 21. First swing arm; 22. Second swing arm; 30. Reclaiming component; 40. Reversing drive component; 41. Bearing structure; 411. Carrier plate; 412. Sliding column; 413. Second guide part; 42. Reversing driving source; 43. Sliding fit seat; 44. Auxiliary driving source;

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the accompanying drawings in the embodiments of the application. Apparently, the described embodiments are only part of the embodiments of the application, not all of them. Based on the implementation manners in this application, all other implementation manners obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terminology used herein in the description of the application is only for the purpose of describing specific embodiments, and is not intended to limit the application. As used herein, the term "or/and" includes any and all combinations of one or more of the associated listed items.

Please refer to FIG. 1 to FIG. 2 , the present application provides a reversing transfer mechanism 100 for a medical device cleaning conveying line and a medical device cleaning conveying line including the reversing transferring mechanism 100 , the cleaning conveying line is used for Wash-drying of medical devices, especially tubular medical devices such as prefilled syringes.

For the convenience of explanation, the structure and principle of the reversing transfer mechanism 100 will be described in detail below by taking the application of the reversing transfer mechanism 100 in the prefilled syringe cleaning delivery line 200 as an example.

In some embodiments, the prefilled syringe cleaning delivery line 200 also includes a syringe delivery device 210 and a cleaning device 220, wherein the syringe delivery device 210 includes a conveyor belt with a loop-back setting, and the loop-back setting means that the conveyor belt is a closed-loop structure , each part on it can pass through the same position multiple times, and the outer loop of the conveyor belt is provided with a delivery trough 211 for accommodating the injection tube. The conveyor belt can form a horizontally extending straight conveying section, and a plurality of conveying troughs 211 on the straight conveying section are arranged in parallel and equally spaced two by two. The length direction of 211 is always horizontal, so the conveyor belt can move the injection tube horizontally.

Further, the cleaning device 220 includes a rotary transfer mechanism and a clamping device for clamping the injection tube to position the injection tube. The rotary transfer mechanism has an axis of rotation, and the clamping device is installed on the outer side of the rotary transfer mechanism, and can rotate around the axis of rotation synchronously with the rotary transfer mechanism. Wherein the axis of rotation extends in the vertical direction, therefore, the vertical height of the clamping device does not change during the rotation. The number of clamping devices can be one set or multiple sets. When multiple sets of clamping devices are used, the multiple sets of clamping devices can be evenly distributed around the axis of rotation.

In other embodiments, the injection tube conveying equipment 210 can also be in other forms, such as a conveying shelf or a conveying roller bed that can perform a loop movement, and does not necessarily use a conveyor belt; the cleaning device 220 can also use other loop movement The transfer mechanism is used to carry the clamping device, and the rotary transfer mechanism is not necessarily selected; even if the conveyor belt is used to transfer the injection tube, the conveyor belt does not have to form a straight conveying section; even if the conveyor belt can form a straight section, it is straight The segments do not have to extend horizontally; a plurality of conveying troughs 211 may not be arranged at equal intervals, and the length direction of each conveying trough 211 does not have to be horizontal.

It is also worth noting that no matter what type of clamping device is selected, when the injection tube is fixed on the clamping device, the injection tube always remains vertical, and the large end opening of the injection tube faces the ground.

In some embodiments, the reversing transfer mechanism 100 includes a frame 10 , a swing assembly 20 , a retrieving assembly 30 and a reversing drive assembly 40 . The frame 10 is used to carry the reversing drive assembly 40, and the reversing drive assembly 40 is used to output driving force to the swing assembly 20, so as to drive the swing assembly 20 to reciprocate within a preset angle range relative to the frame 10, and the swing assembly 20 can An angular displacement is generated in response to the power output of the reversing drive assembly 40 , which is used to drive the retrieving assembly 30 to obtain the injection tube from the delivery trough 211 on the injection tube delivery device 210 and transfer it to the clamping device in the cleaning device 220 . When the injection pipe rotates following the material fetching assembly 30 and the swinging assembly 20, its position in space changes. Taking this embodiment as an example, the injection tube is rotated from a horizontal state to a vertical state so as to be vertically fixed on the holding device.

Specifically, the frame 10 includes a first guide portion 11, and the first guide portion 11 can optionally adopt a hollow guide post; the reversing drive assembly 40 includes a load-bearing structure 41 and a reversing drive source 42, and the load-bearing structure 41 includes a load-bearing structure fixed as a whole. The plate 411 and the sliding post 412 , the sliding post 412 is penetrated in the guide post and slidably fits with the inner wall of the guide post, and a part of the sliding post 412 protrudes from the end of the guide post relatively away from the ground and is fixedly connected with the carrier plate 411 . A lift drive source 12 for driving the reversing drive assembly 40 is also installed on the frame 10 , and the power output end of the lift drive source 12 is connected to the other end of the sliding column 412 relatively away from the carrier plate 411 . The lifting drive source 12 drives the bearing structure 41 to reciprocate and linearly displace along the axial direction of the guide post by outputting a reciprocating linear displacement parallel to the axial direction of the guide post to the sliding post 412 .

Optionally, the axis of the guide post extends along the vertical direction, and the lifting driving source 12 drives the supporting structure 41 in the vertical direction to drive the supporting structure 41 and the reversing driving source 42 to vertically reciprocate and translate synchronously.

The side of the carrier plate 411 facing away from the sliding post 412 is provided with a second guide part 413, and the second guide part 413 can optionally adopt a linear slide rail; The matching seat 43, the reversing driving source 42 is fixedly installed on the sliding fitting seat 43, the auxiliary driving source 44 is drivingly connected with at least one of the reversing driving source 42 and the sliding fitting seat 43, and is used to drive the reversing driving source 42 along a straight line The extending direction of the slide rail slides relative to the carrier board 411 . The linear slide rail extends parallel to the surface of the carrier plate 411 facing away from the sliding post 412 and is perpendicular to the axial direction of the guiding post.

As an option, the linear slide rail extends in the horizontal direction, and the auxiliary driving source 44 drives the reversing driving source 42 and the sliding fitting seat 43 to reciprocate and translate in the horizontal direction perpendicular to the axis of the guide post.

The swing assembly 20 includes a first swing arm 21 and a second swing arm 22 with an included angle and fixedly connected as one, wherein the retrieving assembly 30 is installed on the first swing arm 21 away from the end of the second swing arm 22, and the second swing arm 22 The swing arm 22 stretches into one side of the sliding fit seat 43 and stretches out from the other side of the slide fit seat 43, and the slide fit seat 43 and the second swing arm 22 form a rotational fit, and the second swing arm 22 is rotated from the slide fit seat 43. One end protruding from the other side is fixedly connected with the power output end of the reversing drive source 42 . The reversing drive source 42 outputs power to the swing assembly 20 and the material retrieval assembly 30 to drive the swing assembly 20 and the material retrieval assembly 30 to rotate around the axis of the second swing arm 22 within a preset angle range. Therefore, the axis of the second swing arm 22 is the rotation centerline of the swing assembly 20, and the rotation centerline forms an angle with the axis of the guide post, and also forms an angle with the extension direction of the linear slide rail.

As an option, the first swing arm 21 and the second swing arm 22 are perpendicular to each other, the axis of the second swing arm 22 is arranged horizontally, and is perpendicular to the extending direction of the linear slide rail, and is also aligned with the length direction of the conveying chute 211 and the The rotation axis of the rotary transfer mechanism is vertical; the reversing drive source 42 rotates by driving the swing assembly 20, so that the retrieving assembly 30 rotates in the vertical plane, and no matter whether the auxiliary drive source 44 drives the reversing drive source 42 to translate along the linear slide rail Movement, or whether the lifting drive source 12 drives the carrying structure 41 and the reversing drive source 42 to move in translation along the axis of the guide post, the rotation track of the reclaiming assembly 30 is always in the vertical plane.

When the reversing drive source 42 stops running and the lifting drive source 12 starts running, the vertical height of the swing assembly 20 and the retrieving assembly 30 relative to the straight conveying section of the conveyor belt changes; when the reversing drive source 42 stops running, the auxiliary drive When the source 44 starts to operate, the swing assembly 20 and the pick-up assembly 30 move relatively close to or away from the cleaning device 220 synchronously.

In this embodiment, the angular displacement stroke output by the reversing drive source 42 to the swing assembly 20 and the retrieving assembly 30 is 90°, and the swing assembly 20 has two extreme positions in the angular displacement stroke, which are the preparatory discharging position and the preparatory position respectively. Pick up position. When the oscillating assembly 20 rotates to the pre-feeding position, the retrieving assembly 30 points to the circumferential outer side of the rotary transfer mechanism; 211. The preset angle range of the oscillating assembly 20 is set to 90°, in order to adapt to the situation where the length direction of the conveying trough 211 extends in the horizontal direction and the clamping device in the cleaning device 220 clamps the injection tube in a vertical state. , so as to adjust the injection tube which is originally in a horizontal state to a vertical state, of course, the preset angle range can also be set or changed according to the arrangement of the injection tube delivery device 210 and the cleaning device 220 .

Suction cups can be provided at the end of the material taking assembly 30 to absorb the injection tubes from the delivery trough 211. The material taking assembly 30 sucks the injection tubes in groups at a time, and the number of injection tubes sucked by each group can be one or more. One, the present application does not specifically limit the number of injection tubes that are sucked up by the material taking assembly 30 at the same time for each group.

In this embodiment, the number of guide posts and sliding posts 412 are two groups, the two groups of guide posts are arranged in parallel, the two groups of sliding posts 412 are arranged in parallel, and the two groups of sliding posts 412 respectively extend into the two groups of guide posts to form a sliding fit, Such arrangement can eliminate the rotational degree of freedom between the reversing drive assembly 40 and the guide post.

In one embodiment, the cleaning delivery line 200 for prefilled syringes further includes a detection unit, which can be a graphic acquisition device, a photoelectric sensor, etc., to detect the arrangement of the syringes on the syringe delivery device 210 .

The arrangement of injection tubes includes two categories: normal incoming items and abnormal incoming items. Normal incoming items mean that there are injection tubes in each conveying trough 211 on the injection tube conveying equipment 210, and the mouth of each injection tube faces They are all the same, and there is no waste or damaged parts; the abnormal situation of incoming items includes missing parts in a certain delivery trough 211 on the injection tube conveying equipment 210, broken injection tubes, and injection tubes placed in a certain delivery trough 211 Either orientation is different from other syringes.

For the two abnormal situations of missing parts and damaged parts, the detection unit can feed back to the control system after detection, and the control system suspends the operation of the reversing transfer mechanism 100, and directly performs the rotation transfer operation on the next normal incoming part after skipping the abnormality; For the abnormal orientation of the injection tube, the control system can control the reversing drive source 42 to switch the direction of the output power to change the rotation direction of the swing assembly 20, so that each injection tube transferred to the cleaning device 220 has a consistent tube body position /Nozzle orientation angle.

It can be seen from the above that the above-mentioned "preset rotation angle range" is not unique, but two complementary angle values. The driving direction of the source 42 is not unique; the swing assembly 20 can rotate forward or reversely under the drive of the reversing drive source 42, that is, the swing assembly 20 has a forward rotation stroke and a reverse rotation stroke, and the material retrieving The assembly 30 has a forward rotation track and a reverse rotation track, and the two tracks are two non-overlapping circular arc tracks in the same semi-circular arc.

The specific rotation track along which the material fetching assembly 30 rotates depends on the orientation angle of the mouth of the injection pipe in the delivery trough 211 . As long as the detection unit detects the injection tube placed upside down, the control system controls the reversing drive source 42 to change the power output direction, thereby switching the rotation stroke of the swing assembly 20 .

It can be seen that when the swing assembly 20 rotates forward and reverse, the corresponding pre-discharging positions do not coincide, and the two pre-discharging positions are respectively the end of the forward rotation track and the end of the reverse rotation track, and are also The two ends of the semicircular arc, in other words, the two pre-discharging positions are located on the same straight line, and the line connecting the two ends of the semicircular arc is located on the same straight line.

Taking this embodiment as an example, after the injection tube rotates reversely following the swing assembly 20 to the pre-discharging position corresponding to the end of the reverse rotation track, the lifting drive source 12 drives the reversing drive assembly 40 to move in translation along the first guide part 11 , to drive the swing assembly 20, the material retrieving assembly 30 and the injection tube to translate synchronously until the injection tube is translated to the pre-discharge position corresponding to the end of the positive rotation track, and then driven by the auxiliary drive source 44, the retrieving assembly 30 will move the injection tube Put in the clamping mechanism.

It can be further seen that due to the installation of the detection unit, the rotation transfer of the reversing transfer mechanism 100 is no longer affected by the different orientations of the nozzles of the syringes on the syringe delivery device 210. The driving source 42 only needs to switch the power output direction, and the injection tube can still be rotated to the desired angle, which also reduces the requirement for feeding the injection tube delivery device 210, and it is not necessary to ensure that the injection tube is at the nozzle end of the injection tube delivery device 210 In the same direction.

In an embodiment not shown in the figure, the reversing transfer mechanism 100 can also use the principle of the plane linkage mechanism to realize the rotation of the swing assembly 20, for example, the rack and the swing assembly can be jointly arranged as a crank rocker mechanism, double rocker mechanism, slider rocker mechanism, the swing assembly 20 is used as a rocker member, and the retrieving assembly 30 is still installed on the swing assembly 20, so that the control swing assembly 20 can also be controlled at a preset The effect of swinging along a fixed trajectory within an angle range.

The operation process of the reversing transfer mechanism 100 in the prefilled syringe cleaning delivery line 200 will be described in detail below.

First, the injection tube conveying equipment 210 transfers the injection tube to the reversing transfer station, and the reversing drive source 42 drives the swing assembly 20 to rotate to the pre-fetching position. Conveying material trough 211; then the reversing drive source 42 stops running, and the lifting drive source 12 starts to run, driving the reversing drive assembly 40 to vertically descend and translate as a whole. Make the retrieving assembly 30 contact and absorb the injection tube; then the lifting drive source 12 outputs power in reverse, driving the reversing drive assembly 40, the swing assembly 20 and the retrieving assembly 30 to rise and translate synchronously. The purpose of this action is to drive the injection tube Separated from the conveying trough 211, avoiding the injection pipe conveying device 210 from colliding with the injection pipe adsorbed on the retrieving assembly 30 when it moves; then the lifting drive source 12 stops running, and the reversing drive source 42 drives the swing assembly 20 to synchronize with the retrieving assembly 30 Rotate 90°, the swing assembly 20 reaches the pre-discharge position, so that the take-up assembly 30 faces the circumferential side wall of the rotary transfer mechanism. This rotation process realizes the switching of the injection tube from the horizontal state to the vertical state. Finally, the replacement The driving source 42 stops running, and the auxiliary driving source 44 starts running to drive the reversing driving source 42, the swing assembly 20 and the retrieving assembly 30 to move synchronously along the linear slide rail and relatively close to the rotary transfer mechanism, so that the injection tube is put into the clamping device In order to clamp and fix the clamping device, after the clamping device fixes the injection tube, the auxiliary driving source 44 is reversely driven, driving the reversing driving source 42, the swinging assembly 20 and the retrieving assembly 30 to rotate relatively far away from each other along the linear slide rail synchronously The transfer mechanism is reset in translation.

It can be understood that the lifting drive source 12 and the auxiliary drive source 44 are not the structures that must be provided in this application. In other embodiments, other structures can also be used to realize the swing assembly 20 and the pick-up assembly 30 in the vertical direction and the horizontal direction. translational movement.

For example, a telescopic assembly can be arranged between the swing assembly 20 and the material fetching assembly 30. When the swing assembly 20 rotates to the pre-fetching position, the telescopic assembly can elongate and drive the retrieval assembly 30 to move relatively close to the conveyor belt to absorb the injection tube. Then shorten to drive the retrieving assembly 30 away from and give way away from the conveyor belt; when the swing assembly 20 rotates to the ready discharge position, the telescopic assembly can be extended to drive the injection tube into the clamping device, and then shortened to drive the retrieving Assembly 30 moves away and gives way away from the holding device.

In addition, the present application does not specifically limit the movement angle of the swing assembly 20 when the injection tube is put into the clamping device when the swing assembly 20 is in the pre-discharging position. The injection tube is put into the clamping device. In some other embodiments, the take-up assembly 30 can also be driven to move vertically up or down to put the injection tube into the clamping device.

It is worth noting that, in some other embodiments, the carrying structure may also form a sliding fit with the frame through the second guide portion.

For example, the load-bearing structure may include an auxiliary load-bearing element that is separately arranged from the load-bearing structure. The reversing drive source 42 is fixedly mounted on the auxiliary load-bearing element. The first guide portion is arranged on the load-bearing structure. The lifting drive source drives the auxiliary load-bearing element along the first The guide part moves in translation relative to the bearing structure, so that the reversing drive source follows the auxiliary bearing element and translates synchronously; the bearing structure is also provided with a second guide part to cooperate with the sliding guide of the frame, and the auxiliary drive source drives the bearing structure along the second guide part Translational movement relative to the frame, so that the reversing drive source follows the bearing structure and translates synchronously.

Specifically, the lifting drive source is used to make the reversing drive source follow the auxiliary bearing element and translate along the first guide part when the swing assembly rotates to the pre-fetching position, so that the material fetching assembly is relatively close to the injection tube delivery device; the auxiliary drive source The clamping mechanism used to drive the retrieving assembly relatively close to the cleaning equipment when the swing assembly is rotated to the ready-to-discharge position.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

Those of ordinary skill in the art should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation to the present application. As long as they are within the scope of the essence of the present application, appropriate changes are made to the above embodiments and changes all fall within the scope of protection claimed by the application.

Claims (12)

1. A reversing transfer mechanism, characterized in that it includes a frame, a swing assembly and a retrieving assembly, the swing assembly is rotatably connected to the frame, and the retrieving assembly is installed on the swing assembly;

   The oscillating assembly is used for obtaining the injection tube from the injection tube delivery device, and moving the injection tube to the cleaning device by swinging within a preset angle range.
2. The reversing transfer mechanism according to claim 1, wherein, when the material fetching assembly rotates to the pre-fetching position following the swing assembly, it can move relatively close to or move away from the syringe delivery device in translation.
3. The reversing transfer mechanism according to claim 2, wherein the reversing transfer mechanism further includes a reversing drive assembly, the swing assembly is rotatably mounted on the reversing drive assembly, and the frame further includes a first guide part slidingly fitted with the reversing drive assembly;

   The reversing drive assembly can slide along the first guide part when the swing assembly rotates to the pre-fetching position, so as to drive the swing assembly and the pick-up assembly to move synchronously along the first guide part .
4. The reversing transfer mechanism according to claim 3, wherein the first guide part comprises a plurality of guide posts arranged in parallel, and the reversing drive assembly is in sliding fit with at least two of the guide posts.
5. The reversing transfer mechanism according to claim 1, wherein, when the oscillating assembly rotates to the pre-discharging position, the pick-up assembly can move relatively close to or away from the clamping device of the cleaning device in translation.
6. The reversing transfer mechanism according to claim 5, wherein the reversing transfer mechanism further comprises a movably connected bearing structure and a reversing drive source, the bearing structure is connected to the frame, and the reversing The driving source is drivingly connected to the swing assembly;

   The bearing structure is provided with a second guide part, and the reversing drive source can drive the swing assembly to stop running when it reaches the pre-discharging position, and is synchronized with the swing assembly along the second guide part translational movement.
7. The reversing transfer mechanism according to claim 6, wherein, the reversing transfer mechanism further comprises an auxiliary driving source and a sliding mating seat fixedly connected with the reversing driving source, the second guide part and the The sliding guide connection of the above-mentioned sliding mating seat;

   The auxiliary driving source is installed on the bearing structure, and is drivingly connected to at least one of the sliding fitting seat and the reversing driving source.
8. The reversing transfer mechanism according to claim 6, wherein the reversing transfer mechanism further comprises an auxiliary driving source connected to the carrying structure, a lifting driving source connected to the reversing driving source, and a the first guide portion on the bearing structure;

   The auxiliary driving source drives the carrying structure to translate along the second guide part, so as to drive the reversing driving source to follow the carrying structure to translate synchronously;

   When the oscillating assembly rotates to the pre-fetching position, the lifting drive source can drive the reversing drive source to move in translation along the first guide part, so that the retrieving assembly is relatively close to the injection tube for delivery equipment.
9. A cleaning and conveying line for medical instruments, characterized in that it includes injection tube conveying equipment, cleaning equipment, and the reversing transfer mechanism according to any one of claims 1 to 8;

   The cleaning device includes a clamping device for positioning the injection pipe, the injection pipe delivery device has a conveying trough that can move back and forth, and the reversing transfer mechanism is used to move the injection pipe from the conveying trough. loaded into the holding device.
10. The medical instrument cleaning delivery line according to claim 9, wherein the medical instrument cleaning delivery line further comprises a detection unit, and the detection unit is used for detecting the arrangement of the injection tubes on the injection tube delivery equipment.
11. According to the medical device cleaning conveying line according to claim 9, wherein, the number of the conveying troughs is multiple, and the plurality of conveying troughs are arranged in parallel in pairs and can move in a loop; the length of the conveying troughs The direction is perpendicular to the rotation centerline of the swing assembly.
12. The medical instrument cleaning conveying line according to claim 9, wherein the cleaning equipment further comprises a rotary transfer mechanism, the rotary transfer mechanism has an axis of rotation, and the clamping device is installed on the circumferential outer side of the rotary transfer mechanism , capable of rotating around the rotation axis; the rotation centerline of the swing assembly is perpendicular to the rotation axis.

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