Circulating feeding device

Abstract

The application relates to a circulating feeding device, which comprises a frame and a ring-shaped track plate fixed to the frame, wherein a ring-shaped track is arranged on the ring-shaped track plate; a plurality of feeding trays, any feeding tray and a corresponding guide wheel assembly are coaxially rotatable on both sides of a fixing block, and the guide wheels of the guide wheel assembly are matched with the ring-shaped track; and a driving device is arranged to drive the feeding trays to move along the ring-shaped track on the ring-shaped track plate; when the feeding trays move, the feeding trays keep a horizontal state relative to the frame under the action of the guide wheels and the ring-shaped track. The application can ensure that the feeding trays move along the ring-shaped track, the posture direction of the feeding trays is always kept unchanged, the problem that the feeding trays are inclined to cause material sliding and damage is avoided, the stable operation of the feeding device is beneficial to be ensured, the user experience is improved, the circulating feeding device has the advantages of simple structure, convenient assembly, low production cost and wide application range.

Description

Technical Field

[0001] This invention relates to the field of sample testing and analysis technology, and in particular to a circulating feeding device. Background Technology

[0002] During the process of analyzing and testing the target sample using an analytical or testing device, the reagent tube / bottle containing the target sample needs to be placed into the analytical or testing device for analysis and testing.

[0003] In the current testing process, after the reagent tube containing the target test sample is collected, it is placed on a test tube rack or test tube base. The existing common test tube racks are rectangular in structure, and the placement slots on such test tube racks are arranged in a rectangular row. Some analytical or testing devices have test tube placement slots arranged in a ring. In order to ensure feeding efficiency, the above devices are usually equipped with a circulating feeding device.

[0004] In the existing technology, since reagent tubes / bottles are fragile, the feeding device is usually circulated in the horizontal direction with respect to the ground. This results in a complex structure, poor operational stability, and feeding efficiency that is limited by the horizontal dimension. More importantly, analytical or testing devices equipped with circulated feeding devices occupy a particularly large amount of space in the horizontal direction, resulting in low space utilization. Summary of the Invention

[0005] To address the technical problems existing in the prior art, the present invention aims to provide a circulating feeding device that realizes vertical circulating feeding, has the characteristics of high stability and high efficiency, occupies little horizontal space, and improves space utilization.

[0006] To achieve the above-mentioned objective, the present invention provides a circulating feeding device, including a frame, and further comprising:

[0007] Multiple annular track plates are fixed to the frame, and the multiple annular track plates form an annular track;

[0008] Multiple feeding trays, any one of the feeding trays and the corresponding guide wheel assembly rotate coaxially on both sides of the fixed block, and the guide wheel of the guide wheel assembly is adapted to the annular track;

[0009] A driving device drives the loading pallet to move along the annular track on the annular track plate. When the loading pallet moves, it remains horizontal relative to the frame under the action of the guide wheel and the annular track.

[0010] According to one technical solution of the present invention, the driving device includes:

[0011] Motor assembly;

[0012] The driving sprocket is connected to the power output end of the motor assembly, and at least one driven sprocket is connected to the driving sprocket via a sprocket chain.

[0013] The feeding tray is fixed to the links of the sprocket chain.

[0014] According to one technical solution of the present invention, the feeding tray and the guide wheel assembly are connected by a rotating shaft, the rotating shaft rotatably passes through the fixing block, one end of the rotating shaft is fixed to the feeding tray, and the other end is fixed to the guide wheel assembly;

[0015] The fixing block has a protrusion at its lower end away from the loading tray for fixing the chain link;

[0016] The loading pallet is fixed to the mobile carrier by the fixing block. The mobile carrier is equipped with an annular moving guide rail, which is fixed to the frame.

[0017] According to one technical solution of the present invention, the mobile vehicle includes a guide block and a set of moving wheels. The guide block is fixedly connected to the fixed block, and the set of moving wheels includes at least one moving wheel, which moves on the annular moving guide rail.

[0018] The frame is also provided with a vehicle positioning device, and the fixing block is provided with a vehicle positioning hole that is adapted to the vehicle positioning device.

[0019] According to one technical solution of the present invention, the guide wheel assembly includes four guide wheels and a fixed frame. The fixed frame is in the shape of a cross, and the four guide wheels are rotatably disposed at the four ends of the cross-shaped fixed frame. The rotation axis is located at the center of the cross-shaped fixed frame.

[0020] The four guide wheels include two horizontal guide wheels and two vertical guide wheels. The line connecting the two horizontal guide wheels is parallel to the loading pallet, and the line connecting the two vertical guide wheels is perpendicular to the loading pallet.

[0021] According to one technical solution of the present invention, the circular track is composed of two symmetrically arranged horizontal tracks, two symmetrically arranged vertical tracks, and an inner ring track, wherein the two horizontal tracks and the two vertical tracks form an outer ring track;

[0022] The minimum distance between the two horizontal guide wheels is equal to or slightly greater than the width of the vertical track, and the minimum distance between the two vertical guide wheels is equal to or slightly greater than the width of the horizontal track.

[0023] According to one technical solution of the present invention, the two ends of the horizontal guide rail are provided with first arc-shaped portions in the same direction, and the two ends of the vertical guide rail are provided with second arc-shaped portions in the same direction.

[0024] The inner ring track, the annular moving guide rail, the chain, and the outer ring track are arranged at the same center.

[0025] According to one technical solution of the present invention, the vertical track and the inner ring track near the loading tray are located in the same vertical plane, and the vertical track is provided with a protruding rib, the protruding rib and the horizontal track near the loading tray are located in the same vertical plane.

[0026] The length h1 of the shaft connecting the horizontal guide wheel, the length h2 of the shaft connecting the vertical guide wheel, and the thickness h0 of the convex strip satisfy the following relationship: h1-h2≥h0.

[0027] According to one technical solution of the present invention, the horizontal guide wheel moves to the end of the vertical track, and the vertical guide wheel moves to the beginning of the horizontal guide rail;

[0028] The vertical guide wheel moves to the end of the horizontal guide rail, and the horizontal guide wheel moves to the beginning of the vertical rail.

[0029] According to one technical solution of the present invention, the feeding tray includes a tray fixing frame and a material tray. The tray fixing frame is provided with a plurality of positioning pins adapted to the material tray, and the material tray is provided with a sensing plate and a QR code corresponding to the material tray.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] According to the present invention, a drive device drives multiple feeding trays to move cyclically along a circular track. After the material in the feeding tray is picked up and placed at a certain position, new material is placed in, and this cycle is repeated, thereby improving the capacity and working efficiency of the feeding device. When the feeding tray moves, under the action of the guide wheel and the circular track, the feeding tray remains horizontal relative to the frame. That is, during the movement of the feeding tray, it can be ensured that the feeding tray moves along the circular track, and the orientation of the feeding tray itself remains unchanged. This avoids the problem of material slipping and being damaged due to the tilting of the feeding tray, which helps to ensure the stable operation of the feeding device, improves the user experience, and the circulating feeding device has a simple structure, is easy to assemble, has low production cost, and has a wide range of applications.

[0032] Furthermore, it achieves vertical cyclic feeding, which is characterized by high stability and high efficiency. It occupies little horizontal space, improving space utilization. At the same time, it can set more feeding trays in the vertical direction, which is beneficial for material storage and also makes the cycle of replacing the feeding trays of materials to be inspected longer, thereby helping to extend the unattended operation time and improve the automation level of the equipment. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention, and those skilled in the art can obtain other drawings based on these drawings without creative effort.

[0034] Figure 1 A schematic perspective view of the circulating feeding device in an embodiment of the present invention;

[0035] Figure 2 A perspective view schematically illustrating a circulating feeding device from another angle in an embodiment of the present invention;

[0036] Figure 3 A perspective view illustrating the assembly structure of the loading tray, guide wheel assembly, and mobile carrier in an embodiment of the present invention;

[0037] Figure 4 A schematic perspective view of the material tray in an embodiment of the present invention;

[0038] Figure 5 A schematic perspective view of the horizontal and vertical guide rails in an embodiment of the present invention;

[0039] Figure 6 A perspective view schematically showing another angle of the circulating feeding device in an embodiment of the present invention.

[0040] in, Figures 1 to 6 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0041] 100. Circulating feeding device; 101. Frame; 102. Feeding pallet; 103. Guide wheel assembly; 104. Fixing block; 105. Drive unit; 106. Rotating shaft; 107. Moving carrier; 108. Circular moving guide rail; 109. Carrier positioning device; 1051. Motor assembly; 1052. Drive sprocket; 1053. Sprocket and chain; 1054. Driven sprocket; 1053a. Chain link; 1041. Protruding part; 1071. Guide block; 1072. Moving part Wheel set; 1072a, moving wheel; 1042, carrier positioning hole; 1031, fixing frame; 1032, horizontal guide wheel; 1033, vertical guide wheel; 1011, horizontal track; 1012, vertical track; 1013, inner ring track; 1011a, first arc-shaped part; 1012a, second arc-shaped part; 1012b, protrusion; 1021, pallet fixing frame; 1022, material tray; 1021a, positioning pin; 1022a, sensor sheet; 1022b, QR code. Detailed Implementation

[0042] The description of the embodiments in this specification should be taken in conjunction with the accompanying drawings, which should form part of the complete specification. In the drawings, the shape or thickness of the embodiments may be exaggerated and may be indicated in a simplified or convenient manner. Furthermore, parts of the various structures in the drawings will be described separately; it is worth noting that elements not shown in the figures or not described in words are in a form known to those skilled in the art.

[0043] The descriptions of the embodiments herein, including any references to directions and orientations, are for ease of description only and should not be construed as limiting the scope of the invention. The following description of preferred embodiments involves combinations of features, which may exist independently or in combination; the invention is not particularly limited to the preferred embodiments. The scope of the invention is defined by the claims.

[0044] like Figures 1 to 6 As shown, a circulating feeding device 100 of the present invention includes a frame 101, and further includes:

[0045] Multiple annular track plates are fixed on frame 101, and the multiple annular track plates form an annular track;

[0046] Multiple feeding pallets 102, any feeding pallet 102 and the corresponding guide wheel assembly 103 rotate coaxially on both sides of the fixed block 104, and the guide wheel of the guide wheel assembly 103 is adapted to the ring track;

[0047] The drive device 105 drives the loading pallet 102 to move along the circular track on the circular track plate. When the loading pallet 102 moves, under the action of the guide wheel and the circular track, the loading pallet 102 remains horizontal relative to the frame 101.

[0048] In this embodiment, the driving device 105 drives multiple feeding trays 102 to move cyclically along a circular track. After the material in the feeding tray 102 is picked up and put in at a certain position, new material is put in, and this cycle is repeated, thereby improving the capacity and working efficiency of the feeding device. When the feeding tray 102 moves, under the action of the guide wheel and the circular track, the feeding tray 102 remains horizontal relative to the frame 101. That is, during the movement of the feeding tray 102, it can be ensured that the feeding tray 102 moves along the circular track, and the orientation of the feeding tray 102 itself remains unchanged. This avoids the problem of material slipping and being damaged due to the tilting of the feeding tray 102, which helps to ensure the stable operation of the feeding device, improves the user experience, and the cyclic feeding device 100 has a simple structure, is easy to assemble, has low production cost, and has a wide range of applications.

[0049] In one embodiment of the present invention, preferably, the driving device 105 includes:

[0050] Motor assembly 1051;

[0051] The drive sprocket 1052 is connected to the power output end of the motor assembly 1051, and at least one driven sprocket 1054 is connected to the drive sprocket 1052 via a sprocket chain 1053.

[0052] The loading pallet 102 is fixed to the link 1053a of the sprocket chain 1053.

[0053] In this embodiment, the motor assembly 1051 serves as the power source for the drive device 105, offering superior stability and a simpler connection structure compared to other power sources, facilitating installation. The motor assembly 1051 includes at least one motor and related components for fixing the motor. The motor's output end is fixedly connected to the drive sprocket 1052, driving the drive sprocket 1052 to rotate. The drive sprocket 1052 is connected to at least one driven sprocket 1054 via a sprocket chain 1053. Preferably, there are one or three driven sprockets 1054. It is understood that the driven sprocket 1054 can be configured to make the motor assembly 1051 the drive sprocket 1052. When there is an abnormality at the connection between the drive sprocket 1052 and the motor assembly 1051, the motor assembly 1051 can be moved to the position of a driven sprocket 1054, and that driven sprocket 1054 can be used as the drive sprocket 1052.

[0054] Preferably, the drive device 105 includes a drive sprocket 1052 and three driven sprockets 1054. The drive sprocket 1052 and the three driven sprockets 1054 form a quadrilateral, which, together with the sprocket chain 1053, form a rounded rectangle.

[0055] The loading pallet 102 is connected to a link 1053a of the sprocket chain 1053. When the motor rotates, it drives the link 1053a on the sprocket chain 1053 to move, thereby driving the loading pallet 102 to move. The distance between any two adjacent links 1053a is equal when the sprocket chain 1053 is regarded as a straight line.

[0056] Preferably, the motor assembly 1051 and the feeding tray 102 are respectively disposed on both sides of the frame 101, which is conducive to assembly. The motor of the motor assembly 1051 can be a stepper motor or a servo motor.

[0057] In one embodiment of the present invention, preferably, the loading tray 102 and the guide wheel assembly 103 are connected by a rotating shaft 106, the rotating shaft 106 rotatably passes through the fixing block 104, one end of the rotating shaft 106 is fixed to the loading tray 102, and the other end is fixed to the guide wheel assembly 103;

[0058] The lower end of the fixing block 104 away from the loading tray 102 is provided with a protrusion 1041 for fixing the chain link 1053a;

[0059] The loading pallet 102 is fixed to the mobile carrier 107 by the fixing block 104. The mobile carrier 107 is equipped with an annular moving guide rail 108, which is fixed to the frame 101.

[0060] In this embodiment, the guide wheel assembly 103 is connected to the loading tray 102 by a rotating shaft 106 and rotates coaxially based on the shaft. The rotating shaft 106 passes through the fixing block 104. It is understood that the fixing block 104 and the rotating shaft 106 are equipped with bearings, and the loading tray 102 and the guide wheel assembly 103 are located on both sides of the fixing block 104.

[0061] The mobile carrier 107 moves on the annular moving guide rail 108, which makes the movement of the loading pallet 102 more stable. The annular moving guide rail 108 is also a rounded rectangle, and its size is proportionally enlarged from the rounded rectangle of the sprocket chain 1053.

[0062] In one embodiment of the present invention, preferably, the mobile carrier 107 includes a guide block 1071 and a set of mobile wheels 1072. The guide block 1071 is fixedly connected to the fixed block 104, and the set of mobile wheels 1072 includes at least one mobile wheel 1072a, which moves on the annular mobile guide rail 108.

[0063] like Figure 6 As shown, a vehicle positioning device 109 is also provided on the frame 101, and a vehicle positioning hole 1042 adapted to the vehicle positioning device 109 is provided on the fixing block 104.

[0064] In this embodiment, the mobile carrier 107 restricts the movement direction and position of the loading pallet 102. The annular track and guide wheel assembly 103 restricts the rotation of the loading pallet 102 itself. The mobile wheel set 1072 includes at least one mobile wheel 1072a. Preferably, two mobile wheels 1072a are provided, and the two mobile wheels 1072a are arranged on both sides of the annular mobile guide rail 108, so that the mobile carrier 107 runs more stably. More preferably, four mobile wheels 1072a are provided, arranged in pairs on both sides of the annular mobile guide rail 108, clamping the annular mobile guide rail 108.

[0065] A carrier positioning device 109 is provided on the frame 101. The carrier positioning device 109 is equipped with a pin. When the loading pallet 102 moves to the top, the pin is inserted into the carrier positioning hole 1042 to realize the positioning of the loading pallet 102 on the annular moving guide rail 108.

[0066] like Figure 3 As shown, in one embodiment of the present invention, preferably, the guide wheel assembly 103 includes four guide wheels and a fixing frame 1031. The fixing frame 1031 is in the shape of a cross, and the four guide wheels are rotatably disposed at the four ends of the cross-shaped fixing frame 1031. The rotating shaft 106 is located at the center of the cross-shaped fixing frame 1031.

[0067] The four guide wheels include two horizontal guide wheels 1032 and two vertical guide wheels 1033. The line connecting the two horizontal guide wheels 1032 is parallel to the loading pallet 102, and the line connecting the two vertical guide wheels 1033 is perpendicular to the loading pallet 102.

[0068] In this embodiment, when the loading pallet 102 circulates on the annular moving track, under the action of the guide wheels and the annular track, the loading pallet 102 always remains horizontal relative to the frame 101. The guide wheel assembly 103 is connected to the loading pallet 102 via the rotation shaft 106. When the guide wheel assembly 103 and the loading pallet 102 rotate simultaneously based on the rotation shaft 106, the line connecting the two guide wheels remains parallel to the loading pallet 102, and the two guide wheels are considered to be horizontal guide wheels 1032. The horizontal guide wheels 1032 play a role when the loading pallet 102 moves up and down. Similarly, the line connecting the two guide wheels remains perpendicular to the loading pallet 102, and the two guide wheels are considered to be vertical guide wheels. The vertical guide wheels play a role when the loading pallet 102 moves horizontally.

[0069] In one embodiment of the present invention, preferably, the circular track is composed of two symmetrically arranged horizontal tracks 1011, two symmetrically arranged vertical tracks 1012, and an inner ring track 1013, with the two horizontal tracks 1011 and the two vertical tracks 1012 forming an outer ring track.

[0070] The minimum distance between the two horizontal guide wheels 1032 is equal to or slightly greater than the width of the vertical track 1012, and the minimum distance between the two vertical guide wheels 1033 is equal to or slightly greater than the width of the horizontal track 1011.

[0071] In one embodiment of the present invention, preferably, the two ends of the horizontal guide rail are provided with a first arc-shaped portion 1011a in the same direction, and the two ends of the vertical guide rail are provided with a second arc-shaped portion 1012a in the same direction.

[0072] The inner ring track 1013, the ring moving guide rail 108, and the chain are set at the same center as the outer ring track.

[0073] In one embodiment of the present invention, preferably, the surfaces of the vertical track 1012 and the inner ring track 1013 near the loading tray 102 are located in the same vertical plane. A protrusion 1012b is provided on the vertical track 1012, and the protrusion 1012b and the surface of the horizontal track 1011 near the loading tray 102 are located in the same vertical plane.

[0074] The length h1 of the shaft connecting the horizontal guide wheel 1032, the length h2 of the shaft connecting the vertical guide wheel 1033, and the thickness h0 of the convex strip 1012b satisfy the following condition: h1-h2≥h0.

[0075] In one embodiment of the present invention, preferably, the horizontal guide wheel 1032 moves to the end of the vertical rail 1012, and the vertical guide wheel 1033 moves to the beginning of the horizontal guide rail;

[0076] The vertical guide wheel 1033 moves to the end of the horizontal guide rail, and the horizontal guide wheel 1032 moves to the beginning of the vertical track 1012.

[0077] In this embodiment, such as Figure 2 and Figure 5As shown, the loading pallet 102 can perform material picking, placing, or changing operations at any position on the circular moving track. Here, we illustrate this by describing material changing at the apex of the circular moving track. When the loading pallet 102 completes one material picking / placing operation, it moves clockwise or counterclockwise. The specific direction can be controlled by the rotation direction of the motor as needed. The upper vertical guide wheel 1033 of the two vertical guide wheels 1033 moves above the horizontal track 1011, initially at the flat section of the horizontal guide rail, and slowly enters the first arc-shaped section 1011a. When the vertical guide wheel 1033 moves... When the vertical guide wheel 1033 moves to the end of the horizontal guide rail and leaves the first arc-shaped section 1011a, the horizontal guide wheel 1032 moves to the beginning of the vertical track 1012, and the positions of the two horizontal guide wheels 1032 are exactly on both sides of the numerical guide rail. First, it passes through a second arc-shaped section 1012a, then through the non-arc section of the vertical guide rail, and finally through another second arc-shaped section 1012a. When entering the next horizontal guide rail, the vertical guide wheel 1033 moves to the beginning of the horizontal track 1011, and the lower vertical guide wheel 1033 moves below the horizontal track 1011.

[0078] The vertical track 1012 is provided with a protrusion 1012b. Since there is a difference between the shaft length h1 connecting the horizontal guide wheel 1032 and the shaft length h2 connecting the vertical guide wheel 1033, there will be no interference between the horizontal guide wheel 1032 and the vertical guide wheel 1033. At the same time, when the horizontal guide wheel 1032 moves on both sides of the vertical guide track, one of the horizontal guide wheels 1032 will move along the protrusion 1012b.

[0079] like Figure 3 and Figure 4 As shown, in one embodiment of the present invention, preferably, the loading tray 102 includes a tray fixing frame 1021 and a material tray 1022. The tray fixing frame 1021 is provided with a plurality of positioning pins 1021a that are adapted to the material tray 1022. The material tray 1022 is provided with a sensing sheet 1022a and a QR code 1022b corresponding to the material tray.

[0080] In this embodiment, when the loading tray 102 moves to its apex, the pin is inserted into the carrier positioning hole 1042, and the loading tray 102 is positioned on the annular moving guide rail 108. Then, the positioning pin 1021a is used to achieve precise positioning of the material tray 1022 on the tray fixing frame 1021. After the material tray 1022 is precisely positioned, materials can be picked up and put in. When the material in a material tray 1022 completes the corresponding function, it cycles clockwise or counterclockwise. When the loading tray 102 moves to the designated position, there will be a corresponding indicator signal to remind that the material tray 1022 can be picked up and a new material tray 1022 is put in. This cycle repeats, thereby improving the capacity and working efficiency of the equipment.

[0081] A circulating feeding device 100 of the present invention includes a frame 101 and an annular track plate. The annular track plate is fixed on the frame 101, and multiple annular track plates form an annular track. Multiple feeding trays 102 are included, each feeding tray 102 and its corresponding guide wheel assembly 103 rotating coaxially on both sides of a fixed block 104. The guide wheels of the guide wheel assembly 103 are adapted to the annular track. A driving device 105 drives the feeding tray 102 to move along the annular track on the annular track plate. When the feeding tray 102 moves, under the action of the guide wheels and the annular track, the feeding tray 102 remains horizontal relative to the frame 101. During the movement of the feeding tray 102, it is ensured that the feeding tray 102 moves along the annular track, while the orientation of the feeding tray 102 itself remains unchanged. This avoids the problem of material slippage and damage caused by the tilting of the feeding tray 102, which helps to ensure the stable operation of the feeding device, improves the user experience, and the circulating feeding device 100 has a simple structure, is easy to assemble, has low production cost, and has a wide range of applications.

[0082] Furthermore, it achieves vertical cyclic feeding, which is characterized by high stability and high efficiency. It occupies little horizontal space, improving space utilization. At the same time, it can set more feeding trays in the vertical direction, which is beneficial for material storage and also makes the cycle of replacing the feeding trays of materials to be inspected longer, thereby helping to extend the unattended operation time and improve the automation level of the equipment.

[0083] The sequence numbers of the various steps involved in the method of the present invention do not imply the order of execution of the method. The execution order of each step should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0084] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A circulating feeding device, comprising a frame (101), characterized in that, Also includes: Multiple annular track plates are fixed to the frame (101), and the multiple annular track plates form an annular track; Multiple loading pallets (102), any one of the loading pallets (102) and the corresponding guide wheel assembly (103) rotate coaxially on both sides of the fixed block (104), and the guide wheel of the guide wheel assembly (103) is adapted to the annular track; The driving device (105) drives the loading pallet (102) to move along the annular track on the annular track plate. When the loading pallet (102) moves, under the action of the guide wheel and the annular track, the loading pallet (102) remains horizontal relative to the frame (101). The loading pallet (102) is fixed to the mobile carrier (107) by the fixing block (104), and the mobile carrier (107) is equipped with an annular moving guide rail (108), which is fixed to the frame (101). The frame (101) is also provided with a vehicle positioning device (109), and the fixing block (104) is provided with a vehicle positioning hole (1042) adapted to the vehicle positioning device (109). The guide wheel assembly (103) and the mobile vehicle (107) are located on the same side of the fixed block (104); The loading tray (102) is connected to the guide wheel assembly (103) via a rotating shaft (106). The guide wheel assembly (103) includes four guide wheels and a fixing frame (1031). The fixing frame (1031) is in the shape of a cross. The four guide wheels are rotatably disposed at the four ends of the cross-shaped fixing frame (1031). The rotating shaft (106) is located at the center of the cross-shaped fixing frame (1031). The four guide wheels include two horizontal guide wheels (1032) and two vertical guide wheels (1033). The line connecting the two horizontal guide wheels (1032) is parallel to the loading pallet (102), and the line connecting the two vertical guide wheels (1033) is perpendicular to the loading pallet (102). The two horizontal guide wheels (1032) and the two vertical guide wheels (1033) are located in the same vertical plane. The circular track consists of two symmetrically arranged horizontal tracks (1011), two symmetrically arranged vertical tracks (1012), and an inner ring track (1013). The two horizontal tracks (1011) and the two vertical tracks (1012) form an outer ring track. The minimum distance between the two horizontal guide wheels (1032) is equal to or slightly greater than the width of the vertical track (1012), and the minimum distance between the two vertical guide wheels (1033) is equal to or slightly greater than the width of the horizontal track (1011); The horizontal track has a first arc-shaped portion (1011a) in the same direction at both ends, and the vertical track has a second arc-shaped portion (1012a) in the same direction at both ends. The inner ring track (1013), the annular moving guide rail (108), and the sprocket chain (1053) for moving the fixed block (104) are arranged at the same center as the outer ring track.

2. The circulating feeding device according to claim 1, characterized in that, The drive device (105) includes: Motor assembly (1051); The driving sprocket (1052) is connected to the power output end of the motor assembly (1051), and the driving sprocket (1052) is connected to at least one driven sprocket (1054) through the sprocket chain (1053). The loading tray (102) is fixed to the link (1053a) of the sprocket chain (1053).

3. The circulating feeding device according to claim 2, characterized in that, The rotating shaft (106) rotatably passes through the fixed block (104), one end of the rotating shaft (106) is fixed to the loading tray (102), and the other end is fixed to the guide wheel assembly (103); The fixing block (104) has a protrusion (1041) at its lower end away from the loading tray (102) for fixing the chain link (1053a).

4. The circulating feeding device according to claim 3, characterized in that, The mobile vehicle (107) includes a guide block (1071) and a set of moving wheels (1072). The guide block (1071) is fixedly connected to the fixed block (104). The set of moving wheels (1072) includes at least one moving wheel (1072a), which moves on the annular moving guide rail (108).

5. The circulating feeding device according to claim 4, characterized in that, The vertical track (1012) and the inner ring track (1013) are located in the same vertical plane near the loading tray (102). A protruding strip (1012b) is provided on the vertical track (1012), and the protruding strip (1012b) and the horizontal track (1011) are located in the same vertical plane near the loading tray (102). The length h1 of the shaft connecting the horizontal guide wheel (1032), the length h2 of the shaft connecting the vertical guide wheel (1033), and the thickness h0 of the convex strip (1012b) satisfy the following condition: h1-h2≥h0.

6. The circulating feeding device according to claim 5, characterized in that, The horizontal guide wheel (1032) moves to the end of the vertical track (1012), and the vertical guide wheel (1033) moves to the beginning of the horizontal track; The vertical guide wheel (1033) moves to the end of the horizontal track, and the horizontal guide wheel (1032) moves to the beginning of the vertical track (1012).

7. The circulating feeding device according to claim 1, characterized in that, The loading tray (102) includes a tray fixing frame (1021) and a material tray (1022). The tray fixing frame (1021) is provided with a plurality of positioning pins (1021a) that are adapted to the material tray (1022). The material tray (1022) is provided with a sensor (1022a) and a QR code (1022b) corresponding to the material tray.

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