A consumable storage device

Abstract

The application relates to a consumable storage device, which comprises a control module, a pushing module, a storage rack and a carrying module, wherein the storage rack comprises a sliding plate and a storage box; the first side of the sliding plate is slidably connected with the pushing module along a first direction; the side of the sliding plate away from the pushing module is provided with the storage box, which is used for storing consumables; one end of the pushing module along the first direction is a start end, and the other end is a terminal end; the pushing module is in communication connection with the control module; when there is no consumable in the storage box, the sliding plate is pushed to a first position beyond the terminal end in the start end-terminal end direction, and consumables are loaded at the first position; the carrying module is arranged on the pushing module and comprises a mechanical hand; the mechanical hand is in communication connection with the control module; when the sliding plate is located between the start end and the terminal end, the mechanical hand is used for carrying unused consumables in the storage box to a first designated position; the first designated position is arranged in a staggered mode with the first position; and the mechanical hand cannot hurt workers adding consumables in a non-stop state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical instruments, in particular to a consumable storage device. BACKGROUND

[0002] Medical consumables are common consumables in the medical field. For example, serum analysis is performed by taking a certain amount of sample from a sample instrument using medical consumables and transferring it to a reaction container for reaction and chemical analysis. In order to avoid cross infection, the medical consumables are discarded after sampling is completed. With the increasing number of tests, a large number of medical consumables are required.

[0003] Currently, medical consumables are often placed in storage boxes of a consumable storage device, and a grabbing mechanism of the consumable storage device is used to grab medical consumables from the medical consumable storage box for corresponding test steps. However, after all the medical consumables in the storage box are used up, new medical consumables need to be added. In order to prevent the grabbing mechanism from injuring the worker adding the medical consumables, the movement of the consumable storage device generally needs to be stopped, and the subsequent steps can be continued only after the new medical consumables are added.

[0004] However, the above method will cause the instrument to stop working, affecting the working rhythm of the instrument. SUMMARY

[0005] Therefore, it is necessary to provide a consumable storage device to solve the problem of inconvenient replacement of medical consumables.

[0006] A consumable storage device includes a control module, a pushing module, a storage rack, and a carrying module.

[0007] The storage rack includes a sliding plate and a storage box. The first side of the sliding plate is slidably connected to the pushing module along a first direction. The storage box is arranged on the side of the sliding plate away from the pushing module, and is used to store the consumables.

[0008] The pushing module has a starting end and a terminal end along the first direction. The pushing module is in communication with the control module, and is used to push the sliding plate to a first position beyond the terminal end in the direction from the starting end to the terminal end when there is no consumable in the storage box, and load the consumables at the first position.

[0009] The carrying module is arranged on the pushing module and includes a mechanical hand. The mechanical hand is in communication with the control module, and is used to carry the unused consumables in the storage box to a first designated position when the sliding plate is located between the starting end and the terminal end. The first designated position is arranged in a staggered manner with the first position.

[0010] The consumable storage device, by setting the manipulator to carry the unused consumable in the storage box when the sliding plate is between the start end and the end, pushing the sliding plate to the first position beyond the end by using the pushing module when there is no consumable in the storage box, and adding consumables at the first position, compared with the prior art which selects to add consumables after stopping the device movement in order to prevent the grabbing mechanism from hurting the worker adding consumables, the pushing module of the application pushes the sliding plate and the storage box on the sliding plate out of the movement route of the manipulator, avoids the situation that the manipulator hurts the worker adding consumables, and realizes the addition of consumables without stopping the consumable storage device, so as to not affect the working rhythm and efficiency of the consumable storage device, and improve the smoothness of the operation of the consumable storage device.

[0011] In one of the embodiments, the pushing module comprises a bottom plate, a first driving mechanism and a monitoring unit, wherein:

[0012] The bottom plate is connected with the sliding plate which slides along the first direction;

[0013] The first driving mechanism is installed on the bottom plate, and the output end thereof is connected with the sliding plate;

[0014] The monitoring unit comprises a first monitoring mechanism, which is arranged on the manipulator and is used for collecting the quantity information of the consumables in the storage box;

[0015] The control module is in communication connection with the first monitoring mechanism and the first driving mechanism, judges whether the received quantity information is zero, and controls the first driving mechanism to push the sliding plate to the first position when the quantity information is zero.

[0016] In one of the embodiments, the pushing module further comprises a scrap bucket, which is arranged on the bottom plate and is used for receiving the used consumables which are carried by the manipulator from a second specified position under the control of the control module when the sliding plate is pushed to the first position, and the second specified position is arranged in a staggered manner with the first position.

[0017] In one of the embodiments, a sensor is further included, and the carrying module further comprises a second driving mechanism, wherein:

[0018] The sensor is arranged on the pushing module and is in communication connection with the control module unit, and is used for sending a second signal to the control module when being touched;

[0019] The control module is also in communication connection with the second driving mechanism, and controls the first driving mechanism to drive the sliding plate to move to a first preset zero position along the first direction according to the received second signal, and controls the second driving mechanism to drive the mechanical arm to move to a second preset zero position according to the received second signal.

[0020] In one of the embodiments, the pushing module further comprises a first zero reset sensor, and the carrying module further comprises a second zero reset sensor unit, wherein:

[0021] The first zero reset sensor is arranged on the bottom plate and is in communication connection with the control module, and is used to send a third signal to the control module after the sliding plate returns to the first preset zero position;

[0022] The second zero reset sensor unit is in communication connection with the control module, and is used to send a fourth signal to the control module after the mechanical arm returns to the second preset zero position;

[0023] The control module controls the second driving mechanism to carry the unused consumables in the storage box to the first designated position along a set route according to the third signal and the fourth signal.

[0024] In one of the embodiments, the monitoring unit further comprises a touch screen, which is in communication connection with the control module and is used to display the quantity information.

[0025] In one of the embodiments, the touch screen sends a fifth signal after being touched when the loading of the consumables is completed, and the control module controls the first driving mechanism to drive the sliding plate to move to the first preset zero position according to the received fifth signal.

[0026] In one of the embodiments, the first driving mechanism comprises a first driving wheel, a first driven wheel, a first synchronous belt, a first connecting transmission member and a first driving member, wherein:

[0027] The first driving wheel and the first driven wheel are arranged on the bottom plate along the first direction, and the same first synchronous belt is sleeved thereon;

[0028] One side of the first connecting transmission member is arranged on the sliding plate, and the other side is connected with the first synchronous belt;

[0029] The first driving member is connected with the first driving wheel and is in communication connection with the control module, and is used to drive the first driving wheel to rotate and drive the sliding plate to move along the first direction under the control of the control module.

[0030] In one of the embodiments, the carrying module further comprises a first translation unit, a second translation unit and a lifting unit, wherein:

[0031] The first translation unit comprises a support column and a support plate, one side of the support column is connected with the support plate, and the other side is slidably connected with the bottom plate along the first direction, and the maximum distance of one-way sliding of the support column is less than the maximum distance of one-way sliding of the sliding plate along the first direction;

[0032] The second translation unit comprises a first connecting plate, which is slidably connected to the support plate along the second direction;

[0033] The lifting unit is movably installed on the first connecting plate and connected with the mechanical hand.

[0034] In one of the embodiments, the second driving mechanism comprises a first driving assembly, a second driving assembly and a third driving assembly, wherein:

[0035] The output end of the first driving assembly is connected with the support column and is in communication connection with the control module, and is used for driving the support column to move along the first direction under the control of the control module;

[0036] The output end of the second driving assembly is connected with the first connecting plate and is in communication connection with the control module, and is used for driving the first connecting plate to move along the second direction under the control of the control module;

[0037] The output end of the third driving assembly is connected with the lifting unit and is in communication connection with the control module, and is used for driving the lifting unit to move up and down under the control of the control module. BRIEF DESCRIPTION OF DRAWINGS

[0038] Figure 1 A schematic view of a consumable storage device provided by the present application is shown in the figure;

[0039] Figure 2 A schematic view of a part of the pushing module and the sliding plate in the figure; Figure 1

[0040] A schematic view of a part of the pushing module and the storage rack in the figure; Figure 3 Figure 1 A schematic view of the carrying module and the bottom plate in the figure;

[0041] Figure 4 Figure 1 A schematic view of the lifting unit and the third driving assembly in the figure.

[0042] Figure 5 A schematic view of the lifting unit and the third driving assembly in the figure. Figure 1 ​​​

[0043] wherein:

[0044] 10, consumable storage device; a, first direction; b, second direction;

[0045] 100, pushing module; 110, start end; 120, end; 130, bottom plate; 131, first sliding rail; 132, second sliding rail; 133, second drag chain; 140, first driving mechanism; 141, first driving wheel; 142, first driven wheel; 143, first synchronous belt; 144, first connecting transmission member; 145, first driving member; 150, waste bucket; 160, first zero reset sensor;

[0046] 200, storage rack; 210, sliding plate; 211, positioning block; 212, first limiting block; 213, first sliding block; 220, storage box; 221, bearing hole; 222, consumable;

[0047] 300, carrying module; 310, mechanical hand;

[0048] 320, first driving assembly; 321, second connecting plate; 322, second driving wheel; 323, second driven wheel; 324, second synchronous belt; 325, second connecting transmission member; 326, second driving member;

[0049] 330, third driving assembly; 331, fourth driving wheel; 332, fourth driven wheel; 333, fourth synchronous belt; 334, fourth driving member; 335, fourth connecting transmission member;

[0050] 340, second zero reset unit; 341, second zero reset sensor; 342, third zero reset sensor; 343, fourth zero reset sensor;

[0051] 350, first translation unit; 351, support column; 352, support plate; 3521, third sliding rail; 3522, first drag chain; 353, second sliding block;

[0052] 360, second translation unit; 361, first connecting plate; 3611, fourth sliding rail; 362, third sliding block; 363, third limiting block;

[0053] 370, lifting unit; 371, fourth sliding block; 3711, fourth limiting block; 372, rotating magnet. DETAILED DESCRIPTION

[0054] In order to make the above objectives, features and advantages of the present application more clear and comprehensible, the specific embodiments of the present application will be described below in detail with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in many different manners without the specific details, and it is to be understood that the present application is not limited to the specific embodiments described below and that the specific embodiments are given for the purposes of exemplification only.

[0055] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0056] In addition, the terms "first", "second", "third" and the like are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly specified and limited.

[0057] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For ordinary skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0058] In the present application, unless otherwise explicitly specified and limited, the first feature "on" or "under" the second feature can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0059] It is to be understood that when an element as a "fixed" or "disposed" in another element, it can be directly on another element or there can be a middle element. When an element is considered to be "connected" to another element, it can be directly connected to another element or there can be a middle element. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not the only implementation.

[0060] The technical solutions provided by the embodiments of the present application are described below with reference to the drawings.

[0061] As shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 An embodiment of the present application provides a consumable 222 storage device 10 applied to the medical field, which comprises a control module, a pushing module 100, a storage rack 200, and a carrying module 300, wherein:

[0062] The storage rack 200 comprises a sliding plate 210 and a storage box 220. The first side of the sliding plate 210 is slidably connected with the pushing module 100 along the first direction a. The side of the sliding plate 210 away from the pushing module 100 is provided with the storage box 220. The storage box 220 is used for storing consumables 222. In a specific arrangement, the side of the storage box 220 away from the bottom plate 130 is provided with a plurality of bearing holes 221 arranged at intervals. The bearing holes 221 are used for placing consumables 222. In order to expand the storage capacity of the consumables 222, generally three storage boxes 220 are arranged at intervals on the sliding plate 210. The storage box 220 is detachably connected with the sliding plate 210. Specifically, positioning blocks 211 are arranged on the sliding plate 210. One storage box 220 is placed in the space surrounded by every four positioning blocks 211.

[0063] The push module 100 has a start end 110 at one end of the first direction a, and has a terminal end 120 at the other end of the first direction a, and the push module 100 is in communication connection with the control module, and the push module 100 is used to push the sliding plate 210 to a first position beyond the terminal end 120 in the direction from the start end 110 to the terminal end 120 when there is no consumable 222 in the storage box 220, and the consumable 222 is loaded at the first position, and in a specific setting, the operation of loading the consumable 222 is performed by the worker, and in order to avoid that the worker installs the storage box 220 in the wrong direction after loading the consumable 222, two groups of two-to-two opposite positioning blocks 211 are provided in the four positioning blocks 211, one group of which is adapted to the length distance of the storage box 220, and the other group is adapted to the width distance of the storage box 220, so that the worker can only install the storage box 220 correctly when the length of the storage box 220 corresponds to the two positioning blocks 211 fixed in the length direction of the storage box 220, and the same is true for the width direction of the storage box 220, thereby realizing the fool-proof design.

[0064] The carrying module 300 is arranged on the push module 100, and the carrying module 300 includes a mechanical hand 310, the mechanical hand 310 is in communication connection with the control module, and the mechanical hand 310 is used to carry the unused consumable 222 in the storage box 220 to a first designated position when the sliding plate 210 is located between the start end and the terminal end 120, and the first designated position is arranged in a staggered manner with the first position, and in a specific setting, the entire consumable 222 storage device 10 is generally arranged in a medical analysis instrument, and the consumable 222 taken out of the storage box 220 by the mechanical hand 310 is generally carried to other stations in the medical analysis instrument, i.e., the first designated position.

[0065] The above-mentioned consumable 222 storage device 10, by arranging the mechanical hand 310 to carry the unused consumable 222 in the storage box 220 when the sliding plate 210 is located between the start end 110 and the terminal end 120, and by using the push module 100 to push the sliding plate 210 to the first position beyond the terminal end 120 when there is no consumable 222 in the storage box 220, and by adding the consumable 222 at the first position, compared with the prior art which selects to add the consumable 222 after stopping the device movement in order to prevent the worker adding the consumable 222 from being injured by the grabbing mechanism, the push module 100 of the present application pushes the sliding plate 210 and the storage box 220 on the sliding plate 210 out of the movement route of the mechanical hand 310, avoids the situation that the worker adding the consumable 222 is injured by the mechanical hand 310, and at the same time realizes the addition of the consumable 222 under the condition that the consumable 222 storage device 10 does not stop, so as not to affect the working rhythm and efficiency of the consumable 222 storage device 10, and improves the smoothness of the operation of the consumable 222 storage device 10.

[0066] To enable the push module 100 to push the sliding plate 210 to the first position when there is no consumable 222 in the storage box 220, in a preferred embodiment, the push module 100 includes a base plate 130, a first drive mechanism 140, and a monitoring unit, wherein:

[0067] A sliding plate 210 that slides along the first direction a is connected to the base plate 130. In a specific setting, one end of the base plate 130 along the first direction a is the starting end 110, and the other end of the base plate 130 along the first direction a is the ending end 120.

[0068] The first drive mechanism 140 is mounted on the base plate 130, and its output end is connected to the sliding plate 210.

[0069] The monitoring unit includes a first monitoring mechanism, which is set on the robot arm 310. The first monitoring mechanism is used to collect the quantity information of consumables 222 in the storage box 220. In specific settings, the first monitoring mechanism can be a sensor or an industrial camera. In addition to being set on the robot arm 310, the first monitoring mechanism can also be set in other locations, as long as it can collect the quantity of consumables 222 in the storage box 220.

[0070] The control module is communicatively connected to the first monitoring mechanism and the first drive mechanism 140. The control module determines whether the received quantity information is zero, and when the quantity information is zero, it controls the first drive mechanism 140 to push the sliding plate 210 to the first position. Through the above settings, when there is no consumable 222 in the storage box 220, the sliding plate 210 and the storage box 220 on the sliding plate 210 are pushed to the first position, i.e., outside the movement path of the robot arm 310, to load the consumable 222.

[0071] To ensure the robotic arm 310 is not idle when the terminal 120 is pushed out of the storage box 220 to add consumables 222, the push module 100 specifically includes a waste bin 150. The waste bin 150 is mounted on the base plate 130 and is used to receive used consumables 222 transported from a second designated position by the robotic arm 310 under the control of the control module when the sliding plate 210 is pushed to the first position. The second designated position is offset from the first position. Specifically, the waste bin 150 and the sliding plate 210 are spaced apart. The second designated position also refers to other workstations within the medical analyzer; it can be the same workstation as the first designated position or a workstation different from the first designated position. In other words, the robotic arm 310 transports used consumables 222 from other workstations within the medical analyzer to the waste bin 150. With the above settings, when the storage box 220 is outside the range of motion of the robot arm 310, that is, when the worker is changing the consumable 222, the robot arm 310 can move to the disposal port to discard the used consumable 222, thereby improving the utilization rate of the handling module 300.

[0072] In order to make the storage box 220 and the mechanical hand 310 achieve the setting of the initial position at the start, that is, to zero the position at the start, and facilitate the subsequent carrying work process to make the consumables 222 and the mechanical hand 310 be in a certain known position, specifically, the consumables 222 storage device 10 further comprises a sensor, and the carrying module 300 further comprises a second driving mechanism, wherein:

[0073] The sensor is arranged on the pushing module 100, and the sensor is in communication connection with the control module unit, and is used to send a second signal to the control module when being touched. In a specific arrangement, the sensor is a start key of the consumables 222 storage device 10. The sensor can be arranged on the pushing module 100, and can also be arranged at other positions of the consumables 222 storage device 10;

[0074] The control module is further in communication connection with the second driving mechanism. The control module controls the first driving mechanism 140 to drive the sliding plate 210 to move to the first preset zero position along the first direction a according to the received second signal, and controls the second driving mechanism to drive the mechanical hand 310 to move to the second preset zero position according to the received second signal. Through the above arrangement, the storage box 220 and the mechanical hand 310 are set to reach the initial position at the start.

[0075] In order to realize the carrying of the consumables 222 by the mechanical hand 310 from the second preset zero position according to the set program, more specifically, the pushing module 100 further comprises a first zero sensor 160, and the carrying module 300 further comprises a second zero sensor unit, wherein:

[0076] The first zero sensor 160 is arranged on the bottom plate 130, and the first zero sensor 160 is in communication connection with the control module. The first zero sensor 160 is used to send a third signal to the control module after the sliding plate 210 returns to the first preset zero position. In a specific arrangement, the specific process of the first zero sensor 160 sending the third signal is that: the sliding plate 210 is provided with a first limiting block 212, that is, when the sliding plate 210 moves to the first preset zero position, that is, when the first limiting block 212 moves to the first zero sensor 160 with the sliding plate 210, the first zero sensor 160 sends the third signal to the control module. The first zero sensor 160 is also used to collect the first position information of the sliding plate 210 and send it to the control module. Then, the process that the control module drives the second driving mechanism to drive the mechanical hand 310 to discard the used consumables 222 to the discard barrel 150 is that: the control module judges whether the received first position information is beyond the first position of the terminal 120, and drives the second driving mechanism to drive the mechanical hand 310 to discard the used consumables 222 to the discard barrel 150 when the first position information is beyond the first position of the terminal;

[0077] The second zero-return sensing unit is in communication connection with the control module, and is configured to collect second position information of the mechanical arm 310 and send a fourth signal to the control module after the mechanical arm 310 returns to the second preset zero position. In a specific configuration, the second zero-return sensing unit is further configured to collect the second position information of the mechanical arm 310 and transmit the second position information to the control module.

[0078] The control module controls the second driving mechanism to drive the mechanical arm 310 to carry the unused consumables 222 in the storage box 220 to the first designated position according to the third signal and the fourth signal. Through the above configuration, when the storage box 220 and the mechanical arm 310 are at the starting position, the controller module controls the movement distance of the second driving mechanism to realize the accurate positioning of the mechanical arm 310, so that the consumables 222 in the storage box 220 can be carried to the designated position one by one until the entire consumables 222 are carried.

[0079] In order to facilitate the prompt loading of consumables 222 by workers, more specifically, the monitoring unit further comprises a touch screen, the touch screen is in communication connection with the control module, and the touch screen is configured to display the quantity information, i.e., the quantity of consumables 222 in the storage box 220.

[0080] In order to carry the consumables 222 in time after the consumables 222 are loaded, further, the touch screen sends a fifth signal after being touched when the consumables 222 are loaded, and the control module controls the first driving mechanism 140 to drive the sliding plate 210 to move to the first preset zero position according to the received fifth signal. Through the above configuration, the first zero-return sensor 160 sends the third signal to the control module after the sliding plate 210 returns to the first preset zero position, so that the control module can receive the third signal again, and the control module can control the second driving mechanism to drive the mechanical arm 310 to carry the unused consumables 222 in the storage box 220 to the first designated position according to the second position information of the mechanical arm 310 at this time.

[0081] In order to better realize the movement of the first driving mechanism 140 along the first direction a, more specifically, the first driving mechanism 140 comprises a first driving wheel 141, a first driven wheel 142, a first synchronous belt 143, a first connecting transmission member 144, and a first driving member 145. In a specific configuration, the first side of the sliding plate 210 is provided with a first sliding block 213 on both ends, and the bottom plate 130 is correspondingly provided with two first sliding rails 131 matched with the first sliding block 213.

[0082] The first driving wheel 141 and the first driven wheel 142 are arranged on the bottom plate 130 along the first direction a, and the same first synchronous belt 143 is sleeved on the first driving wheel 141 and the first driven wheel 142. In a specific configuration, the first driving wheel 141 and the first driven wheel 142 are located in the middle of the two first sliding rails 131.

[0083] One side of the first connecting transmission member 144 is arranged on the sliding plate 210, and the other side of the first connecting transmission member 144 is connected with the first synchronous belt 143;

[0084] The first driving member 145 is connected with the first driving wheel 141, and the first driving member 145 is in communication connection with the control module. The first driving member 145 is used to drive the first driving wheel 141 to rotate under the control of the control module, so as to drive the sliding plate 210 to move along the first guide rail. In a specific arrangement, the first driving member 145 can be a stepping motor. The rotation of the first driving member 145 drives the driving wheel to rotate, thereby driving the synchronous belt to move, so that the first connecting transmission member 144 connected with the synchronous belt moves, thereby driving the sliding plate 210 connected with the first connecting transmission member 144 to move along the first direction a.

[0085] In order to realize that the mechanical hand 310 can conveniently grasp the consumables 222, further, the conveying module 300 further comprises a first translation unit 350, a second translation unit 360 and a lifting unit 370, wherein:

[0086] The first translation unit 350 comprises a support column 351 and a support plate 352. One side of the support column 351 is connected with the support plate 352, and the other side of the support column 351 is slidably connected with the bottom plate 130 along the first direction a. The maximum distance of one-way sliding of the support column 351 is less than the maximum distance of one-way sliding of the sliding plate 210 along the first direction a. In a specific arrangement, two second sliding rails 132 extending along the first direction a are arranged on the bottom plate 130. The two second sliding rails 132 are respectively distributed on the two outer sides away from the two first sliding rails 131 and have a length less than that of the first sliding rails 131. The number of the support columns 351 is also two. The support plate 352 is arranged between the two support columns 351. The support column 351 is provided with a second sliding block 353. One side of the second sliding block 353 away from the support column 351 is matched with the second sliding rail 132. Through the above arrangement, the sliding stroke of the conveying module 300 along the first direction a will not reach the first position, so that the worker adding the consumables 222 can be avoided from being injured by the conveying module 300 without stopping the machine;

[0087] The second translation unit 360 comprises a first connecting plate 361 slidably connected to the support plate 352 in the second direction b. In a specific arrangement, the support plate 352 is provided with a third sliding rail 3521 extending in the second direction b, and the first connecting plate 361 is provided with a third sliding block 362, the side of the third sliding block 362 away from the first connecting plate 361 being matched with the third sliding rail 3521. In order to increase the stability during sliding, a first drag chain 3522 is further arranged between the support plate 352 and the first connecting plate 361. Through the above arrangement, the first connecting plate 361 is slidably connected to the support plate 352, and the support plate 352 is connected to the support column 351, so that the first connecting plate 361 can also move with the support column 351 in the first direction a. In order to increase the stability during movement, a second drag chain 133 is further arranged between the support plate 352 and the bottom plate 130.

[0088] The lifting unit 370 is movably installed on the first connecting plate 361, and the lifting unit 370 is connected to the mechanical arm 310. In a specific arrangement, the first connecting plate 361 is provided with a vertical fourth sliding rail 3611, and the lifting unit 370 comprises a fourth sliding block 371, one side of the fourth sliding block 371 being connected to the mechanical arm 310 and the other side being matched with the fourth sliding rail 3611. The lifting unit 370 further comprises a rotating magnet 372 connected to the mechanical arm 310 for controlling the rotation of the mechanical arm 310. Through the above arrangement, the mechanical arm 310 can move in the first direction a, the second direction b and the vertical direction, and can grasp the consumables 222 in the three-dimensional space.

[0089] In order to better realize the movement of the mechanical arm 310, further, the second driving mechanism comprises a first driving assembly 320, a second driving assembly and a third driving assembly 330. In a specific arrangement, the second zero reset sensing unit comprises a second zero reset sensor 341, a third zero reset sensor 342 and a fourth zero reset sensor 343, wherein:

[0090] The output end of the first driving assembly 320 is connected with the support column 351. The first driving assembly 320 is in communication connection with the control module. The first driving assembly 320 is used for driving the support column 351 to move along the first direction a under the control of the control module. In a specific arrangement, the first driving assembly 320 comprises a second connecting plate 321, a second driving wheel 322, a second driven wheel 323, a second synchronous belt 324, a second connecting transmission member 325 and a second driving member 326. The second connecting plate 321 is connected with the side of the bottom plate 130 away from the support column 351. The number of the second driven wheel 323 is three. Two of the second driven wheels 323 are distributed on the two sides of the second driving wheel 322. The other is away from the second driving wheel 322 along the first direction a. The three second driven wheels 323 are all arranged with the second driving wheel 322 on the second connecting plate 321. The second synchronous belt 324 is sleeved on the second driving wheel 322 and the second driven wheel 323. One side of the second connecting transmission member 325 is connected with the second synchronous belt 324. The other side is connected with the support column 351 close to the second connecting plate 321. The output end of the second driving member 326 is connected with the second driving wheel 322. The side of the bottom plate 130 away from the support column 351 is provided with a second zero reset sensor 341. The second zero reset sensor 341 is used for collecting the position information of the second connecting transmission member 325. When starting, the specific process of the second connecting transmission member 325 returning to the preset zero position collected by the second zero reset sensor 341 is that a second limiting block is arranged on the second connecting transmission member 325. When the second limiting block moves to the second zero reset sensor 341 with the second connecting transmission member 325, the second zero reset sensor 341 sends a signal to the control module to represent that the first translation unit 350 returns to zero position.

[0091] The output end of the second driving assembly is connected with the first connecting plate 361. The second driving assembly is in communication connection with the control module. The second driving assembly is used for driving the first connecting plate 361 to move in the second direction b under the control of the control module. In a specific arrangement, the second driving assembly comprises a third driving wheel, a third driven wheel, a third synchronous belt, a third connecting transmission member and a third driving member. The number of the third driven wheels is three. Two of the third driven wheels cooperate with the third driving wheel to form a triangular structure. The other third driven wheel is away from the third driving wheel in the second direction b. The three third driven wheels are all arranged on the side of the supporting plate 352 away from the third sliding rail 3521. The third synchronous belt is sleeved on the third driving wheel and the third driven wheel. One side of the third connecting transmission member is connected with the third synchronous belt. The other side of the third connecting transmission member is connected with the third sliding block 362. The output end of the third driving member is connected with the third driving wheel. The supporting plate 352 is provided with a third zero reset sensor 342. The third zero reset sensor 342 is used for collecting the position information of the third sliding block 362. When starting, the third zero reset sensor 342 collects the specific process of the third sliding block 362 returning to the preset zero position. A third limiting block 363 is arranged on the third sliding block 362. When the third limiting block 363 moves to the third zero reset sensor 342 with the third sliding block 362, the third zero reset sensor 342 sends a signal to the control module, which represents that the second translation unit 360 returns to the zero position.

[0092] The output end of the third driving assembly 330 is connected with the lifting unit 370, the third driving assembly 330 is in communication connection with the control module, and the third driving assembly 330 is used for driving the lifting unit 370 to move up and down under the control of the control module. In a specific arrangement, the third driving assembly 330 comprises a fourth driving wheel 331, a fourth driven wheel 332, a fourth synchronous belt 333, a fourth connecting transmission member 335 and a fourth driving member 334. The fourth driven wheel 332 is arranged on the first connecting plate 361 along the vertical direction. The fourth synchronous belt 333 is sleeved on the fourth driving wheel 331 and the fourth driven wheel 332. One side of the fourth connecting transmission member 335 is connected with the fourth synchronous belt 333, and the other side is connected with the fourth sliding block 371. The output end of the fourth driving member 334 is connected with the fourth driving wheel 331. The fourth zero reset sensor 343 is arranged on the first connecting plate 361. The fourth zero reset sensor 343 is used for collecting the position information of the fourth sliding block 371. When starting, the fourth zero reset sensor 343 collects the specific process of the fourth sliding block 371 returning to the preset zero position. The fourth limiting block 3711 is arranged on the fourth connecting transmission member 335. When the fourth limiting block 3711 moves to the fourth zero reset sensor 343 along with the fourth connecting transmission member 335, the fourth zero reset sensor 343 sends a signal to the control module, representing that the lifting unit 370 returns to the zero position. Through the above arrangement, when the second zero reset sensor 341 in the first translation unit 350, the third zero reset sensor 342 in the second translation unit 360 and the fourth zero reset sensor 343 in the lifting unit 370 all send signals, that is, the fourth signal sent by the second zero reset sensor 341 to the control module, it represents that the manipulator 310 returns to the second preset zero position.

[0093] The whole movement process of the consumable 222 storage device 10 is as follows: the touch sensor, i.e., the power-on button, makes the power-on button send a second signal to the control module, the control module controls the first driving mechanism 140 to drive the sliding plate 210 to move to the first preset zero position along the first direction a according to the received second signal, and controls the second driving mechanism to drive the mechanical hand 310 to move to the second preset zero position, the second zero reset sensing unit sends a fourth signal to the control module when the mechanical hand 310 moves to the second preset zero position, and the first zero reset sensor 160 sends a third signal to the control module when the sliding plate 210 moves to the first preset zero position, the control module controls the second driving mechanism to drive the mechanical hand 310 to carry the unused consumable 222 in the storage box 220 to the first designated position according to the third signal and the fourth signal, and when the first monitoring mechanism monitors that the consumable 222 in the storage box 220 is zero, it sends a first signal to the control module, and at the same time, the touch screen displays that the storage amount of the consumable 222 is zero, so that the control module controls the first driving mechanism 140 to push the sliding plate 210 to the first position, and at the same time, the mechanical hand 310 carries the used consumable 222 to the waste bucket 150, and after the consumable 222 is loaded, the touch screen is pressed, so that the touch screen sends a fifth signal and transmits it to the control module, the control module controls the first driving mechanism 140 to drive the sliding plate 210 to move to the first preset zero position according to the received fifth signal, at this time, the first zero reset sensor 160 sends a third signal again, and the control module controls the second driving mechanism to drive the mechanical hand 310 to carry the unused consumable 222 in the storage box 220 to the first designated position according to the second position information sent by the second zero reset sensing unit at this time, to form a cycle.

[0094] The technical features of the above-described embodiments can be combined in any manner. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, but as long as the combinations of the technical features do not conflict, they should be considered within the scope of the present disclosure.

[0095] The above-described embodiments only express several embodiments of the present application, and the description is more specific and detailed, but it should not be understood as limiting the scope of the patent. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A consumable storage device, characterized by, The device comprises a control module, a pushing module, a storage rack, a carrying module and a sensor. The storage rack comprises a sliding plate and a storage box. The first side of the sliding plate is slidably connected with the pushing module along a first direction. The storage box is arranged on the side of the sliding plate away from the pushing module and is used for storing consumables. The pushing module has a starting end and a terminal end along the first direction. The pushing module is in communication with the control module and is used for pushing the sliding plate to a first position beyond the terminal end in the direction from the starting end to the terminal end when there is no consumable in the storage box. The carrying module is arranged on the pushing module and comprises a mechanical hand. The mechanical hand is in communication with the control module and is used for carrying the unused consumable in the storage box to a first designated position when the sliding plate is located between the starting end and the terminal end. The first designated position is arranged in a staggered manner with the first position. The sensor is arranged on the pushing module and is in communication with the control module. The sensor is used for sending a second signal to the control module when being touched. The pushing module further comprises a bottom plate. The sliding plate is slidably arranged on the bottom plate along the first direction. The pushing module further comprises a waste bucket. The waste bucket is arranged on the bottom plate and is used for receiving the used consumable carried by the mechanical hand from a second designated position under the control of the control module when the sliding plate is pushed to the first position. The second designated position is arranged in a staggered manner with the first position.

2. The consumable storage device of claim 1, wherein, The pushing module comprises a first driving mechanism and a monitoring unit. The first driving mechanism is installed on the bottom plate. The output end of the first driving mechanism is connected with the sliding plate. The monitoring unit comprises a first monitoring mechanism. The first monitoring mechanism is arranged on the mechanical hand and is used for collecting the quantity information of the consumable in the storage box. The control module is in communication with the first monitoring mechanism and the first driving mechanism. The control module judges whether the received quantity information is zero. When the quantity information is zero, the control module controls the first driving mechanism to push the sliding plate to the first position.

3. The consumable storage device of claim 2, wherein, The carrying module further comprises a second driving mechanism. The control module is further in communication with the second driving mechanism. The control module controls the first driving mechanism to move the sliding plate to a first preset zero position along the first direction according to the received second signal. The control module controls the second driving mechanism to move the mechanical hand to a second preset zero position according to the received second signal.

4. The consumable storage device of claim 3, wherein, The pushing module further comprises a first zero reset sensor. The carrying module further comprises a second zero reset sensing unit. The first zero reset sensor is arranged on the bottom plate and is in communication with the control module. The first zero reset sensor is used for sending a third signal to the control module after the sliding plate returns to the first preset zero position. The second zero reset sensing unit is in communication with the control module. The second zero reset sensing unit is used for sending a fourth signal to the control module after the mechanical hand returns to the second preset zero position. The control module controls the second driving mechanism to drive the robot arm to carry the unused consumables in the storage box to the first designated position according to the third signal and the fourth signal.

5. The consumable storage device of claim 3, wherein, The monitoring unit further comprises a touch screen in communication with the control module for displaying the quantity information.

6. The consumable storage device of claim 5, wherein, The touch screen sends a fifth signal after being touched when the loading of the consumables is completed, and the control module controls the first driving mechanism to drive the sliding plate to move to the first preset zero position according to the received fifth signal.

7. The consumable storage device of claim 2, wherein, The first driving mechanism comprises a first driving wheel, a first driven wheel, a first synchronous belt, a first connecting transmission member and a first driving member. The first driving wheel and the first driven wheel are arranged on the bottom plate along the first direction, and the same first synchronous belt is sleeved thereon. One side of the first connecting transmission member is arranged on the sliding plate, and the other side is connected with the first synchronous belt. The first driving member is connected with the first driving wheel and is in communication with the control module, and is used for driving the first driving wheel to rotate and drive the sliding plate to move along the first direction under the control of the control module.

8. The consumable storage device of claim 3, wherein, The carrying module further comprises a first translation unit, a second translation unit and a lifting unit. The first translation unit comprises a support column and a support plate, one side of the support column is connected with the support plate, and the other side is slidably connected with the bottom plate along the first direction, and the maximum distance of one-way sliding is less than the maximum distance of one-way sliding of the sliding plate along the first direction. The second translation unit comprises a first connecting plate, and the first connecting plate is slidably connected with the support plate along the second direction. The lifting unit is movably installed on the first connecting plate and is connected with the robot arm.

9. The consumable storage device of claim 8, wherein, The second driving mechanism comprises a first driving assembly, a second driving assembly and a third driving assembly. The output end of the first driving assembly is connected with the support column and is in communication with the control module, and is used for driving the support column to move along the first direction under the control of the control module. The output end of the second driving assembly is connected with the first connecting plate and is in communication with the control module, and is used for driving the first connecting plate to move along the second direction under the control of the control module. The output end of the third driving assembly is connected with the lifting unit and is in communication with the control module, and is used for driving the lifting unit to move up and down under the control of the control module.

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