Weighing and feeding device, method for weighing and feeding tubular containers and readable storage medium

Abstract

The application provides a kind of weighing feeding device, the weighing feeding method of tubular container and computer readable storage medium, weighing feeding mechanism includes: weighing module, including weighing support frame, to support tubular container;Lifting frame, including feeding support frame, to support tubular container;Linear drive mechanism, connected with lifting frame;Controller, communication connection with linear drive mechanism, controller is suitable for controlling linear drive mechanism drive lifting frame to rise, so that feeding support frame lifts tubular container to separate from weighing support frame and carries out feeding;Or control linear drive mechanism drive lifting frame to descend, so that feeding support frame descends to support tubular container only on weighing support frame, so that the feeding station and weighing station of tubular container are integrated, that is, two function modules are combined in one station, the overall space of equipment can be saved, and space utilization is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of dispensing, in particular to a weighing and feeding device, a weighing and feeding method of a tubular container and a readable storage medium. BACKGROUND

[0002] In the related art, intravenous injection of liquid medicine can realize full-automatic dispensing of liquid medicine, which not only guarantees the occupational safety of medical staff, but also guarantees the quality and safety in the process of drug dispensing.

[0003] Among them, the needle tube is a kind of medical supplies commonly used in liquid dispensing process. Since the automatic liquid dispensing process needs to simulate manual operation, the needle tube needs to be pulled during liquid extraction and injection, so the positioning accuracy of the needle tube has certain requirements in the automatic liquid dispensing process. Because the liquid dispensing accuracy of some prescriptions needs to meet the requirement of error ≤ ± 0.02g, the empty needle tube and the needle tube after liquid extraction need to be weighed and measured during liquid dispensing to ensure that the liquid dispensing accuracy can meet the requirements.

[0004] At present, for the liquid dispensing of the needle tube, a weighing station and a feeding station are arranged, so that a large amount of space is occupied. SUMMARY

[0005] Therefore, the technical problem to be solved by the present application is to overcome the defect that the liquid dispensing equipment of the needle tube in the prior art occupies a large space, so as to provide a weighing and feeding device which occupies a small overall space.

[0006] In order to solve the above technical problems, the weighing and feeding device provided by the present application is suitable for feeding and weighing a tubular container. The weighing and feeding mechanism comprises: a weighing module comprising a weighing support frame for supporting the tubular container; a lifting frame comprising a feeding support frame for supporting the tubular container; a linear drive mechanism connected with the lifting frame; a controller in communication connection with the linear drive mechanism, the controller being adapted to control the linear drive mechanism to drive the lifting frame to rise, so that the feeding support frame lifts the tubular container to separate from the weighing support frame for feeding; or control the linear drive mechanism to drive the lifting frame to descend, so that the feeding support frame descends to support the tubular container only on the weighing support frame.

[0007] Optionally, the weighing and feeding device further comprises: a first position detection module in communication connection with the controller, the first position detection module being adapted to detect the height position of the tubular container to obtain and send a first position signal to the controller, so that the controller controls the linear drive mechanism to linearly rise according to the first position signal.

[0008] Optionally, the weighing module further comprises a weighing sensor in communication connection with the controller, and the weighing feeding device further comprises a second position detection module in communication connection with the controller, the second position detection module being adapted to detect a descending position of the linear driving mechanism to obtain and send a second position signal to the controller, so that the controller controls the weighing sensor to start weighing according to the second position signal.

[0009] Optionally, the weighing feeding device further comprises a base, a fixed frame arranged on the base, and a positioning assembly connected with the fixed frame, the positioning assembly being adapted to position the tubular container after being lifted up, and the linear driving mechanism is arranged on the base.

[0010] Optionally, the positioning assembly comprises a swing driving mechanism connected with the fixed frame, a positioning rod connected with the swing driving mechanism, and a third position detection module in communication connection with the controller, the third position detection module being adapted to detect a swing position of the positioning rod and obtain and send a third position signal to the controller, so that the controller controls the swing driving mechanism to drive the positioning rod to swing by a first angle to avoid interference with the tubular container or to swing by a second angle to be in contact with the tubular container to realize positioning according to the third position signal, and the third position detection module is arranged on the fixed frame.

[0011] Optionally, the swing driving mechanism comprises a rotating electromagnet.

[0012] Optionally, the lifting frame is in linear sliding connection with the fixed frame, so that the lifting frame is linearly lifted up or lowered.

[0013] Optionally, the lifting frame further comprises a movable plate connected with the feeding support frame, and a linear sliding rail arranged on the fixed frame and connected with the movable plate, and the driving end of the linear driving mechanism is connected with the movable plate.

[0014] Optionally, a plurality of the weighing support frames and a plurality of the feeding support frames are arranged alternately along an extension direction of the tubular container, and a gap is formed between adjacent two of the feeding support frames and the weighing support frames.

[0015] Optionally, the top of each of the feeding support frame and the weighing support frame is provided with a notch to support the tubular container.

[0016] Optionally, the notch has a first inner side wall and a second inner side wall, and an included angle is formed between the first inner side wall and the second inner side wall to clamp the tubular container.

[0017] Therefore, the present application aims to solve the technical problem of overcoming the defect of large space occupation of the liquid preparation device of the needle tube in the prior art, thereby providing a weighing and feeding method of a tubular container with small overall space occupation.

[0018] In order to solve the above technical problems, the present application provides a weighing and feeding method of a tubular container, comprising: controlling a linear drive mechanism to drive a lifting frame to rise, so that a feeding support frame lifts a tubular container to separate from a weighing support frame of a weighing module to perform feeding; and controlling the linear drive mechanism to drive the lifting frame to descend, so that the feeding support frame descends to support the tubular container only on the weighing support frame to perform weighing.

[0019] Optionally, the controlling of the linear drive mechanism to drive the lifting frame to rise, so that the feeding support frame lifts the tubular container to separate from the weighing support frame of the weighing module to perform feeding, specifically comprises: acquiring a first position signal of the height position of the tubular container; and controlling the linear drive mechanism to drive the lifting frame to rise according to the first position signal.

[0020] Optionally, the controlling of the linear drive mechanism to drive the lifting frame to descend, so that the feeding support frame descends to support the tubular container only on the weighing support frame to perform weighing, specifically comprises: acquiring a second position signal of the descending position of the linear drive mechanism; and controlling the weighing sensor to start weighing according to the second position signal.

[0021] Optionally, the weighing and feeding method of the tubular container further comprises: positioning the tubular container by a positioning assembly after the feeding support frame lifts the tubular container to separate from the weighing support frame.

[0022] Optionally, the positioning of the tubular container by the positioning assembly specifically comprises: acquiring a third position signal of the swing position of a positioning rod of the positioning assembly; and controlling a swing drive mechanism to drive the positioning rod to swing by a first angle to avoid interference with the tubular container, or to drive the positioning rod to swing by a second angle to be in contact with the tubular container to realize positioning, according to the third position signal.

[0023] Therefore, the present application aims to solve the technical problem of overcoming the defect of large space occupation of the liquid preparation device of the needle tube in the prior art, thereby providing a computer-readable storage medium with small overall space occupation.

[0024] In order to solve the above technical problems, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is executed by a processor to implement the weighing and feeding method of the tubular container as described above.

[0025] The technical scheme of the present application has the following advantages:

[0026] 1.The weighing and feeding device provided by the present application, through the linear driving mechanism to drive the feeding support frame to rise, the feeding support frame can lift the tubular container, so that the tubular container is separated from the weighing support frame, at this time, the tubular container can be fed. When the linear driving mechanism drives the feeding support frame to descend, the support surface of the feeding support frame for supporting the tubular container will be lower than the support surface of the weighing support frame for supporting the tubular container, therefore, the tubular container is only supported on the weighing support frame, so that the tubular container can be weighed before or after feeding, so that the feeding station and the weighing station of the tubular container are integrated, that is, the two function modules are combined in one station, which can save the overall space of the equipment and improve the space utilization.

[0027] 2.The weighing and feeding device provided by the present application, through the V-shaped notch of the feeding support frame and the weighing support frame, different specifications of tubular containers can be adapted. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0029] Figure 1 The front view structural schematic diagram of the weighing and feeding device provided by an embodiment of the present application;

[0030] Figure 2 The top view structural schematic diagram of the weighing and feeding device provided by an embodiment of the present application;

[0031] Figure 3 The left view structural schematic diagram of the weighing and feeding device provided by an embodiment of the present application;

[0032] Figure 4 The right view structural schematic diagram of the weighing and feeding device provided by an embodiment of the present application;

[0033] Figure 5 The bottom view structural schematic diagram of the weighing and feeding device provided by an embodiment of the present application;

[0034] Figure 6 The rear view structural schematic diagram of the weighing and feeding device provided by an embodiment of the present application;

[0035] Figure 7 The three-dimensional structural schematic diagram of the weighing and feeding device provided by an embodiment of the present application;

[0036] Figure 8 Fig. 1 is a schematic view of a weighing feeding device according to an embodiment of the present application; Figure 7 Fig. 2 is a schematic view of an enlarged structure at A in Fig. 1;

[0037] Figure 9 Fig. 3 is a block schematic view of a weighing feeding device according to an embodiment of the present application;

[0038] Figure 10 Fig. 4 is a flow chart of a method for feeding a tubular container according to an embodiment of the present application;

[0039] Figure 11 Fig. 5 is a flow chart of a method for feeding a tubular container according to an embodiment of the present application; Figure 10 Fig. 6 is a flow chart of a method for feeding a tubular container according to an embodiment of the present application;

[0040] Figure 12 Fig. 7 is a flow chart of a method for feeding a tubular container according to an embodiment of the present application; Figure 10 Fig. 8 is a flow chart of a method for feeding a tubular container according to an embodiment of the present application;

[0041] Figure 13 Fig. 9 is a flow chart of a method for feeding a tubular container according to an embodiment of the present application; Figure 12 Fig. 10 is a flow chart of a method for feeding a tubular container according to an embodiment of the present application.

[0042] Explanation of reference numerals:

[0043] 1 - weighing module; 2 - lifting frame; 3 - linear drive mechanism; 4 - controller; 5 - first position detection module; 6 - second position detection module; 7 - base; 8 - fixed frame; 9 - positioning assembly; 10 - tubular container;

[0044] 11 - weighing support frame; 12 - weighing sensor;

[0045] 21 - feeding support frame; 22 - movable plate; 23 - linear slide rail; 24 - sliding block;

[0046] 71 - bottom plate; 72 - mounting seat; 73 - first support; 74 - second support;

[0047] 81 - fixed plate; 82 - first connecting plate; 83 - second connecting plate;

[0048] 91 - swing drive mechanism; 92 - positioning rod; 93 - third position detection module;

[0049] 911 - rotating electromagnet. DETAILED DESCRIPTION

[0050] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0051] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements 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. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0052] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0053] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0054] Embodiment 1

[0055] As Figure 1 As shown, the weighing and feeding device is suitable for feeding and weighing the tubular container 10. The weighing and feeding mechanism comprises a weighing module 1, a lifting frame 2, a linear driving mechanism 3 and a controller 4. The weighing module 1 comprises a weighing support frame 11 to support the tubular container. The lifting frame 2 comprises a feeding support frame 21 to support the tubular container. The linear driving mechanism 3 is connected with the lifting frame 2. The controller 4 is in communication connection with the linear driving mechanism 3. The controller 4 is suitable for controlling the linear driving mechanism 3 to drive the lifting frame 2 to rise, so that the feeding support frame 21 lifts the tubular container to separate from the weighing support frame 11 for feeding; or controlling the linear driving mechanism 3 to drive the lifting frame 2 to descend, so that the feeding support frame 21 descends to support the tubular container on the weighing support frame 11.

[0056] The weighing module can include a weighing sensor, the weighing sensor is provided with a scale pan, one end of the weighing support frame is connected with the scale pan, and the other end of the weighing support frame can be used for supporting the tubular container. The linear driving mechanism can include an electric push rod, an air cylinder, a screw driving mechanism or the like. One end of the feeding support frame is connected with the linear driving mechanism, and the other end of the feeding support frame can be used for supporting the tubular container. When the linear driving mechanism drives the feeding support frame to ascend, the feeding support frame can lift the tubular container, so that the tubular container is separated from the weighing support frame, and at this time, the tubular container can be subjected to feeding operation. When the linear driving mechanism drives the feeding support frame to descend, because the supporting surface of the feeding support frame for supporting the tubular container is lower than the supporting surface of the weighing support frame for supporting the tubular container, the tubular container is only supported on the weighing support frame, and therefore, the tubular container can be weighed before or after feeding, so that the feeding station and the weighing station of the tubular container are integrated, that is, the two function modules are combined in one station, the overall space of the equipment can be saved, and the space utilization rate is improved.

[0057] Further, the weighing and feeding device further comprises a first position detection module 5, the first position detection module 5 is in communication connection with the controller 4, and the first position detection module 5 is adapted to detect the height position of the tubular container, so as to obtain and send a first position signal to the controller 4, so that the controller 4 controls the linear driving mechanism 3 to ascend linearly according to the first position signal.

[0058] The first position detection module 5 comprises an optical sensor, the optical sensor can be unaffected by the external environment, and has high detection precision. When the first position detection module 5 detects that the tubular container 10 is supported on the weighing support frame, if the weighing is completed, the linear driving mechanism 3 can be controlled to ascend for feeding.

[0059] Further, the weighing module 1 comprises a weighing sensor, the weighing sensor is in communication connection with the controller 4, and the weighing and feeding device further comprises a second position detection module 6, the second position detection module 6 is in communication connection with the controller 4, and the second position detection module 6 is adapted to detect the descending position of the linear driving mechanism 3, so as to obtain and send a second position signal to the controller 4, so that the controller 4 controls the weighing sensor to start weighing according to the second position signal.

[0060] The second position detection module 6 can comprise a proximity sensor, the proximity sensor can be unaffected by the external environment, and has high detection precision. The descending position of the linear driving mechanism 3 is detected by the second position detection module 6, when the linear driving mechanism 3 is descended to the position, the weighing sensor can be started to weigh, and automation is realized.

[0061] Further, the weighing and feeding device further comprises a base 7, a fixing frame 8 and a positioning assembly 9, the fixing frame 8 is arranged on the base 7, and the positioning assembly 9 is connected with the fixing frame 8 and is adapted to position the tubular container after the tubular container is lifted up. The linear driving mechanism 3 is arranged on the base 7.

[0062] The base 7 comprises a base plate 71, a mounting seat 72, a first support 73 and a second support 74, the mounting seat 72 is connected to the base plate 71 by fasteners such as bolts, the first support 73 comprises a hinge seat and a hinge pin, and the linear driving mechanism 3 is connected with the hinge seat through the hinge pin. The fixing frame 8 is connected to the mounting seat 72, and the tubular container 10 can be positioned by the positioning assembly 9 to ensure the accuracy of feeding.

[0063] Further, the positioning assembly 9 comprises a swing driving mechanism 91, a positioning rod 92 and a third position detection module 93, the swing driving mechanism 91 is connected with the fixing frame 8, the positioning rod 92 is connected with the swing driving mechanism 91, the third position detection module 93 is in communication connection with the controller 4, the third position detection module 93 is adapted to detect the swing position of the positioning rod 92, and acquire and send a third position signal to the controller 4, so that the controller 4 controls the swing driving mechanism 91 to drive the positioning rod 92 to swing a first angle to avoid interference with the tubular container 10, or to swing a second angle to be in contact with the tubular container 10 to realize positioning, wherein the third position detection module 93 is arranged on the fixing frame 8.

[0064] The fixing frame 8 comprises a fixed plate 81, a first connecting plate 82 and a second connecting plate 83, the first connecting plate 82 and the second connecting plate 83 are respectively connected to the fixed plate 81 and are oppositely arranged, the first connecting plate 82 is used to connect the first position detection module 5, and the second connecting plate 83 is used to connect the third position detection module 93. The third position detection module 93 can be a proximity sensor, the third position detection module 93 and the swing driving mechanism 91 are arranged on opposite sides of the second connecting plate 83, a driving part of the swing driving mechanism 91 penetrates through the second connecting plate 83 and is connected with the positioning rod 92. The third position detection module 93 and the positioning rod 92 are located on the same side of the second connecting plate 83, when the third position detection module 93 detects that the positioning rod 92 is not deflected, if the linear driving mechanism 3 is in the state of lifting or descending at this time, the tubular container 10 and the positioning rod 92 will interfere with each other, therefore, the controller 4 controls the positioning rod 92 to deflect a first angle according to the third position signal, so that the positioning rod 92 avoids the tubular container 10. When the tubular container 10 is lifted to the position and needs to be fed, the third position detection module 93 sends the third position signal detected to the controller 4, and the controller controls the positioning rod 92 to deflect a second angle according to the third position signal, so that the positioning rod 92 abuts against the tubular container 10 to realize positioning of the tubular container 10.

[0065] The swing driving mechanism 91 comprises a rotating electromagnet.

[0066] The lifting frame 2 is linearly slidingly connected with the fixed frame 8, so that the lifting frame 2 linearly rises or falls.

[0067] The lifting frame 2 further comprises a movable plate 22 and a linear sliding rail 23, the movable plate 22 being connected with the feeding support frame 21; the linear sliding rail 23 being arranged on the fixed frame 8 and connected with the movable plate 22, wherein the driving end of the linear driving mechanism 3 is connected with the movable plate 22.

[0068] The plurality of weighing support frames 11 and the plurality of feeding support frames 21 are alternately arranged along the extension direction of the tubular container, and there is a gap between the adjacent two feeding support frames 21 and weighing support frames 11.

[0069] The top of the feeding support frame 21 and the weighing support frame 11 is provided with a notch 200 to support the tubular container 10.

[0070] The notch 200 has a first inner side wall and a second inner side wall, and the first inner side wall and the second inner side wall form an included angle therebetween to clamp the tubular container 10.

[0071] Embodiment 2

[0072] As shown in Figure 10 A tubular container weighing and feeding method, comprising:

[0073] Step S101: controlling the linear driving mechanism 3 to drive the lifting frame 2 to rise, so that the feeding support frame 21 lifts the tubular container 10 to separate from the weighing support frame 11 of the weighing module 1 for feeding;

[0074] Step S103: controlling the linear driving mechanism 3 to drive the lifting frame 2 to fall, so that the feeding support frame 21 falls to support the tubular container 10 only on the weighing support frame 11 for weighing.

[0075] Further, the linear driving mechanism 3 is controlled to drive the lifting frame 2 to rise, so that the feeding support frame 21 lifts the tubular container 10 to separate from the weighing support frame 11 of the weighing module 1 for feeding, specifically comprising:

[0076] Step S201: obtaining a first position signal of the height position of the tubular container 10;

[0077] Step S203: controlling the linear driving mechanism 3 to drive the lifting frame 2 to rise according to the first position signal.

[0078] Further, the linear driving mechanism 3 is controlled to drive the lifting frame 2 to fall, so that the feeding support frame 21 falls to support the tubular container 10 only on the weighing support frame 11 for weighing, specifically comprising:

[0079] Step S301: Obtain a second position signal of the lowered position of the linear driving mechanism 3.

[0080] Step S303: Control the weighing sensor to start weighing according to the second position signal.

[0081] Further, the method further comprises: positioning the tubular container 10 by the positioning assembly 9 after the tubular container 10 is lifted by the feeding support frame 21 to be separated from the weighing support frame 11.

[0082] Further, the positioning of the tubular container 10 by the positioning assembly 9 comprises:

[0083] Step S401: Obtain a third position signal of the swing position of the positioning rod 92 of the positioning assembly 9.

[0084] Step S403: Control the swing driving mechanism 91 to drive the positioning rod 92 to swing a first angle to avoid interference with the tubular container 10, or to swing a second angle to be in contact with the tubular container 10 to achieve positioning, according to the third position signal.

[0085] Embodiment 3

[0086] A computer readable storage medium, the computer readable storage medium stores a computer program, the computer program is executed by a processor to implement any one of the methods for weighing and feeding a tubular container.

[0087] The readable storage medium is a computer readable storage medium, and the readable storage medium stores a computer program, the computer program is executed by a processor to implement the above-mentioned method for weighing and feeding a tubular container.

[0088] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The program can be stored in a computer readable storage medium, and when the program is executed, it can include the processes of the above-mentioned embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory, a hard disk drive (HDD) or a solid state drive (SSD), etc. The storage medium can also include a combination of the above-mentioned types of memories.

[0089] Obviously, the above embodiments are merely example for clearly illustrating but not limitation to the embodiments. Based on the above description, other different forms of changes or variations can be made by those skilled in the art. Here, all the embodiments need not and can not be enumerated. The obvious changes or variations derived from the above description are still within the protection scope of the present application.

Claims

1. A device for feeding and weighing tubular containers (10), characterized in that it comprises: The weighing feeding device comprises: a weighing module (1) comprising a weighing support frame (11) for supporting the tubular container; a lifting frame (2) comprising a feeding support frame (21) for supporting the tubular container; a linear driving mechanism (3) connected with the lifting frame (2); a controller (4) in communication connection with the linear driving mechanism (3), the controller (4) being adapted to control the linear driving mechanism (3) to drive the lifting frame (2) to ascend, so that the feeding support frame (21) lifts the tubular container to separate from the weighing support frame (11) for feeding; or control the linear driving mechanism (3) to drive the lifting frame (2) to descend, so that the feeding support frame (21) descends to support the tubular container only on the weighing support frame (11); a base (7); a fixed frame (8) provided on the base (7); a positioning assembly (9) connected with the fixed frame (8), the positioning assembly (9) being adapted to position the tubular container after ascending; wherein the linear driving mechanism (3) is provided on the base (7); the positioning assembly (9) comprises: a swing driving mechanism (91) connected with the fixed frame (8); a positioning rod (92) connected with the swing driving mechanism (91); a third position detection module (93) in communication connection with the controller (4), the third position detection module (93) being adapted to detect the swing position of the positioning rod (92), and acquire and send a third position signal to the controller (4), so that the controller (4) controls the swing driving mechanism (91) to drive the positioning rod (92) to swing by a first angle to avoid interference with the tubular container (10), or drive the positioning rod (92) to swing by a second angle to be in contact with the tubular container (10) to realize positioning; wherein the third position detection module (93) is provided on the fixed frame (8); the fixed frame (8) comprises a second connecting plate (83), the third position detection module (93) and the swing driving mechanism (91) being provided on opposite sides of the second connecting plate (83), a driving part of the swing driving mechanism (91) penetrating through the second connecting plate (83) and being connected with the positioning rod (92).

2. Weighing and feeding device according to claim 1, characterized in that Further comprising: a first position detection module (5) in communication connection with the controller (4), the first position detection module (5) being adapted to detect the height position of the tubular container, to acquire and send a first position signal to the controller (4), so that the controller (4) controls the linear driving mechanism (3) to ascend linearly according to the first position signal.

3. The weigh batcher of claim 1, wherein, The weighing module (1) further comprises a weighing sensor (12) in communication connection with the controller (4), and the weighing feeding device further comprises: A second position detection module (6) is in communication connection with the controller (4), and the second position detection module (6) is adapted to detect the descending position of the linear driving mechanism (3) to obtain and send a second position signal to the controller (4), so that the controller (4) controls the weighing sensor to start weighing according to the second position signal.

4. The weigh batcher of claim 1, wherein, The swing driving mechanism (91) comprises a rotating electromagnet.

5. The weigh batcher of claim 1, wherein, The lifting frame (2) is in linear sliding connection with the fixed frame (8), so that the lifting frame (2) linearly rises or falls.

6. A weigh batcher according to claim 5, wherein, The lifting frame (2) further comprises: a movable plate (22) connected with the feeding support frame (21); a linear sliding rail (23) provided on the fixed frame (8), and the linear sliding rail (23) is connected with the movable plate (22); wherein the driving end of the linear driving mechanism (3) is connected with the movable plate (22).

7. Weighing and dosing device according to any one of claims 1 to 3, characterized in that A plurality of the weighing support frames (11) and a plurality of the feeding support frames (21) are arranged in sequence and alternately along the extension direction of the tubular container, and there is a gap between adjacent two feeding support frames (21) and weighing support frames (11).

8. Weighing and dosing device according to any one of claims 1 to 3, characterized in that The top of the feeding support frame (21) and the weighing support frame (11) is provided with a notch (100) to support the tubular container (10).

9. A weigh batcher according to claim 8, wherein, The notch (100) has a first inner side wall and a second inner side wall, and the first inner side wall and the second inner side wall form an included angle therebetween to clamp the tubular container (10).

10. A method of gravimetrically feeding a tubular container, suitable for use in a gravimetric feeding device according to any one of the preceding claims 1 to 9, characterized in that, The weighing and feeding method comprises: controlling the linear driving mechanism (3) to drive the lifting frame (2) to rise, so that the feeding support frame (21) lifts the tubular container (10) to separate from the weighing support frame (11) of the weighing module (1) to feed; controlling the linear driving mechanism (3) to drive the lifting frame (2) to fall, so that the feeding support frame (21) falls to support the tubular container (10) only on the weighing support frame (11) to weigh.

11. The method of weighing and filling a tubular container according to claim 10, wherein, controlling the linear driving mechanism (3) to drive the lifting frame (2) to rise, so that the feeding support frame (21) lifts the tubular container (10) to separate from the weighing support frame (11) of the weighing module (1) to feed, specifically comprising: obtaining a first position signal of the height position of the tubular container (10); controlling the linear driving mechanism (3) to drive the lifting frame (2) to rise according to the first position signal.

12. The method of weighing and filling a tubular container according to claim 11, wherein, controlling the linear driving mechanism (3) to drive the lifting frame (2) to fall, so that the feeding support frame (21) falls to support the tubular container (10) only on the weighing support frame (11) to weigh, specifically comprising: obtaining a second position signal of the descending position of the linear driving mechanism (3); controlling the weighing sensor to start weighing according to the second position signal.

13. The method of gravimetric filling of a tubular container according to any one of claims 10 to 12, characterized in that, Further comprising: after the feeding support frame (21) lifts the tubular container (10) to separate from the weighing support frame (11), positioning the tubular container (10) by the positioning assembly (9).

14. The method of gravimetric filling of a tubular container according to claim 13, characterized in that, Positioning the tubular container (10) by the positioning assembly (9) specifically comprises: obtaining a third position signal of a swing position of a positioning rod (92) of the positioning assembly (9); controlling a swing driving mechanism (91) to drive the positioning rod (92) to swing a first angle to avoid interference with the tubular container (10), or to drive the positioning rod (92) to swing a second angle to contact the tubular container (10) to realize positioning, according to the third position signal.

15. A computer readable storage medium, characterized in that, The computer readable storage medium has stored thereon a computer program, and the computer program is executed by the processor to implement the method for weighing and feeding the tubular container according to any one of claims 10 to 14.

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