Feeding device, medical device and feeding method

Abstract

The present invention discloses a feeding device, a medical device and a feeding method. The feeding device includes a conveying fixture for placing a cartridge, which can linearly move horizontally between a proximal position and a distal position; a translation driving mechanism for driving the conveying fixture to linearly move horizontally; a nozzle connecting pipe; and a moving mechanism for driving the nozzle connecting pipe to move, which can enable the nozzle connecting pipe to restrict the cartridge on the conveying fixture from following the conveying fixture to move back from the distal position to the proximal position. In this solution, the moving mechanism is used to drive the nozzle connecting pipe to restrict the movement of the cartridge following the conveying fixture, so that when the conveying fixture moves back to the proximal position for feeding, the cartridge on it can be automatically separated from the conveying fixture without manual unloading, with high automation degree and convenient for improving the material changing efficiency.

Description

Technical Field

[0001] The present invention relates to the field of automated medical devices, and particularly to a feeding device, a medical device, and a feeding method. Background Art

[0002] Cyclic enhanced fluorescence immunoassay is a highly sensitive fluorescence immunoassay that enhances the fluorescence signal intensity through a certain method, making it possible to detect low-concentration targets.

[0003] It is the general trend to implement this reaction and corresponding detection through automated equipment. During automated detection, different test solutions need to be aspirated through a nozzle and added to a reagent strip to achieve the corresponding reaction. Usually, a set of nozzles is stored in a cartridge, and then the cartridge is transported into the equipment through a conveying fixture for use. After all the nozzles in a cartridge are used up, the cartridge needs to be replaced. The empty cartridge is transported to the proximal position through the conveying fixture for replacement. When replacing the cartridge, usually, an operator manually removes the cartridge on the conveying fixture and then places a new cartridge. Such replacement has low efficiency and requires frequent manual intervention. Summary of the Invention

[0004] The purpose of the present invention is to solve the above problems existing in the prior art, and provide a feeding device, a medical device, and a feeding method.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A feeding device, comprising

[0007] A conveying fixture for placing a cartridge, which can move horizontally in a straight line between a proximal position and a distal position;

[0008] A translation driving mechanism for driving the horizontal linear movement of the conveying fixture;

[0009] A nozzle connecting pipe, which is vertically arranged;

[0010] A moving mechanism for driving the movement of the nozzle connecting pipe, which can limit the cartridge on the conveying fixture from following the conveying fixture to move back to the proximal position from the distal position.

[0011] Preferably, the conveying fixture is movably arranged on two vertical plates. The translation driving mechanism includes a motor located on the outer side of one vertical plate. The motor is connected to the screw rod of a lead screw. The movable nut of the lead screw is connected to the part of the bottom plate extending outside the vertical plate. The movable nut is slidably connected to a slide rail located on the side of the vertical plate through a guide block.

[0012] Preferably, two height-limiting blocks are provided on the distal top surfaces of the two vertical plates.

[0013] Preferably, a waste collection tank is provided directly below the conveying jig at the distal position.

[0014] Preferably, a blanking device is provided on the outer side of the distal end of the vertical plate, which includes a limiting plate located within the moving range of the nozzle connecting pipe and perpendicular to the nozzle connecting pipe. At least one perforation is formed on the limiting plate. When the nozzle connecting pipe and the perforation are coaxial, a distance is maintained between the outer wall of the nozzle connecting pipe and the wall of the perforation.

[0015] Preferably, the upper end of the nozzle connecting pipe is connected to a suction and injection device.

[0016] Preferably, the limiting plate is arranged on the blanking chute, and the bottom blanking port of the blanking chute is communicated with the notch at the top of the waste collection tank.

[0017] Preferably, the nozzle connecting pipe can move in the vertical direction and is restricted on the mounting block of the moving mechanism. A boss is formed on the outer wall of the nozzle connecting pipe below the mounting block, and a spring sleeved on the outer periphery of the nozzle connecting pipe is arranged between the boss and the mounting block.

[0018] Preferably, a material box automatic feeding device is provided directly above the conveying jig at the proximal position.

[0019] Preferably, the material box automatic feeding device includes a storage bin and an automatic blanking mechanism.

[0020] The storage bin has a storage space for storing multiple stacked material boxes, and its bottom is a blanking port.

[0021] The automatic blanking mechanism can move the multiple stacked material boxes to the conveying jig one by one.

[0022] A medical device includes the feeding device described in any one of the above.

[0023] A feeding method at least includes the following steps:

[0024] S1. When there are no more than 3 nozzles remaining in the material box on the conveying jig at the distal position;

[0025] S2. The moving mechanism drives the nozzle connecting pipe to be inserted into the nozzle or into a jack for inserting the nozzle.

[0026] S3. The translation driving mechanism drives the conveying jig to move from the distal position to the proximal position, and the material box falls below the conveying jig under the action of gravity after moving to the outside of the conveying jig.

[0027] Preferably, the feeding method further includes

[0028] When the conveying jig is in the proximal position, the automatic blanking mechanism automatically drops a material box onto the conveying jig.

[0029] Preferably, when replacing the nozzle on the nozzle connecting pipe, the moving mechanism drives the nozzle connecting pipe to insert the nozzle thereon into the through hole on the limiting plate and makes the top of the nozzle located below the through hole. Then, the nozzle connecting pipe is translated until the pipe wall of the nozzle thereon is located outside the through hole. Subsequently, the moving mechanism drives the nozzle connecting pipe to rise until the lower end thereof moves above the limiting plate, completing the separation of the nozzle from the nozzle connecting pipe.

[0030] The advantages of the technical solution of the present invention are mainly reflected in:

[0031] In this solution, the moving mechanism drives the nozzle connecting pipe to limit the movement of the material box following the conveying jig. When the conveying jig moves back to the proximal feeding position, the material box thereon can be automatically separated from the conveying jig, eliminating the need for manual blanking, with high automation and facilitating the improvement of the material change efficiency.

[0032] The replaced material box and the used nozzle in this solution can automatically fall into the waste collection tank, facilitating centralized processing.

[0033] In this solution, the moving mechanism drives the nozzle connecting pipe to move, and a through hole is provided on the limiting plate of the blanking device to facilitate the nozzle connecting pipe with a nozzle inserted therein to pass through to the lower part of the through hole. Subsequently, by moving the nozzle connecting pipe, the top of the nozzle is located at the bottom of the limiting plate around the through hole. Then, by rising the nozzle connecting pipe, the separation of the nozzle from the nozzle connecting pipe can be achieved, providing a basic condition for replacing the nozzle again.

[0034] A limiting hole communicating with the through hole is further provided on the limiting plate of this solution, which can facilitate the movement control of the nozzle connecting pipe during nozzle disassembly, reduce the control difficulty, and ensure the reliability of nozzle disassembly.

[0035] The nozzle connecting pipe of this solution adopts a form that can float along its axial direction, which can effectively avoid the risk of nozzle damage caused by the excessive downward movement of the moving mechanism driving the nozzle connecting pipe.

[0036] The nozzle connecting pipe of this solution is connected to the suction and injection mechanism, which can automatically perform injection operations. And through the design of the suction and injection mechanism, the single injection volume can be effectively controlled, facilitating flexible satisfaction of different test requirements.

[0037] The storage bin of this solution can store multiple cartridges. Combined with the automatic blanking mechanism, it can effectively separate the stacked cartridges in the storage bin one by one onto the conveying fixture for conveying. Combined with the conveying fixture, a cartridge in the storage bin is conveyed outside the storage bin for use, which can greatly increase the supply of suction nozzles, reduce the frequency of adding cartridges, and is conducive to meeting the requirements of large-scale testing.

[0038] This solution adopts an open side to facilitate the addition of cartridges, and a door is set to prevent the stacked cartridges from tipping over after feeding. At the same time, it has a limiting mechanism and an elastic structure for automatic door opening, which can automatically release the limitation on the door and achieve automatic door opening, facilitating the feeding operation.

[0039] The conveying fixture of this solution adopts a sliding plate type conveying mechanism, and the translation drive structure is located on the outside, which is convenient for assembly operations and reduces the difficulty of processing and maintenance.

[0040] The automatic blanking mechanism of this solution uses the cooperation of a groove and a roller to realize the opening and closing of the clamping arm, which can effectively ensure the opening and closing accuracy and stability. Description of the Drawings

[0041] Figure 1 is a perspective view of the present invention;

[0042] Figure 2 is a perspective view of the conveying fixture and the automatic cartridge feeding device area of the present invention (the door is hidden in the figure);

[0043] Figure 3 is a perspective view of the suction nozzle connecting pipe and the moving mechanism area of the present invention;

[0044] Figure 4 is Figure 3 an enlarged view of area B in

[0045] Figure 5 is a perspective view of the suction nozzle connecting pipe, the moving mechanism and the blanking device area of the present invention;

[0046] Figure 6 is Figure 5 a top view of

[0047] Figure 7 is Figure 6 an enlarged view of area C in

[0048] Figure 8 is a partial side view of the automatic cartridge feeding device of the present invention observed from the feeding side of the storage bin;

[0049] Figure 9 is a perspective view of the automatic cartridge feeding device of the present invention with a door structure;

[0050] Figure 10Yes Figure 8 An enlarged view of area A therein;

[0051] Figure 11 It is a second perspective three-dimensional view of the automatic feeding device for the cartridge of the present invention;

[0052] Figure 12 It is a side view of the automatic feeding device for the cartridge of the present invention observed from the side of the automatic blanking mechanism with some structures of the automatic blanking mechanism hidden. Detailed implementation manners

[0053] The objectives, advantages and features of the present invention will be illustrated and explained by the following non-restrictive description of the preferred embodiments. These embodiments are only typical examples of applying the technical solutions of the present invention, and any technical solutions formed by equivalent replacement or equivalent transformation fall within the scope of protection required by the present invention.

[0054] In the description of the solution, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplification of the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. And in the description of the solution, with the operator as a reference, the direction close to the operator is the proximal end, and the direction away from the operator is the distal end.

[0055] The feeding device disclosed by the present invention will be described below with reference to the drawings. As shown in the attached Figure 1 figures, it includes

[0056] A conveying fixture 03 for placing a cartridge 001, which can move horizontally in a straight line between a proximal position and a distal position; the cartridge is used to store a group of vertical suction nozzles;

[0057] A translation driving mechanism for driving the conveying fixture to move horizontally in a straight line;

[0058] A suction nozzle connecting pipe 02, the connecting pipe 02 is used to connect with the suction nozzles in the cartridge and perform liquid suction and injection subsequently, and it is also vertical;

[0059] A moving mechanism 04 for driving the suction nozzle connecting pipe 02 to move, which can restrict the cartridge 001 on the conveying fixture 03 from moving back to the proximal position following the conveying fixture from the distal position.

[0060] During operation, place the cartridge 001 on the conveying fixture 03 at the proximal position. The translation drive mechanism drives the conveying fixture 03 to transport the cartridge 001 to the distal position. The moving mechanism 04 drives the nozzle connecting pipe 02 to connect with the nozzles on the cartridge 001 and move out of the cartridge 001 for liquid suction and injection. When the nozzle connecting pipe 02 is connected to the last one or two nozzles in the cartridge 001, the conveying fixture 03 moves back from the distal position to the proximal position. At this time, due to the restriction of the nozzle connecting pipe 02, the cartridge 001 cannot move with the conveying fixture 03. Thus, the conveying fixture 03 moves out from the bottom of the cartridge 001, and the cartridge 001 falls under the action of gravity and separates from the conveying fixture 03, completing the unloading of the cartridge.

[0061] Specifically, as shown in the attached Figure 1 figure, the side wall of the cartridge 001 includes a first side wall 0011 located above and a second side wall 0012 located below the first side wall and having a height less than that of the first side wall 0011. The distance between the first side wall 0011 and the inner side surface of the storage bin 01 is greater than the distance between the second side wall 0012 and the inner side surface of the storage bin 01. The second side wall 0012 is close to or in contact with the inner side surface of the storage bin 01, and its height is about half of that of the first side wall 0011. When stacking, the second side wall area of the upper cartridge is sleeved on the first side wall area of the lower cartridge.

[0062] As shown in the attached Figure 2 figure, the conveying fixture 03 includes a bottom plate 031, and a limiting structure for limiting the cartridge is provided on the bottom plate 031, such as a plurality of limiting blocks, a retaining plate, a limiting pin, etc., which is specifically designed according to the structure of the cartridge to be conveyed and is not limited here.

[0063] As shown in the attached Figure 2 figure, the bottom plate 031 is slidably arranged in a guiding groove 033 opened on two parallel vertical plates 032 and is connected to a translation drive mechanism 034 that drives it to translate along the guiding groove 033. The guiding groove 033 extends along the second horizontal direction X.

[0064] Furthermore, as shown in the attached Figure 2 figure, one of the two guiding grooves 033 is a through groove. The bottom plate 031 has a connecting portion 035 passing through the through groove. The portion of the connecting portion 035 extending outside the vertical plate is connected to a movable nut of a lead screw 036. The movable nut is also slidably connected to a slide rail 038 located on the outer side surface of the vertical plate through a guiding block 037. The screw rod of the lead screw 036 is connected to a motor 039 that drives it to rotate. The motor 039 is fixed on the outer side surface of the vertical plate.

[0065] The motor 039, the lead screw 036, the guide block 037 and the slide rail 038 constitute the translation drive mechanism 034. During operation, the motor 039 drives the movable nut of the lead screw 036 to translate, thereby driving the bottom plate 031 to move, and further realizing the overall translation of the conveying fixture. Of course, in other embodiments, the translation drive mechanism 034 can also be replaced by a rodless cylinder or a hydraulic cylinder or other devices capable of generating linear movement instead of the structure of the motor and the lead screw.

[0066] And when the conveying fixture 03 moves to the distal position, there are limiting surfaces extending between the two vertical plates 032. The limiting surfaces are slightly higher than the top surface height of the side wall of the material box on the conveying fixture 03. The limiting surfaces are the bottom surfaces of the two height limiting blocks 0310.

[0067] As shown in the appended Figure 3 - appended Figure 4 As shown, the suction nozzle connecting pipe 02 is integrally cylindrical. To facilitate connection with the suction nozzle, the lower part of the suction nozzle connecting pipe 02 includes a spherical head 021, a thin straight pipe section 022, a conical pipe section 023 and a thick straight pipe section 024 arranged in sequence from bottom to top.

[0068] As shown in the appended Figure 4 As shown, the suction nozzle connecting pipe 02 is connected to a moving mechanism 04 that drives it to move in at least one of the first horizontal direction Y and the second horizontal direction X perpendicular to the first horizontal direction and the vertical direction Z. The moving mechanism 04 can be various feasible structures, such as a six-axis robot or a four-axis robot and other devices.

[0069] In a more preferred embodiment, as shown in the appended Figure 4 As shown, the moving mechanism 04 includes a mounting block 041. The suction nozzle connecting pipe 02 is arranged on the mounting block 041. The mounting block 041 is slidably arranged on a guide rail 043 extending in the vertical direction Z through a sliding block 042. The guide rail is fixed on a mounting vertical plate 044. The mounting block 041 is connected to a belt 045. The belt 045 is sleeved on two synchronous pulleys 046. The mounting heights of the two synchronous pulleys are designed according to the lifting height required by the suction nozzle connecting pipe 02. The lower synchronous pulley is fixed at the lower end of the mounting vertical plate 044. The upper synchronous pulley 045 is coaxially connected to the motor shaft of a lifting motor 047. The position of the lifting motor 047 is fixed, so that the moving mechanism drives the suction nozzle connecting pipe to be infinitely adjusted in height in the vertical direction.

[0070] As shown in the appended Figure 3 - appended Figure 4As shown, the installation vertical frame 044 is directly or through other support members connected to two sliding members 048 located on its opposite sides. The two sliding members 048 are slidably mounted on two guide bars 049 extending along the first horizontal direction Y. One of the sliding members 048 is connected to a transmission belt 0410 through a connecting member. The transmission belt 0410 is sleeved on two driving rollers 0420. One of the driving rollers is rotatably arranged on a translation frame 0430, and the other driving roller is coaxially connected and fixed to a first translation motor 0440 on the translation frame 0430.

[0071] As shown in the appendix Figure 3 As shown, the translation frame 0430 is slidably arranged on a hoisting frame 0450. A driving mechanism for driving the translation frame 0430 to reciprocate along the second horizontal direction X is arranged on the hoisting frame 0450. The driving mechanism also adopts a structure composed of a motor 0460, a synchronous pulley 0470, and a synchronous belt 0480, which will not be elaborated here. Of course, the driving mechanism can also adopt devices such as a rodless cylinder and a linear motor.

[0072] Furthermore, in order to avoid damage to the nozzle when the nozzle connecting pipe 02 is inserted into the nozzle and the nozzle connecting pipe 02 moves downward excessively, in a more preferred embodiment, as shown in the appendix Figure 4 As shown, the nozzle connecting pipe 02 is slidably inserted in the mounting block 041 in the vertical direction Z, and a limiting block 025 located on the mounting block 041 is arranged on the nozzle connecting pipe 02, so that the nozzle connecting pipe will not fall out of the mounting block 041. Further, a boss 026 is formed on the outer wall of the nozzle connecting pipe 02 below the mounting block 041, and a spring 08 sleeved on the outer periphery of the nozzle connecting pipe is arranged between the boss 026 and the mounting block 041.

[0073] After the nozzle connecting pipe 02 is connected to the nozzle, liquid suction and injection operations need to be performed. Therefore, as shown in the appendix Figure 4As shown, the upper end of the nozzle connecting pipe 02 is connected to a suction and injection mechanism 07, and the suction and injection mechanism 07 translates along with the nozzle connecting pipe 02. The suction and injection mechanism 07 includes a hose (not shown in the figure) with one end communicating with the upper end of the nozzle connecting pipe, and the other end of the hose is connected to the inlet and outlet of a syringe 071. The piston rod 072 of the syringe 071 is connected to a push-pull mechanism 073 that drives it to reciprocate along its axis. The push-pull mechanism 073 can be various known feasible structures. For example, it can be a hydraulic cylinder or an electric push rod, etc., which can drive the stepless movement of the piston rod 072 to flexibly control the amount of each injection. Preferably, the push-pull mechanism 073 uses a motor as the power source. The motor is connected to the screw of a lead screw, and the movable nut of the lead screw is connected to the piston rod 072 and is slidably arranged on a guide rail through a slider.

[0074] More preferably, in order to effectively control the accuracy of suction and injection, as shown in the appendix Figure 6 As shown, a valve body 074 is connected between the hose and the syringe. The valve body 074 is an adjustable solenoid valve, and the valve body is fixed on a valve seat 075. The valve seat 075 has channels connected to the inlet and outlet of the syringe and the valve body, so that the injection amount can be adjusted by controlling the flow rate of the valve body 074.

[0075] As shown in the appendix Figure 1 As shown, a waste collection trough 09 is arranged directly below the conveying fixture 03 at the distal position. A material box 01 at the distal position and separated from the conveying fixture can directly fall into the waste collection trough 09 for storage.

[0076] During actual operation, it is necessary to replace the nozzle on the nozzle connecting pipe. As shown in the appendix Figure 1 and the appendix Figure 5 - appendix Figure 7 As shown, for convenient automatic replacement, the nozzle automatic replacement device further includes a blanking device 06, which includes a limiting plate 061 located within the moving range of the nozzle connecting pipe 02 and perpendicular to the nozzle connecting pipe. The limiting plate 061 is fixed on a blanking trough 062, and the bottom blanking port of the blanking trough 062 communicates with the notch at the top of the waste collection trough 09.

[0077] As shown in the appendix Figure 5 and the appendix Figure 7As shown, at least one perforation 063 and a material discharge hole 064 communicating with the perforation are formed on the limiting plate 061. Preferably, there are two perforations 063, and a material discharge hole communicates with each perforation 063, and the four holes communicate with each other. When the suction nozzle connecting pipe 02 is coaxial with the perforation 063, a distance is maintained between its outer wall and the hole wall of the perforation 063. The distance between the two ends 065 and 066 where the material discharge hole 064 communicates with the perforation 063 is less than or equal to the aperture of the perforation 063.

[0078] As shown in the attached Figure 7 As shown, when the perforation 063 is a round hole through which the suction nozzle can pass, the material discharge hole 064 is a rectangular hole, and the distance between the two ends 065 and 066 is the width of the rectangular hole and is less than the diameter of the perforation 063. Alternatively, the material discharge hole 064 can also be a triangular hole or a trapezoidal hole, etc. Thus, when the suction nozzle connecting pipe 02 moves to the position of the material discharge hole 064, the top of the suction nozzle is located outside both sides of the material discharge hole 064. Furthermore, when the suction nozzle connecting pipe 02 moves upward, the suction nozzle is blocked by the limiting plate 061 and thus separated from the suction nozzle connecting pipe 02.

[0079] Furthermore, after the suction nozzles of a material box are used up, new suction nozzles need to be provided for the suction nozzle connecting pipe 02 to replace the new suction nozzles 002. Therefore, as shown in the attached Figure 2 As shown, it further includes a material box automatic feeding device, and the material box automatic feeding device is used to automatically supply the material box containing suction nozzles to the conveying fixture 03 at the proximal position.

[0080] As shown in the attached Figure 1 and the attached Figure 2 As shown, the material box automatic feeding device includes a storage bin 01 and an automatic material discharging mechanism.

[0081] The storage bin 01 has a storage space for storing multiple stacked material boxes, and its bottom is a material discharging opening. When the material box is in the storage space 011, its side wall is close to the inner wall of the storage bin 01.

[0082] The automatic material discharging mechanism 05 can move the multiple stacked material boxes 001 one by one to the conveying fixture 03 at the proximal position, and when the conveying fixture 03 moves to the distal position and outside the storage bin 01, it provides support for other material boxes in the storage bin 01 to prevent them from falling.

[0083] As shown in the attached Figure 2 and the attached Figure 8As shown, the storage bin 01 has a storage space 011 for storing multiple layers of stacked objects. When the objects are in the storage space 011, their side walls are close to the inner wall of the storage bin 01. The bottom of the storage bin is a discharge opening 012, and the material box moves out of the storage bin 01 from the discharge opening 012 under the action of gravity.

[0084] As shown in the appendix Figure 2 , appendix Figure 8 As shown, the storage bin 01 is a cuboid assembled by three side plates 013 and a top plate 014 with an open bottom and one side. The area enclosed by them is the storage space 011. The open side of the storage bin 01 faces outward to facilitate adding material boxes into the storage space 011. One side plate 013 of the storage bin 01 is integrally formed with each of the vertical plates 032. Of course, they can also be connected through a connecting plate, or they are not connected.

[0085] As shown in the appendix Figure 9 As shown, at the same time, the storage bin 01 is provided with a door 015 that can cover at least part of the side opening. The specific structure of the door 015 can be designed according to needs. And, the storage bin 01 is provided with a locking device for keeping the door in a closed state. Specifically, a connecting plate 016 is vertically provided at the side of the main baffle of the door 015, and a lock hole 017 is provided at the connecting plate 016. The locking device includes a locking pin (not shown in the figure) that vertically penetrates one side plate 0131 and corresponds to the lock hole 017 on the closed door. The end of the locking pin facing the connecting plate 016 is pointed. When the locking pin is connected to a driving cylinder 018 that drives it to reciprocate axially and the driving cylinder 018 drives the locking pin to insert into the lock hole 017, the locking of the door 015 is realized; when the driving cylinder 018 drives the locking pin to withdraw from the lock hole 017, at this time, the door 015 can be opened.

[0086] In a more preferred embodiment, the door 015 is connected to an elastic device that drives it to automatically open from the closed state. The elastic device can be a torsion spring (not shown in the figure), and its specific installation method is known technology and will not be elaborated here. The torsion spring deforms and stores energy when the door 015 is closed, and releases the stored energy to reset when the locking pin releases the locking of the door 015, so that the door 015 automatically opens.

[0087] The automatic blanking mechanism 05 includes two horizontally arranged clamping arms that are symmetrically arranged and can be lifted between the blanking opening of the storage bin 01 and the conveying fixture 03. In the first state, the opposite surfaces 0511 and 0512 of the two clamping arms 051 are located outside the opposite side edges 0121 and 0122 of the blanking opening 012. At this time, the clamping arms do not provide support for the cartridge located in the storage bin. In the second state, as shown in the appendix Figure 10 As shown, the opposite surfaces 0511 and 0512 of the two clamping arms are located inside the opposite side edges 0121 and 0122 of the blanking opening. At this time, the clamping arms provide support for the cartridge 001 located in the storage bin.

[0088] Specifically, as shown in the appendix Figure 11 As shown, the two clamping arms 051 of the automatic blanking mechanism 05 are horizontal, and the side plate and the vertical plate are provided with avoidance notches for the movement of the clamping arms 051. Each clamping arm 051 is connected to a vertical rod 052 that forms an L shape with it. The vertical rod 052 is located outside the side plate 0133 of the relatively open side of the storage bin 01. The upper end of the vertical rod 052 is connected to a mounting block 053. The mounting block 053 is slidably arranged on a guide rail 055 extending perpendicular to the moving direction of the conveying fixture 03 through a slider 054. The guide rail 055 is fixed on the side plate 0133. And a spring 056 is arranged between the two mounting blocks 053. The two ends of the spring 056 are respectively fixed on the two springs 056, and the spring 056 keeps the two clamping arms in the second state under normal conditions.

[0089] Of course, in other embodiments, the two clamping arms 051 can also be connected to the two sliding blocks of a clamping jaw cylinder by brackets.

[0090] In a more optimal embodiment, as shown in the appendix Figure 11 As shown, the guide rail 055 is fixed on an adapter block 057. The adapter block 057 is connected to a lifting drive device 058 that drives its lifting. The lifting drive device 058 can be a cylinder, or other devices capable of generating linear movement, such as a hydraulic cylinder, etc. The adapter block 057 is guided by a guide shaft and a bushing.

[0091] In a more optimal embodiment, in order to realize the automatic opening and closing of the two clamping arms 051, as shown in the appendix Figure 11 and the appendix Figure 12As shown, a roller 059 is rotatably provided on the side of each mounting block 053 facing the storage bin 01. The axis of the roller 059 extends along the moving direction of the conveying fixture. The two rollers 059 are respectively embedded in a groove 0510. The groove 0510 includes a vertical section 0520 and an inclined section 0530. When the roller 059 is in the vertical section 0520, the two clamping arms maintain a first state, that is, the two clamping arms remain closed, and can provide support for the cartridge thereon. When the roller is at the end of the inclined section 0530, the two clamping arms maintain a second state, that is, the two clamping arms are in an open state and do not support the cartridge thereon. And at this time, the clamping arms are kept at a certain distance from the top of the conveying fixture so that the lowermost cartridge can fall onto the conveying fixture 03, so that when the clamping arms are closed subsequently, other cartridges can be lifted.

[0092] Meanwhile, when the roller moves to the end of the inclined section 0530, the clamping arm 051 is as close as possible to the top surface of the conveying fixture, so as to minimize the drop of the cartridge falling from the clamping arm onto the conveying fixture.

[0093] More preferably, as shown in the appendix Figure 12 An arc-shaped notch 0540 at a high position is formed on the side of the vertical section. The distance between the two arc-shaped notches 0540 is smaller than the distance between the two vertical sections 0520, so that the two clamping arms can better support the cartridge thereon.

[0094] When the whole device works, various mechanisms can be automatically operated by a control device such as a PLC in combination with various sensors. The specific control structure and control technology are known technologies and will not be elaborated here.

[0095] This solution further reveals the working process of the whole device, which is as follows:

[0096] An operator stacks and places multiple cartridges with suction nozzles in the storage bin 01 and closes the door 015. At this time, the conveying fixture 03 is located at the proximal position. The two clamping arms 051 of the automatic blanking mechanism 05 are opened so that the lowermost cartridge thereon falls onto the conveying fixture 03. Then the lifting drive device 058 drives the clamping arms to move upward. During the upward movement, the two clamping arms are closed. At this time, the two clamping arms 051 clamp a cartridge above the cartridge on the conveying fixture 03 and lift all the cartridges thereon to separate from the cartridge on the conveying fixture 03. At this time, the translation drive mechanism drives the conveying fixture 03 to be conveyed from the proximal position to the distal position.

[0097] At this time, the moving mechanism 04 drives the nozzle connecting pipe 02 to insert the nozzle thereon into the feeding jig 03 at the distal end on the upper material box, and moves the nozzle outside the material box for sucking and injecting.

[0098] When the nozzle needs to be replaced, the moving mechanism 04 drives the nozzle connecting pipe 02 to insert the nozzle 002 thereon into the through hole 063 on the limiting plate 061 and make the top of the nozzle 002 be located below the through hole, and then translates the nozzle connecting pipe until the pipe wall of the nozzle thereon is located outside the through hole, preferably moving into the discharging hole 064. Subsequently, the moving mechanism 04 drives the nozzle connecting pipe 02 to rise until its lower end moves above the limiting plate 061, completing the separation of the nozzle from the nozzle connecting pipe.

[0099] At this time, the moving mechanism 04 drives the nozzle connecting pipe to be inserted into the nozzle on the material box again and taken out to the outside for sucking and injecting.

[0100] When there are no more than 3 nozzles left in the material box 001 on the feeding jig 03 at the distal position; the moving mechanism drives the nozzle connecting pipe to be inserted into the nozzle or inserted into a jack for inserting the nozzle; the translation driving mechanism drives the feeding jig to move from the distal position to the proximal position, and the material box falls below the feeding jig under the action of gravity after the feeding jig moves to its outside.

[0101] When the feeding jig returns to the proximal position, the automatic feeding mechanism automatically drops a material box onto the feeding jig. And repeat the above steps.

[0102] The present invention also discloses a medical device, including the feeding device described in any one of the above.

[0103] The present invention has multiple implementation manners. All technical solutions formed by equivalent transformation or equivalent substitution fall within the protection scope of the present invention.

Claims

1. Feeding device, characterized in that: It includes a conveying fixture for placing a cartridge, which can move horizontally in a straight line between a proximal position and a distal position; a translation driving mechanism for driving the conveying fixture to move horizontally in a straight line; a nozzle connecting pipe, which is vertically arranged; a moving mechanism for driving the nozzle connecting pipe to move, which can limit the cartridge on the conveying fixture to follow the conveying fixture to move back from the distal position to the proximal position; a cartridge automatic feeding device is arranged directly above the conveying fixture at the proximal position; the cartridge automatic feeding device includes a storage bin and an automatic blanking mechanism, the storage bin has a storage space for storing multiple stacked cartridges, and its bottom is a blanking port; the automatic blanking mechanism can move the multiple stacked cartridges to the conveying fixture one by one; the automatic blanking mechanism includes two symmetrically arranged horizontal clamping arms that can move up and down between the blanking port of the storage bin and the conveying fixture. In the first state, the opposite surfaces of the two clamping arms are located outside the opposite sides of the blanking port, and the clamping arms do not provide support for the cartridges in the storage bin; in the second state, the opposite surfaces of the two clamping arms are located inside the opposite sides of the blanking port, and the clamping arms provide support for the cartridges in the storage bin; the nozzle connecting pipe can move in the vertical direction and is restricted on the mounting block of the moving mechanism. A boss is formed on the outer wall of the nozzle connecting pipe below the mounting block, and a spring sleeved on the outer circumference of the nozzle connecting pipe is arranged between the boss and the mounting block.

2. The feeding device according to claim 1, characterized in that: the conveying fixture is movably arranged on two vertical plates, the translation driving mechanism includes a motor located on the outer side of one vertical plate, the motor is connected to the screw rod of a lead screw, the movable nut of the lead screw is connected to the part of the bottom plate extending outside the vertical plate, and the movable nut is slidably connected to the slide rail located on the side of the vertical plate through a guide block.

3. The feeding device according to claim 2, characterized in that: two height limiting blocks are arranged on the top surface at the distal end of the two vertical plates.

4. The feeding device according to claim 1, characterized in that: a waste collection trough is arranged directly below the conveying fixture at the distal position.

5. The feeding device according to claim 1, characterized in that: it further includes a blanking device, which includes a limiting plate located within the moving range of the nozzle connecting pipe and perpendicular to the nozzle connecting pipe. At least one through hole is formed on the limiting plate. When the nozzle connecting pipe and the through hole are coaxial, a distance is maintained between its outer wall and the hole wall of the through hole.

6. The feeding device according to claim 1, characterized in that: the upper end of the nozzle connecting pipe is connected to a suction injection device.

7. Medical equipment, characterized in that: it includes the feeding device according to any one of claims 1-6.

8. The feeding method of the feeding device according to any one of claims 1-6, characterized in that: at least includes the following steps: S1, when there are no more than 3 nozzles remaining in the cartridge on the conveying fixture at the distal position; S2, The moving mechanism drives the nozzle connecting pipe to be inserted into the nozzle or into a jack for inserting the nozzle. S3, The translation driving mechanism drives the conveying fixture to move from the distal position to the proximal position. After the conveying fixture moves to its outer side, the cartridge drops under the action of gravity to the lower part of the conveying fixture.

9. The feeding method according to claim 8, characterized in that: further comprising S0, When the conveying fixture is in the proximal position, the automatic feeding mechanism drops a cartridge onto the conveying fixture.

10. The feeding method according to claim 8, characterized in that: When replacing the nozzle on the nozzle connecting pipe, the moving mechanism drives the nozzle connecting pipe to insert the nozzle thereon into the through hole on the limiting plate of the blanking device and make the top of the nozzle be located below the through hole. Then, translate the nozzle connecting pipe until the pipe wall of the nozzle thereon is located outside the through hole. Subsequently, the moving mechanism drives the nozzle connecting pipe to rise until its lower end moves above the limiting plate, completing the separation of the nozzle from the nozzle connecting pipe.

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