Multi-functional Manipulator, Automatic Feeding Device and Automatic Feeding Method

Abstract

The present invention discloses a multi-functional manipulator, an automatic feeding device and an automatic feeding method. The multi-functional manipulator includes a mounting frame, on which an electromagnetic adsorption device, a code reader and a first clamping mechanism are arranged. The electromagnetic adsorption device is located on the side of the mounting frame with the adsorption end facing outwards. The code reader is inclined and arranged above the electromagnetic adsorption device with the lens facing outwards and downwards. The first clamping mechanism is located inside the electromagnetic adsorption device and below the code reader. In this solution, by integrating an electromagnetic adsorption device on the manipulator, the drawer can be opened by electromagnetic adsorption when taking materials, so as to facilitate subsequent material taking by the first clamping mechanism on it. The type, quantity and position of the reagent strips in the drawer can be accurately determined by the code scanner, providing data support for the control of the first clamping mechanism, greatly improving the integration degree of the equipment, and enabling multiple components to share a moving mechanism, which can effectively simplify the structure.

Description

Technical Field

[0001] The present invention relates to the field of automated medical equipment, in particular to a multi-functional manipulator, an automatic feeding device and an automatic feeding method. Background Art

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

[0003] To achieve this reaction and corresponding detection through automated equipment is the general trend. Such automated equipment usually has a loading space. An operator places several reagent strips or reagent kits to be used in a blister tray, and then places the blister tray in the loading space. Subsequently, a corresponding manipulator assembly is required to transfer the reagent strips or reagent kits in the blister tray to a predetermined position for processing.

[0004] To meet the requirements of large-scale testing, the applicant has developed a structure in which the loading space is set as multiple independent and openable / closable drawers. To facilitate the manipulator assembly to pick up materials, each drawer needs to be provided with an independent power source to achieve automatic opening and closing. In this way, multiple power sources are required, and the overall structure becomes complex. This is obviously uneconomical and not conducive to the miniaturization of the product. Summary of the Invention

[0005] The purpose of the present invention is to solve the above problems existing in the prior art, and provide a multi-functional manipulator, an automatic feeding device and an automatic feeding method.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] The multi-functional manipulator includes a mounting frame. An electromagnetic adsorption device, a barcode reader and a first clamping mechanism are arranged on the mounting frame. The electromagnetic adsorption device is located at the side of the mounting frame with the adsorption end facing outwards. The barcode reader is inclined above the electromagnetic adsorption device with the lens facing outwards and downwards. The first clamping mechanism is located inside the electromagnetic adsorption device and below the barcode reader.

[0008] Preferably, the first clamping mechanism includes a first motor, which drives two moving blocks that reciprocate along the first horizontal direction Y relative to the mounting frame. The two moving blocks move synchronously and in opposite directions, and two opposite claw bodies are arranged on the two moving blocks.

[0009] Preferably, a second clamping mechanism is arranged on the mounting frame. The opening and closing direction of the second clamping mechanism is perpendicular to that of the first clamping mechanism, and the end of the claw body of the second clamping mechanism is higher than the end of the claw body of the first clamping mechanism.

[0010] Preferably, the second clamping mechanism is connected to a first driving mechanism that drives it to reciprocate in the vertical direction Z.

[0011] Preferably, the mounting bracket is arranged on the vertical frame so as to be reciprocally movable in the vertical direction Z, and a second driving mechanism for driving the mounting bracket to move in the vertical direction is arranged on the vertical frame.

[0012] Preferably, a third clamping mechanism is arranged on the vertical frame, the third clamping mechanism and the mounting bracket are located on opposite sides of the vertical frame, and the third clamping mechanism is connected to a third driving mechanism that drives it to reciprocate in the vertical direction Z.

[0013] Preferably, the third clamping mechanism includes a second motor, the motor shaft of the second motor extends longitudinally and is eccentrically connected to a transmission member, a rotating member that can rotate relative to it is coaxially connected to the transmission member, the rotating member is embedded in the mounting groove of the first clamping block, the first clamping block is movably arranged on a guide rail extending along the second horizontal direction X, the guide rail is fixed on a fixed block, and a second clamping block cooperating with the first clamping block is also arranged on the fixed block.

[0014] Preferably, a first cover plate is also arranged on the vertical frame, and the first cover plate is connected to a fourth driving mechanism that drives it to lift.

[0015] Preferably, the lower part of the first cover plate includes a group of equally spaced cover opening push rods.

[0016] Preferably, a second cover plate is also arranged in the inner side of the first cover plate at an interval, and the lower end of the second cover plate extends below the first cover plate.

[0017] Preferably, the vertical frame is connected to a horizontal moving mechanism that drives it to move in the first horizontal direction and the second horizontal direction.

[0018] An automatic feeding device, comprising the multifunctional manipulator according to any one of the above.

[0019] Preferably, in the above-mentioned automatic feeding device, a strip-shaped object storage device is further included.

[0020] An automatic feeding method, comprising the following steps:

[0021] S1, providing the multifunctional manipulator and the strip-shaped object storage device according to any one of claims 5-11, the strip-shaped object storage device has an openable drawer, and one end of the drawer facing the multifunctional manipulator has a magnetizable part;

[0022] S2, placing a tray carrying strip-shaped objects into the drawer;

[0023] S3. The electromagnetic adsorption device on the multi-functional robot arm adsorbs the drawer and opens the drawer.

[0024] S4. The barcode reader on the multi-functional robot arm reads the barcodes on the strip-shaped objects in the tray to determine the types, quantities, and positions of the strip-shaped objects.

[0025] S5. The first clamping mechanism on the multi-functional robot arm clamps and removes the required strip-shaped objects from the drawer one by one.

[0026] Preferably, the automatic feeding method includes, after S3 and before S5, restricting the drawer from closing from the open state by the first limiting mechanism or the second limiting mechanism.

[0027] The advantages of the technical solution of the present invention are mainly reflected in:

[0028] In this solution, by integrating an electromagnetic adsorption device on the robot arm, the drawer can be opened by electromagnetic adsorption during material taking, which is convenient for subsequent material taking by the first clamping mechanism thereon. At the same time, by setting a barcode scanner, the types, quantities, and positions of the reagent strips in the drawer can be effectively determined, providing data support for the control of the first clamping mechanism, greatly improving the integration of the equipment, and enabling multiple components to share a moving mechanism, which can effectively simplify the structure.

[0029] The first clamping mechanism of this solution is driven by a motor and can flexibly adjust the opening and closing size of the jaws according to needs, so as to adapt to the clamping requirements of items of different sizes, and has good application flexibility.

[0030] This solution is further integrated with a second clamping mechanism with an opposite clamping direction, which can make up for the problem that the contact position between the first clamping mechanism and the item is less, and effectively improves the clamping stability.

[0031] This solution is further integrated with a liftable third clamping mechanism and an open cover mechanism on the vertical frame, which can meet the needs of opening the protective cover of the reagent strip and the movement of the probe therein, and is beneficial to further enrich the functions of the product and improve the integration.

[0032] This solution adopts the structure of multiple open cover push rods, which can effectively open multiple protective cover bodies in one action, and effectively improves the open cover efficiency.

[0033] The strip storage device of this solution can store strips by setting a drawer with strip tray limit slots. The strips can be placed in the strip tray and then inserted into the strip tray limit slots for storage. At the same time, when the strips are needed, the drawer can be opened, which is convenient for cooperating with the automatic material taking structure to take out the strips from the drawer for use. And when inserting the strip tray, the first limiting mechanism restricts the drawer from opening, which can effectively reduce the difficulty of inserting the strip tray and improve the operability. This storage device can effectively cooperate with the multi-functional manipulator to meet the needs of reagent strip storage and transfer.

[0034] In this solution, a guiding groove is provided at the inlet end of each strip tray limit slot, which can greatly reduce the difficulty of inserting the strip tray, improve the loading efficiency, and at the same time, the loading status of each strip tray limit slot can be intuitively indicated by the indicator light, which is convenient for observation.

[0035] This solution uses multi-layer drawers, and each layer of the drawer is provided with three strip tray limit slots, which can effectively increase the storage capacity of the strips, so as to meet the test requirements of large quantities and multiple items.

[0036] The first limiting mechanism of this solution can restrict the opening of multiple drawers at the same time, which is beneficial to simplify the limiting structure, reduce the number of power sources, and lower the equipment cost.

[0037] This solution sets a second limiting mechanism, which can limit the opening of each drawer, and can cooperate with the first limiting mechanism to achieve double guarantee. At the same time, the second limiting mechanism can also cooperate with the second bump on the drawer to limit the closing of the drawer, so as to avoid the problem that the drawer moves during subsequent unloading of the strips, resulting in unstable unloading.

[0038] The second limiting mechanism of this solution can share a linear drive mechanism, which can effectively simplify the drive structure and reduce the equipment cost. Brief Description of the Drawings

[0039] Figure 1 is a perspective view of the multi-functional manipulator of the present invention;

[0040] Figure 2 is a front view of the multi-functional manipulator of the present invention;

[0041] Figure 3 is a top view of the multi-functional manipulator of the present invention;

[0042] Figure 4 is Figure 2 an enlarged view of area C in

[0043] Figure 5 is a first perspective view of the mounting frame of the multi-functional manipulator of the present invention arranged on the vertical frame;

[0044] Figure 6 It is the second perspective three-dimensional view of the multi-functional manipulator mounting bracket of the present invention provided on the vertical frame;

[0045] Figure 7 It is the cross-sectional view of the multi-functional manipulator of the present invention;

[0046] Figure 8 It is the end view of the multi-functional manipulator of the present invention;

[0047] Figure 9 It is the first perspective three-dimensional view of the multi-functional manipulator of the present invention with a horizontal moving mechanism;

[0048] Figure 10 It is the second perspective three-dimensional view of the multi-functional manipulator of the present invention with a horizontal moving mechanism;

[0049] Figure 11 It is the three-dimensional view of the automatic feeding device of the present invention;

[0050] Figure 12 It is the front three-dimensional view of the present invention;

[0051] Figure 13 It is the rear three-dimensional view of the present invention;

[0052] Figure 14 It is the rear view of the present invention;

[0053] Figure 15 It is Figure 13 The enlarged view of area A in

[0054] Figure 16 It is Figure 14 The enlarged view of area B in

[0055] Figure 17 It is the side view of the present invention. Detailed implementation manners

[0056] The objectives, advantages and characteristics of the present invention will be illustrated and explained by the following non-limiting description of 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.

[0057] In the description of the solution, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "front", "back", "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, 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. Therefore, it should not be construed as a limitation to 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. Also, 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.

[0058] The following will elaborate on the multifunctional manipulator disclosed by the present invention with reference to the drawings. As shown in the attached Figure 1 figures, it includes a mounting frame 8. The specific structure of the mounting frame 8 can be determined according to needs. In this embodiment, the mounting frame 8 at least includes a flat plate 81. A first mounting member 82 is provided on the first side of the flat plate 81, and a second mounting member 83 is provided on the second side opposite to the first side.

[0059] As shown in the attached Figure 1 figures, an electromagnetic adsorption device 9 is provided on the first mounting member 82. The electromagnetic adsorption device 9 is a device that can generate magnetic force when energized, such as an electromagnet, an electromagnetic chuck, etc. Its specific structure is known technology and will not be elaborated here. The adsorption end of the electromagnetic adsorption device 9 faces outward. During operation, the electromagnetic adsorption device 9 can generate magnetic force to adsorb objects and drive the objects to move.

[0060] As shown in the attached Figure 1 figures, a first clamping mechanism 20 is provided on the flat plate 81. The first clamping mechanism 20 is located inside the electromagnetic adsorption device. As shown in the attached Figure 2 figures, attached Figure 3As shown, the first clamping mechanism 20 includes two opposite claw bodies 201, and the clamping portions 2011 of the two claw bodies 201 are located below the first mounting member 82, thus avoiding interference during clamping. The two claw bodies 201 are connected to a driving mechanism that drives them to move. The driving mechanism can be, for example, a clamping jaw cylinder. In a more preferred embodiment, the driving mechanism includes a first motor 202 located on the flat plate 81. The motor shaft of the first motor 202 vertically passes through the flat plate 81 and is coaxially connected to a driving gear 203 located below the flat plate 81. The driving gear 203 meshes with the teeth on two moving blocks 204. The two moving blocks 204 are located on opposite sides of the driving gear 203, and they are respectively movably arranged on a guide rail 206 extending along the first horizontal direction Y through a slider 205. A claw body 201 is fixed on each slider 205. Thus, when the first motor 202 is started, the two moving blocks 204 are driven to move in opposite directions through the driving gear 203, so that the two claw bodies 201 open and close.

[0061] When clamping through the first clamping mechanism 20, it is necessary to first determine information such as the position and type of the item to be clamped. Therefore, as shown in the appendix Figure 1 As shown, a code reader 10 is further provided on the mounting frame 8. The code reader 10 is specifically arranged on the second mounting member 83 through a connecting member, and it is inclined above the electromagnetic adsorption device 9, with its lens facing downward and outward.

[0062] As shown in the appendix Figure 1 As shown, a second clamping mechanism 30 is further provided on the mounting frame 8. The opening and closing direction of the second clamping mechanism 30 is perpendicular to the opening and closing direction of the first clamping mechanism 20. The end of the claw body 301 of the second clamping mechanism 30 is higher than the end of the claw body 201 of the first clamping mechanism 20.

[0063] As shown in the appendix Figure 4 As shown, the two claw bodies 301 and 302 of the second clamping mechanism 30 can also be driven to open and close by a single cylinder. In a more preferred embodiment, the horizontal position of the claw body 301 is fixed and close to the first clamping mechanism 20, and the other claw body 302 can translate relative to the claw body 301. The claw body 302 reciprocates along the second horizontal direction X (perpendicular to the first horizontal direction Y) to adjust the distance from the claw body 301. The claw body 302 is driven to move by a cylinder 303. The cylinder shaft of the cylinder 303 extends along the second horizontal direction Y and is connected to the claw body 302 through a transmission member 305. The transmission member 305 is slidably arranged on a guide rail 306 extending along the second horizontal direction X.

[0064] The specific structures of the two claw bodies 301 and 302 can be designed according to the contour of the part in contact with the article. In a preferred embodiment, as shown in the appendix Figure 4 As shown, a square notch 3011 is formed at the lower right corner of the claw body 301. The claw body 302 includes a clamping portion 3021 corresponding to the notch 3011. The end of the clamping portion 3021 is slightly higher than the end of the notch 3011. At the same time, a clamping notch 3022 is formed on the end face of the clamping portion 3021 facing the claw body 301, and a limiting rod 3023 is vertically arranged at its upper end. The length of the limiting rod 3023 defines the minimum distance between the two claw bodies 301 and 302.

[0065] In addition, in order to avoid interference between the second clamping mechanism 30 and the article during use, as shown in the appendix Figure 1 As shown, the second clamping mechanism 30 is connected to a first driving mechanism 304 that drives it to reciprocate in the vertical direction Z. The first driving mechanism 304 includes a second air cylinder 3041. The cylinder shaft of the second air cylinder 3041 extends in the vertical direction Z. The cylinder shaft of the second air cylinder 3041 is connected to a lifting plate 3042. The lifting plate 3042 is slidably arranged on a longitudinal guide rail (not shown in the figure) on the vertical plate of the second mounting member 83. The air cylinder 303 and the longitudinal guide rail are fixed on the lifting plate 3042.

[0066] As shown in the appendix Figure 5 and the appendix Figure 6 As shown, the mounting bracket 8 is reciprocally movable in the vertical direction Z and is arranged on the side (left side) of a vertical bracket 40. Specifically, the mounting bracket 8 is slidably arranged on a longitudinal track 401 extending in the vertical direction Z on the vertical bracket 40 through a slider. At the same time, a second driving mechanism 50 for driving the mounting bracket 8 to move in the vertical direction is arranged on the vertical bracket 40. The second driving mechanism 50 includes a lifting driving motor 501. The lifting driving motor 501 is fixed on the top of the vertical bracket 40 and its motor shaft extends in the first horizontal direction Y. The motor shaft is coaxially connected to a first transmission wheel 502. The first transmission wheel 502 is connected to a second transmission wheel 504 through a synchronous belt 503. The second transmission wheel 504 is rotatably arranged at the bottom of the vertical bracket 40. A clamping member 505 is arranged on the synchronous belt 503. The clamping member 505 is arranged on the second mounting member 83 of the mounting bracket 8.

[0067] As shown in the appendix Figure 6 As shown, a third clamping mechanism 60 is further arranged on the vertical bracket 40. The third clamping mechanism 60 and the mounting bracket 8 are located on opposite sides of the vertical bracket 40. The third clamping mechanism 60 is connected to a third driving mechanism 70 that drives it to reciprocate in the vertical direction Z.

[0068] Specifically, as shown in the appendix Figure 7 As shown, the third clamping mechanism 60 includes a second motor 601. The motor shaft of the second motor 601 extends longitudinally and eccentrically connects a transmission member 602. A rotatable member 603 that can rotate relative to it is coaxially connected to the transmission member 602. The rotatable member 603 can be, for example, a bearing. The rotatable member 603 is embedded in an installation groove (not shown in the figure) of the first clamping block 604. The aperture of the installation groove is equivalent to the outer diameter of the rotatable member 603. The first clamping block 604 is movably arranged on a guide rail 605 extending along the second horizontal direction X. The guide rail 605 is fixed on a fixed block 606. A second clamping block 607 that cooperates with the first clamping block 604 for clamping is also arranged on the fixed block 606.

[0069] During operation, the second motor 601 drives the transmission member 602 to rotate and drives the rotatable member 603 to rotate. Since the transmission member 602 and the rotatable member 603 are eccentrically arranged, the rotatable member 603 revolves around the axis of the transmission member 602, thereby driving the first clamping block 604 to reciprocate along the guide rail 605, so as to change the distance from the second clamping block 607 to realize the opening and closing of the third clamping mechanism.

[0070] As shown in the appendix Figure 6 As shown, the fixed block 606 is connected to a third driving mechanism 70 that drives it to reciprocate along the vertical direction Z. Specifically, the third driving mechanism 70 includes a carrier plate 701 for fixing the fixed block 606. The carrier plate 701 is connected to the movable nut of a lead screw 703 through an adapter block 702. The screw rod of the lead screw 703 extends along the vertical direction Z and its two ends are rotatably arranged on the vertical frame 40. One end of the screw rod is connected to a motor 704 that drives it to rotate and is fixed on the vertical frame 40. The adapter block 702 is slidably arranged on the vertical rail 702. The adapter block 702 is also connected to a sliding block 705. The sliding block 705 is slidably arranged on a slide rail 706 extending along the vertical direction Z. The slide rail 706 is arranged on the vertical frame 40.

[0071] Of course, in other embodiments, the third driving mechanism 70 can also be implemented by using structures such as a rodless cylinder, a hydraulic cylinder or an electric push rod.

[0072] As shown in the appendix Figure 6 As shown, an open cover mechanism 80 is also arranged on the vertical frame 40. The open cover mechanism 80 is used to open the cover on the reagent strip. The open cover mechanism 80 includes a first open cover plate 801. The first open cover plate 801 is connected to a fourth driving mechanism 90 that drives it to lift. The lower part of the first open cover plate 801 includes a group of equally spaced open cover push rods 802. The open cover push rods 802 are preferably 10, so as to open the covers on multiple reagent strips simultaneously.

[0073] Meanwhile, a second opening cover plate 803 is also disposed in a clearance manner inside the first opening cover plate 801. The lower end of the second opening cover plate 803 extends below the first opening cover plate 801. The clearance between the second opening cover plate 803 and the first opening cover plate 801 is designed as required. When the protective cover for the reagent strip is opened, the clearance between the second opening cover plate 803 and the first opening cover plate 801 satisfies that when the opening push rod 802 is inserted into the card slot at the end of the protective cover, the second opening cover plate 803 contacts the end of the protective cover.

[0074] As shown in the attached Figure 6 and attached Figure 8 As shown, both the first opening cover plate 801 and the second opening cover plate 803 are connected to the fourth driving mechanism 90. The fourth driving mechanism 90 includes a vertical connecting plate 901. The first opening cover plate 801 and the second opening cover plate 803 are disposed on both sides of the lower end of the vertical connecting plate 901. The upper end of the vertical connecting plate 901 is connected to an adapter block 902. The adapter block 902 is connected to the movable nut of a second lead screw 903 and is slidably disposed on a second guide rail (not shown in the figure) extending in the vertical direction Z. The screw of the second lead screw 903 is rotatably disposed on the stand 40 and is located on the side (right side) of the lead screw 703. The screw of the second lead screw is connected to a motor 904 that drives its rotation.

[0075] During actual operation, it is also necessary to enable the stand 40 to move horizontally to meet the needs of grasping, transferring, etc. at different positions. Therefore, as shown in the attached Figure 9 and attached Figure 10 As shown, the stand 40 is connected to a horizontal movement mechanism 100 that drives it to move in the first horizontal direction Y and the second horizontal direction X. The horizontal movement mechanism 100 can be various known structures. In a preferred embodiment, it includes a first translation driving mechanism 110 and a second translation driving mechanism 120. The first translation driving mechanism 110 includes a moving frame 116. One end of the moving frame 116 is provided with a first translation motor 111. The motor shaft of the first translation motor 111 is coaxially connected to a synchronous pulley 112. The synchronous pulley 112 is connected to a driven synchronous pulley 114 through a synchronous belt 113. The driven synchronous pulley 114 is rotatably disposed at the other end of the moving frame 116. A clamping block 115 is fixed on the synchronous belt 113. The clamping block 115 is fixed on the stand 40, and the stand 40 is slidably disposed on a horizontal track extending in the first horizontal direction Y through a sliding block 117. The structure of the second translation driving mechanism 120 is equivalent to that of the first translation driving mechanism 110. Similarly, motors, synchronous wheels, synchronous belts, clamping blocks, guide rails and other mechanisms are used to achieve the translation of the first translation driving mechanism 110, which will not be elaborated here.

[0076] Example 2

[0077] This embodiment discloses an automatic feeding device, as shown in the attached Figure 11 As shown, it includes the multifunctional manipulator 02 of the above embodiment, and a strip storage device 01 is also arranged next to the multifunctional manipulator.

[0078] As attached Figure 12 -Attached Figure 14 As shown, the strip storage device 01 includes an outer frame 1, which is a rectangular frame composed of four side panels. At least one drawer 2 is arranged inside the outer frame 1, and the drawer 2 can be translated to the outside of the outer frame 1. The drawer 2 is preferably a slide rail drawer, and its specific structure is a known technology and is not described here. At least one strip tray limiting groove 21 is formed on the drawer 2, and the strip tray limiting groove 21 includes a bottom plate, side panels located on both sides of the bottom plate, and an inner end plate located at the inner end of the bottom plate. One end (front end) of the strip tray limiting groove 21 is open, which is used to insert a strip tray (not shown in the figure) into the strip tray limiting groove 21 for storage.

[0079] In actual testing, there are often requirements for large-scale, multi-category testing. Figure 12 -Attached Figure 14 As shown, the number of the drawers 2 is multiple, preferably at least three layers, more specifically 10 layers, and three side-by-side strip tray limiting grooves 21 are formed on each of the drawers 2, so that the storage device can store 30 strip trays at the same time, and each strip tray can hold multiple strips, greatly improving the storage capacity.

[0080] Usually, the width of each of the strip tray limiting grooves 21 is equal to the width of the strip tray to ensure the stability of the limiting, but this is inconvenient for placing the strip tray into the strip tray limiting groove 21. Figure 15 As shown, the outer frame 1 is provided with a guide groove 3 connected with the inlet end of each strip tray limiting groove, and the guide groove 3 includes two guide blocks located on both sides of the inlet end of the strip tray limiting groove 21, and a wedge-shaped groove space with a large opening end and a small inner end is formed between the two guide blocks. An indicator light 4 is provided at the inlet of each guide groove 3, and the indicator light 4 is used to indicate whether there is a strip tray in the corresponding strip tray limiting groove 21.

[0081] Although adding the guide groove 3 can reduce the difficulty of inserting the strip tray, when the strip tray is inserted into each of the strip tray limiting grooves 21, the drawer 2 will be opened under the action of the thrust, which is obviously disadvantageous for the operation of inserting the strip tray. Figure 12 , AttachmentFigure 14 , as shown in the appended Figure 16 figure, a first limiting mechanism 5 with at least a power source for restricting the opening of the drawer 2 is further provided on the outer frame 1. Thus, when inserting the strip tray into the strip tray limiting groove 21, the opening of the drawer can be effectively avoided. When the strip tray is placed and needs to be opened subsequently, the first limiting mechanism 5 automatically releases the restriction on the opening action of the drawer 2, so that the drawer containing the strip tray can be opened for corresponding operations.

[0082] Since there are multiple drawers 2, it is necessary to restrict the opening of each drawer 2 when inserting the strip tray. In this embodiment, the opening of all the drawers 2 is restricted by the first limiting mechanism 5. The specific structure of the first limiting mechanism 5 will be described in detail below. As shown in the appended Figure 12 , as shown in the appended Figure 16 figure, it includes a power source 51 that can generate a linear movement in the vertical direction Z. The power source 51 can be a cylinder, a hydraulic cylinder, or a linear movement device driven by a motor. The power source 51 is connected to a vertical rod 52 that is driven by it to move between a first height and a second height. A blocking block 54 corresponding to each convex block 53 on the side of the drawer 2 is formed on the side of the vertical rod 52. At the first height, the blocking block 54 is in front of the convex block 53 of the drawer 2 in the closed state (defining the position where the drawer passes first as the rear and the position where it passes later as the front during the opening process of the drawer 2), that is, the blocking block 54 is on the moving path of the convex block 53 when it opens, so that the convex block 53 is blocked by the blocking block 54 and cannot continue to open when it opens; at the second height, the blocking block 54 is misaligned with the convex block 53 in the vertical direction, so that the blocking block 54 does not block the movement of the convex block 53.

[0083] To ensure the moving stability of the vertical rod 52, a guide post (not shown in the figure) is provided on the bracket, and the guide post is inserted into the waist-shaped hole extending in the vertical direction on the vertical rod 52; as shown in the appended Figure 12 figure, the vertical rod 52 is connected to a cross bar 55 perpendicular to it. The cross bar 55 is connected to the power source 51, and two guide sleeves 56 are provided on the cross bar 55. A guide shaft 57 extending in the vertical direction is inserted into each of the two guide sleeves 56, and the guide shaft 57 is fixed on the outer frame 1.

[0084] Further, a second limiting mechanism corresponding to the number of the drawers 2 is provided on the outer frame 1. Each second limiting mechanism can at least restrict the opening of its corresponding drawer 2. Specifically, as shown in the appended Figure 17As shown, the second limiting mechanism includes a limiting pin 6 located on the side of each drawer 2. The limiting pin 6 can move along its axial direction and is vertically arranged on a side plate 11 of the outer frame. A through hole 12 for the limiting pin 6 to pass through is provided on the side plate 11. Moreover, a bushing (not shown in the figure) can be provided on the outer side of the side plate 11. The limiting pin 6 passes through the bushing and the side plate 11 in sequence, and the limiting pin 6 is connected to a linear driving mechanism (not shown in the figure) that drives its movement, such as a cylinder. In the first state, the linear driving mechanism drives the limiting pin 6 to extend into the outer frame 1 and be in front of the bump 53 on the drawer 2 in the closed state, which can effectively limit the drawer 2. In the second state, the front end of the limiting pin 6 driven by the linear driving mechanism is located outside the bump 53, thereby releasing the limitation on the movement of the bump 53.

[0085] Each of the second limiting mechanisms can have an independent linear driving mechanism, but in this case, multiple linear driving mechanisms are required, which is not conducive to structural simplification and cost reduction. Therefore, in a more optimal embodiment, as shown in the appendix Figure 17 As shown, a group of the limiting pins 6 is driven by a linear driving mechanism to move along its axial direction. At this time, the linear driving mechanism needs to move vertically to each limiting pin 6 and be connected to the limiting pin 6, and then drive the limiting pin 6 to move along its axial direction. At this time, the linear driving mechanism can be connected to and separated from the limiting pin 6 automatically and quickly through a quick-connection structure such as a jaw or an electromagnet.

[0086] The lifting driving mechanism for driving the linear driving mechanism to lift can be designed as needed. For example, it can use a non-inductive cylinder, a hydraulic cylinder, or an electric push rod extending along the vertical direction Z to drive the linear driving mechanism to lift. In a more optimal embodiment, the lifting driving mechanism 7 includes a motor 71 fixed to the side of the square frame. The output shaft of the motor 71 is coaxially connected to a driving wheel 72. The driving wheel 72 is lower than the lowest drawer. The driving wheel 72 is connected to a driven wheel 74 through a transmission belt 73. The driven wheel 74 is higher than the highest drawer. The transmission belt 73 is connected to a connecting plate (not shown in the figure). The connecting plate is slidably arranged on a guide rail (not shown in the figure) extending along the vertical direction Z through a slider 75. The linear driving mechanism is connected to the connecting plate. Thus, the forward and reverse rotation of the motor drives the belt to rotate forward and backward, realizing the lifting of the connecting plate, and further driving the linear driving mechanism to lift to the limiting pins 6 at different positions for connection.

[0087] Meanwhile, each of the positioning pins 6 also cooperates with a second bump (not shown in the figure) on the side of the drawer 2 to limit the closing of the drawer. That is, when the drawer 2 is opened, the second bump is located in front of the positioning pin 6 in the second state, so that the positioning pin 6 limits the second bump and the drawer 2 cannot be closed. Of course, in another embodiment, the blocking block 54 of the first limiting mechanism can also cooperate with the second bump to prevent the drawer from closing.

[0088] Furthermore, at least an openable and closable door (not shown in the figure) covering all the drawers is provided on the outer frame 1. The door and the drawer in the open state are located on opposite sides of the outer frame. The openable and closable door is used to open when adding the strip-shaped object. After the strip-shaped object is placed into the strip-shaped object tray limiting groove 21, the door is closed. The door can be an automatic door or a manual door, and its specific structure is a known technology and will not be elaborated here.

[0089] Finally, during subsequent testing, the drawer 2 needs to be opened to take out the strip-shaped object inside. To facilitate the automatic opening of the drawer 2, a magnetizable part is provided at one end of each drawer 2 facing its opening direction. Subsequently, the connection between the opening mechanism and the drawer 2 can be achieved by magnetic adsorption, and then the drawer 2 is pulled open by applying a pulling force to it.

[0090] During the working process, various control devices (such as industrial computers and / or PLCs, etc.) can be combined with sensors to automatically control the actions of the automatic parts of the multi-functional manipulator and the strip-shaped object storage device. This is a known technology and will not be elaborated here.

[0091] The working process of the above-mentioned automatic feeding device will be mainly described below, as follows:

[0092] S1. Provide the automatic feeding device of the above embodiment, which includes the multi-functional manipulator and the strip-shaped object storage device. The strip-shaped object storage device has an openable drawer. One end of the drawer facing the multi-functional manipulator has a magnetizable part, and the magnetizable part faces the multi-functional manipulator.

[0093] S2. Manually place at least one tray carrying a strip-shaped object into the strip-shaped object tray limiting groove 21 of the drawer. At this time, the sensor corresponding to the strip-shaped object tray limiting groove 21 determines that there is a tray in the strip-shaped object tray limiting groove 21.

[0094] S3. The control device controls the horizontal movement mechanism 100 of the multifunctional manipulator and the second drive mechanism 50 to drive the electromagnetic adsorption device 9 to move to the drawer with the tray, energizes the electromagnetic adsorption device to generate magnetic force to adsorb the drawer, and then the horizontal movement mechanism 100 drives the electromagnetic adsorption device 9 to translate to open the adsorbed drawer. After opening, the electromagnetic adsorption device 9 is de-energized. The first limiting mechanism or the second limiting mechanism on the strip storage device restricts the drawer from closing from the open state.

[0095] S4. Next, the control device controls the barcode reader on the multifunctional manipulator to start reading the barcodes on the strips in the tray to determine the types, quantities, and positions of the strips.

[0096] S5. Next, according to the determined quantities and positions of the strips, the control device controls the horizontal movement mechanism and the second drive mechanism 50 to move the multifunctional manipulator, and the required strips are clamped and removed from the drawer one by one through the first clamping mechanism 20 and the second clamping mechanism 30 thereon. At this time, the first clamping mechanism 20 clamps on both sides of the strip, and the second clamping mechanism 30 clamps on the convex part at the end of the strip.

[0097] S6. After the strip is removed from the drawer, the first limiting mechanism or the second limiting mechanism releases the restriction on the drawer, and the control device controls the horizontal movement mechanism 100 of the multifunctional manipulator and the second drive mechanism 50 to drive the electromagnetic adsorption device 9 to move and close the drawer that has completed the strip transfer.

[0098] 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. Automatic feeding device, Characterized in that: Comprising: A multi-functional manipulator, the multi-functional manipulator includes a mounting frame, an electromagnetic adsorption device, a code reader and a first clamping mechanism are arranged on the mounting frame, the electromagnetic adsorption device is located on the side of the mounting frame and the adsorption end faces outward, the code reader is obliquely arranged above the electromagnetic adsorption device and the lens faces outward and downward; the first clamping mechanism is located inside the electromagnetic adsorption device and below the code reader; The mounting frame is arranged on the vertical frame so as to be reciprocally movable in the vertical direction Z, and a second driving mechanism for driving the mounting frame to move in the vertical direction is arranged on the vertical frame; the vertical frame is connected to a horizontal moving mechanism for driving it to move in the first horizontal direction and the second horizontal direction; A strip-shaped object storage device, the strip-shaped object storage device has an openable drawer, and one end of the drawer facing the multi-functional manipulator has a magnetizable part; The strip-shaped object storage device includes an outer frame, and multiple layers of drawers are arranged on the outer frame; At least one strip-shaped object tray limiting groove is formed on the drawer, the strip-shaped object tray limiting groove includes a bottom plate, side plates located on both sides of the bottom plate and an inner end plate located at the inner end of the bottom plate, and the inner end plate faces the multi-functional manipulator; All the drawers are restricted from opening by a first limiting mechanism, the first limiting mechanism includes a power source, the power source is connected to a vertical rod that is driven by it to move at a first height and a second height, and blocking blocks corresponding to bumps on the side of each drawer are formed on the side of the vertical rod. At the first height, the blocking block is in front of the bump of the drawer in the closed state; at the second height, the blocking block and the bump are misaligned in the vertical direction; A second limiting mechanism is arranged on the outer frame, and each limiting pin of the second limiting mechanism cooperates with a second bump on the side of the drawer to limit the closing of the drawer.

2. The automatic feeding device according to claim 1, Characterized in that: The first clamping mechanism includes a first motor, the first motor drives two moving blocks that reciprocally move along the first horizontal direction Y relative to the mounting frame, the two moving blocks move synchronously and in opposite directions, and two opposite claw bodies are arranged on the two moving blocks.

3. The automatic feeding device according to claim 1, Characterized in that: A second clamping mechanism is arranged on the mounting frame, the opening and closing direction of the second clamping mechanism is perpendicular to the opening and closing direction of the first clamping mechanism, and the end of the claw body of the second clamping mechanism is higher than the end of the claw body of the first clamping mechanism.

4. The automatic feeding device according to claim 3, Characterized in that: The second clamping mechanism is connected to a first driving mechanism for driving it to reciprocally move in the vertical direction Z.

5. The automatic feeding device according to claim 1, Characterized in that: A third clamping mechanism is arranged on the vertical frame, the third clamping mechanism and the mounting frame are located on opposite sides of the vertical frame, and the third clamping mechanism is connected to a third driving mechanism for driving it to reciprocally move in the vertical direction Z.

6. The automatic feeding device according to claim 5, Characterized in that: The third clamping mechanism includes a second motor. The motor shaft of the second motor extends longitudinally and is eccentrically connected to a transmission member. A rotatable member that can rotate relative to the transmission member is coaxially connected to the transmission member. The rotatable member is embedded in the installation groove of the first clamping block. The first clamping block is movably arranged on a guide rail extending along the second horizontal direction X. The guide rail is fixed on a fixed block, and a second clamping block that cooperates with the first clamping block is also arranged on the fixed block.

7. The automatic feeding device according to claim 5, wherein: A first cover plate is further arranged on the vertical frame, and the first cover plate is connected to a fourth driving mechanism for driving its lifting.

8. The automatic feeding device according to claim 7, wherein: The lower part of the first cover plate includes a group of equally spaced cover opening push rods.

9. The automatic feeding device according to claim 7, wherein: A second cover plate is also arranged in the first cover plate with a gap. The lower end of the second cover plate extends below the first cover plate.

10. An automatic feeding method, wherein: It at least includes the following steps: S1, providing the automatic feeding device according to any one of claims 1-9; S2, placing a tray carrying strip-shaped objects into the drawer; S3, the electromagnetic adsorption device on the multi-functional robot arm adsorbs the drawer and opens the drawer; S4, the barcode reader on the multi-functional robot arm reads the barcodes on the strip-shaped objects in the tray to determine the types, quantities, and positions of the strip-shaped objects; S5, the first clamping mechanism on the multi-functional robot arm clamps and removes the required strip-shaped objects from the drawer one by one.

11. The automatic feeding method according to claim 10, wherein: After S3 and before S5, the drawer is restricted from closing from the open state by the first limiting mechanism or the second limiting mechanism.

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