Formula preparation device

Abstract

The invention provides a formula preparation device which comprises a bearing module capable of bearing a packing material and a container filled with the material; the mechanical arm module can be used for taking out the packing material and the container from the bearing module, adding the material in the container into the packing material and transferring the packing material filled with the material to the mixing module; and the uniform mixing module can fix the packing material filled with the materials and drive the packing material filled with the materials to move and / or vibrate. According to the formula preparation device, the packaging material and the container containing the materials can be placed on the bearing module, the mechanical arm can add the different materials in the container into the packaging material, then the packaging material is put into the uniform mixing module, the uniform mixing module is used for uniformly mixing, and therefore the packaging material can be uniformly mixed according to the requirements of consumers; and products with different component combinations are produced in a customized manner, the size is small, automatic control is facilitated, and the device is configured in a store cabinet or a shopping mall.

Description

Technical Field

[0001] The invention relates to the technical field of product formula processing, and in particular to a formula preparation device. Background Art

[0002] In recent years, consumers have an increasing demand for personalized cosmetics, requiring customized cosmetics based on their skin type and skin condition. This has brought great challenges to the traditional cosmetics production process. The traditional process uses emulsification tanks for production, and the minimum single production quantity is tens of kilograms, while consumers' personalized purchase needs are often only a few hundred grams, which will result in great waste.

[0003] Therefore, there is an urgent need for a miniaturized cosmetics preparation device that can flexibly and quickly produce according to the personalized needs of consumers. Without using factory equipment, it can still prepare cosmetics that meet product quality requirements and are customizable. Therefore, it can be configured in cosmetics store counters or shopping malls to meet the customized needs of different consumers. Summary of the invention

[0004] In order to solve the problems in the prior art, the present application provides a formulation preparation device, and its technical solution is as follows:

[0005] A formula preparation device comprises: a carrying module, a mechanical arm module and a mixing module, wherein:

[0006] The carrying module is capable of carrying packaging materials and containers containing materials;

[0007] The robot module can take out the packaging material and the container from the carrying module, add the material in the container to the packaging material, and transfer the packaging material containing the material to the mixing module;

[0008] The mixing module can fix the packaging material containing the material and drive the packaging material containing the material to move and / or vibrate;

[0009] Furthermore, the robotic arm module comprises:

[0010] A first robotic arm assembly, wherein the first robotic arm assembly can take out the container and the packaging material from the carrying module and place them in a container temporary storage station and a packaging material temporary storage station respectively;

[0011] a second robotic arm assembly, the second robotic arm assembly being capable of adding the material in the container into the packaging material;

[0012] The third robotic arm assembly is capable of sealing the packaging material containing the material and transferring the sealed packaging material to the mixing module.

[0013] Furthermore, the first robot arm assembly includes: a first three-axis linear motion unit and a first robot arm body, the first robot arm body is connected to the external end of the first three-axis linear motion unit, and a first clamping unit is provided on the first robot arm body.

[0014] Furthermore, the container is a syringe.

[0015] Furthermore, the second robotic arm assembly includes: a second three-axis linear motion unit and a second robotic arm body, the second robotic arm body is connected to the external end of the second three-axis linear motion unit; wherein, the second robotic arm body includes: a second clamping unit and an ejection piece, the second clamping unit can clamp the sleeve of the syringe, and the ejection piece can push the core rod of the syringe.

[0016] Furthermore, the outlet of the syringe is provided with a sealing cap; the formula preparation device also includes a cap removal module, the cap removal module is provided with a third clamping unit, and the third clamping unit can clamp the sealing cap.

[0017] Furthermore, the third robotic arm assembly includes: a third three-axis linear motion unit and a third robotic arm body, the third robotic arm body is connected to the external end of the third three-axis linear motion unit, wherein the third robotic arm body includes: a fourth clamping unit, and the fourth clamping unit is capable of clamping the packaging material containing the material.

[0018] Furthermore, the third robotic arm assembly also includes: an angle adjustment member and / or a rotating member, the angle adjustment member is arranged between the third robotic arm body and the external end of the third three-axis linear motion unit to be able to adjust the angle between the two, and the rotating member can drive the fourth clamping unit to rotate.

[0019] Furthermore, the formula preparation device also includes a transfer module, which includes: a fifth clamping unit, which can clamp the packaging material; and a transfer component, which can drive the fifth clamping unit to move between a first station and a second station, wherein the first station is a temporary storage station for the packaging material.

[0020] Furthermore, the carrying module includes more than one pull-out basket, and the pull-out basket includes: a carrying component and a pull-out component, the carrying component is used to carry packaging materials and containers containing materials, and the pull-out component can drive the carrying component to slide so that the packaging materials or containers containing materials on the carrying component reach a position where they can be grasped by the first robotic arm component.

[0021] Furthermore, the mixing module includes a biaxial mixer.

[0022] Furthermore, it also includes: a box body, which is used to isolate the carrying module, the robotic arm module, and the mixing module from the external environment; or, a negative pressure module; or, an air filtration module.

[0023] Through the above-mentioned formula preparation device of the present application, packaging materials and containers containing materials can be placed on the carrying module, and the robotic arm can add different materials in the container into the packaging materials, and then put them into the mixing module for mixing. In this way, products with different ingredient combinations can be customized according to consumer needs. The product has a small size and is easy to be automatically controlled, and can be configured in store counters or shopping malls.

[0024] The above description is only an overview of the technical solution of the present application. In order to make the technical means of the present application clearer and to enable those skilled in the art to implement it according to the contents of the specification, and to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 : A schematic side view of a formulation preparation device in an embodiment of the present application at a viewing angle;

[0026] Figure 2 : A side view schematic diagram of the recipe preparation device in the embodiment of the present application at another viewing angle;

[0027] Figure 3 : A schematic diagram of the structure of a pull-out basket in an embodiment of the present application (without the pull-out assembly shown);

[0028] Figure 4 : A schematic diagram of the structure of the support bar of the pull-out basket in the embodiment of the present application;

[0029] Figure 5 : A schematic diagram of the structure of the pull-out assembly of the pull-out basket in the embodiment of the present application;

[0030] Figure 6 : A schematic diagram of the structure of a pull-out basket carrying containers and packaging materials in an embodiment of the present application (without the pull-out assembly shown);

[0031] Figure 7 : A schematic side view of a mixing module at one viewing angle in an embodiment of the present application;

[0032] Figure 8 : A front view schematic diagram of a mixing module in an embodiment of the present application;

[0033] Fig. 9 : A top view schematic diagram of the mixing module in an embodiment of the present application.

[0034] Description of reference numerals:

[0035] 100, pull-out basket; 110, vertical plate; 111, connecting piece; 120, first slide rail; 130, bearing bar; 131, bearing position; 132, first through hole; 133, second tooth surface; 134, connecting protrusion; 140, pull-out assembly; 141, first motion unit; 142, roller; 143, support wheel; 144, push-out unit; 145, second slide rail; 150, first slider;

[0036] 200, mixing module; 210, bearing assembly; 220, rotating assembly; 221, second turntable; 230, driven assembly; 240, clutch assembly; 241, third motion unit; 242, third slide rail; 243, second slide block; 251, first motor; 252, second motor; 260, limit mark; 270, sensor;

[0037] 310, first mechanical arm assembly; 320, second mechanical arm assembly; 330, third mechanical arm assembly; 331, third mechanical arm body; 332, angle adjustment member; 333, rotating member;

[0038] 400, transfer module;

[0039] 500, film sealing module;

[0040] 600, box body;

[0041] 700, air filter module;

[0042] 800, fixture storage module;

[0043] 900. Delivery platform. DETAILED DESCRIPTION

[0044] The following embodiments of the present application are only used to illustrate the specific embodiments of the present application, and these embodiments cannot be understood as limiting the present application. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present application are deemed to be equivalent replacement methods and fall within the scope of protection of the present application.

[0045] Those skilled in the art should understand that, in the disclosure of the present application, the terms "first", "second", "third", "fourth", "fifth", etc. are only used to distinguish different structures, but do not limit the number, connection relationship, etc. of specific structures; in addition, the directions or positional relationships indicated by "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the above terms cannot be understood as limitations on the present application.

[0046] This embodiment provides a recipe preparation device, such as Figure 1-2 As shown, including:

[0047] A carrying module, wherein the carrying module is capable of carrying packaging materials and containers containing materials;

[0048] A mixing module 200, which can fix the packaging material and drive the packaging material to move and / or vibrate;

[0049] A robot arm module, wherein the robot arm module can take out the packaging material and the container from the carrying module, add the material in the container to the packaging material, and transfer the packaging material to the mixing module.

[0050] Through the solution of this embodiment, packaging materials and containers containing materials can be placed on the carrying module, and the robotic arm can add different materials in the container into the packaging materials, and then put them into the mixing module for mixing. In this way, products with different ingredient combinations (such as cosmetics) can be customized according to consumer needs. The product is small in size, easy to automate, and can be placed in store counters or shopping malls.

[0051] On the basis of the above embodiments, this embodiment provides a specific bearing module, which is configured to include more than one (such as 2, 3, 4, 5 or more) pull-out baskets 100, such as Figure 3 to Figure 6 As shown, the pull-out basket 100 includes: a vertical plate 110; a first slide rail 120, wherein one or more first slide rails 120 are directly or indirectly fixed to one side of the vertical plate 110, and specifically, in this embodiment, the first slide rail 20 is indirectly fixed to one side of the vertical plate 10 through a bottom plate; a load-bearing bar 130, wherein the load-bearing bar 130 is arranged on the slide rail 120; and a pull-out assembly 140, wherein the pull-out assembly 140 can drive the load-bearing bar 130 to slide along the first slide rail 120.

[0052] The first slide rail may be implemented as a track or a slide groove, and in this embodiment, it is specifically a slide groove.

[0053] When the pull-out basket of this embodiment is used in a formula preparation device, its pull-out assembly 140 can drive the supporting bar 130 to slide on the first slide rail 120 to push the items carried on the supporting bar to a suitable position, thereby facilitating a robotic arm or the like to quickly and accurately grasp the items.

[0054] According to the needs of the device, those skilled in the art can appropriately select the appropriate orientation of the first slide rail 120 on the vertical plate. In this embodiment, taking a pull-out basket used in ordinary scenes as an example, the first slide rail 120 is vertically arranged on one side of the vertical plate 110 .

[0055] In order to facilitate the placement of items and accurately define the specific position of the items on the carrying bar, so as to facilitate the accurate grasping of items by a robot arm, the carrying bar 130 is provided with a carrying position 131 for carrying items. Regarding the form of the carrying position, this application does not have any specific restrictions, and those skilled in the art can make specific choices based on the state of the items used in the device. In this embodiment, the carrying position 131 is a hole position provided on the carrying bar 130, which can be set as a blind hole / through hole as needed. Figure 6 As shown, it shows a pull-out basket that carries syringes and lotion bottles through holes.

[0056] In order to further facilitate the automation of the device, the pull-out basket of this embodiment is also provided with a first sensor (not shown in the figure) to detect whether the items are in place on the carrying bar 130. In addition, when the transparent container is used to carry materials, the first sensor can also be used to detect whether the container on the carrying bar is loaded with materials. This facilitates the device to determine whether the pull-out basket is loaded with materials / determine whether the container is empty, so as to ensure the accurate operation of the device.

[0057] The present application does not specifically limit the location and detection method of the first sensor, and those skilled in the art can make specific selections based on the specific state of the object. In this embodiment, a first through hole 132 is provided on the side of the support bar 130 to perform corresponding detection through the first sensor. The first sensor can use an existing photoelectric sensor.

[0058] When the support bar 130 slides on the first slide rail 120, the first slide rail 120 can limit the support bar 130 to move in a direction perpendicular to the first slide rail 120. However, if the first slide rail 120 is arranged horizontally, when the pull-out basket is pulled out, the support bar 120 is only subjected to the friction force of the first slide rail 120 in the horizontal direction. Therefore, in order to ensure that the support bar 130 can be stably located on the pull-out basket when the pull-out basket is pulled out to place / take out items, a connecting member 111 is arranged on the vertical plate 110 in this embodiment, and the connecting member 111 can be detachably connected to one end of the support bar 130.

[0059] "Separable connection" refers to a non-fixed connection. Those skilled in the art know that the "separable connection" should not affect the pull-out assembly 140 driving the bearing bar 130 to slide on the first slide rail 120. For example, the "separable connection" can be connected by force, and the force is less than the force of the pull-out assembly 140 driving the bearing bar 130 to slide along the first slide rail 120. Specifically, it is connected by interference fit, and the connection is combined by soft materials; or it can be a magnetic connection. In addition, an automated component connection can also be set, so that when the pull-out basket needs to be pulled out, the automated component locks the bearing bar 130, and when the pull-out assembly drives the bearing bar 130 to slide, the automated component unlocks the bearing bar 130, specifically, a groove is set on the side of the bearing bar 130, and a protruding component that can extend into the groove is set, and the protruding component is driven by electric / pneumatic to extend into the groove for locking, and is pulled out from the groove for unlocking. In the present embodiment, a connecting hole (not shown in the figure) is specifically provided on the connecting member 111, and a connecting protrusion 134 is provided on the side of the supporting bar 130 facing the connecting member 111, and the connecting hole and the connecting protrusion 134 are interference fit, and the inner side of the connecting hole and / or the outer side of the connecting protrusion 134 are made of soft material (such as a polymer material, such as rubber, etc.) to ensure that the bonding force between the two is smaller than the force of the pulling assembly 140 driving the supporting bar 130 to slide on the first slide rail 120.

[0060] In order to ensure that the support bar 130 is in a state of connection with the vertical plate 110 when the pull-out basket is pulled out, the pull-out basket of this embodiment is also provided with a second sensor (not shown in the figure). The present application has no specific restrictions on the specific setting position and detection method of the second sensor. For example, a through hole can be provided on the side wall of the connecting member 111 provided with the connecting hole, and the second sensor can be used to detect whether the connecting protrusion 134 is in place, or a protrusion can be provided on the support bar 130, and the position of the protrusion can be detected by the second sensor to determine the position of the support bar 130. The second sensor can use an existing photoelectric sensor.

[0061] like Figure 3 to Figure 6 As shown, this embodiment provides a specific solution of the pull-out assembly 140, which includes: a first motion unit 141; a roller 142, wherein the roller 142 can contact the supporting bar 130, and the first motion unit 141 can drive the roller 142 to rotate to drive the supporting bar 130 to slide on the first slide rail 120.

[0062] The present application has no specific limitation on the first motion unit 141, as long as it can drive the roller 142 to rotate. The first motion unit 141 can be specifically exemplified by a motor, a pneumatic motor, and the like.

[0063] The roller 142 may drive the bearing bar 130 to slide on the first slide rail 120 by means of static friction. To prevent the two from sliding for a period of time, rubber may be coated on the outer side of the roller 142. To ensure the stability of the contact between the roller 142 and the bearing bar 130 and ensure that the bearing bar 130 can be driven to move accurately to a predetermined position, the roller 132 is provided with a first tooth surface (not shown in the figure), and the bearing bar 120 is provided with a second tooth surface 133 that matches the first tooth surface, that is, the two are meshed through the tooth surfaces.

[0064] In addition, the pull-out assembly of this embodiment can also include a support wheel 143; the support wheel 143 is freely rotatably arranged on the side of the roller 142 away from the exit of the first slide rail 120, and its axis is perpendicular to the movement direction of the support bar. Therefore, when the support bar 120 extends to a certain position from the exit of the first slide rail 120, the support wheel 143 can support the extended end of the support bar 120, ensuring that the support bar 120 slides smoothly on the first slide rail 120, while also reducing the wear between the support bar 120 and the first slide rail 120, thereby increasing the overall life of the pull-out basket.

[0065] In the case where more than two first slide rails 120 and bearing bars 130 are provided on the pull-out basket, they can be specifically arranged in an m×n array (for example, arranged in m rows and n columns), wherein m and n are positive integers greater than or equal to 1, and at least one of them is greater than or equal to 2. In this case, the pull-out basket further includes a first motion component (not shown in the figure), which can drive the pull-out component 140 to move to the exit side of each first slide rail 120; the pull-out component 140 further includes a push-out unit 144, which can push the roller 142 to one side of the bearing bar 130, so that the first motion unit 141 can drive the roller 142 to rotate to drive the bearing bar 130 to slide on the first slide rail 120. Thus, the pulling assembly 140 can be driven to different first slide rail 120 exits by the first moving assembly, and the pulling assembly 140 will not interfere with any first slide rail 120 or supporting bar 130 during movement; when the pulling assembly 140 moves to a certain first slide rail 120 exit, the first moving unit 141 can drive the roller 142 to contact the supporting bar 130, thereby driving the supporting bar to slide on the first slide rail, so that one pulling assembly 140 can be used to pull different supporting bars 130.

[0066] Regarding the form of the first motion component, specifically, for m and n, one is 1 and the other is greater than or equal to 2 (that is, the first slide rail 120 and the support bar 130 are arranged in a single row or a single column), the first motion component is a single-axis linear motion unit, that is, it can drive the pull-out component 140 to perform linear motion; m and n are both greater than or equal to 2 (that is, the first slide rail 120 and the support bar 130 are arranged in an array of multiple rows and columns), the first motion component is a dual-axis linear motion unit, that is, it can drive the pull-out component 140 to move in a plane.

[0067] A single-axis linear motion unit is a unit that realizes linear motion, for example, it can be realized by using existing screws, cylinders, electric push rods, etc. A dual-axis linear motion unit is a unit that realizes planar motion, and it can also use existing solutions, specifically two single-axis linear motion units are combined, the fixed end of the first single-axis linear motion unit (such as the fixed part of the screw) is set at the moving end of the second single-axis linear motion unit (such as the slider of the screw), the first single-axis linear motion unit and the second single-axis linear motion unit form a certain angle (such as a right angle), and the component is fixed to the moving end of the first single-axis linear motion unit (the slider of the first screw) to achieve the movement of the component in the plane.

[0068] The present application has no specific limitation on the ejection unit 144 , and examples thereof include an electric push rod, a cylinder, etc. In order to ensure the stability of the ejection unit 144 in driving the roller 142 to move, a second slide rail 145 may be further provided so that the fixed portion of the first motion unit can slide along the second slide rail 145 .

[0069] Based on the above embodiments, this embodiment provides a specific structure of the mixing module 200.

[0070] The current mixer includes: a dual-axis rotating assembly, including: a first rotating shaft and a second rotating shaft, the second rotating shaft is arranged on the first rotating shaft, and the first rotating shaft can drive the second rotating shaft to rotate around the first rotating shaft; wherein the first rotating shaft and the second rotating shaft can independently be active shafts or driven shafts rotating around their own axes, for example, the first rotating shaft is the rotating shaft (active shaft) of the first motor 251, and the second rotating shaft is the rotating shaft (active shaft) of the second motor 252); and, a bearing assembly, the bearing assembly is (directly or indirectly) fixed to the second rotating shaft.

[0071] The mixing module 200 of this embodiment is a further improvement on the above existing mixing devices. Figure 7 to Figure 9As shown, based on the above structure of the existing mixer, it also includes: a rotating component 220; a driven component 230, the driven component 230 is fixed to the first rotating shaft (directly or indirectly) (in this embodiment, the fixed part (housing) of the driven component 230 and the second motor 252 are both fixed on the V-shaped frame, thereby realizing indirect fixation of the two); a clutch component 240, the clutch component 240 can drive the rotating component 220 to contact or move away from the driven component 230, and when the rotating component 220 contacts the driven component 230, the rotating component 20 can drive the first rotating shaft to rotate through the driven component 230; a limit component, the limit component can directly or indirectly detect whether the driven component 230 moves to a preset position.

[0072] The mixing module of the present embodiment is based on the existing mixer, and further includes a rotating component 220, a driven component 230, a clutch component 240, and a limit component. Therefore, after the mixer completes mixing, its double shafts stop rotating, and the clutch component 240 can drive the rotating component 220 to contact the driven component 230. The rotating component 220 drives the first rotating shaft to rotate through the driven component 230. When the limit component detects that it has rotated to a preset position, it stops rotating, thereby stopping the carrying component at a preset position, making it convenient for the robot arm to take and place packaging materials.

[0073] In addition, in this embodiment, the bearing component is a storage tube, and the storage tube is coaxially arranged with the second rotating shaft, so as to facilitate the placement of cosmetic packaging materials such as lotion bottles and essence bottles.

[0074] Regarding the specific form of the driven component, the present application has no specific restrictions, as long as it is convenient for the rotating component to drive the first rotating shaft to rotate. For example, it can be spherical, disc-shaped, etc. In the present embodiment, the driven component is a first turntable (disc-shaped), which is conducive to reducing the volume of the entire dual-axis mixer. At this time, regarding the structure of the rotating component, it can include a second motion unit and a second turntable 221 arranged on the rotating shaft of the second motion unit. Preferably, the first turntable has a contact point when it contacts the second turntable 221, and the distance between the contact point and the rotating shaft of the second motion unit is less than the distance between the contact point and the first rotating shaft, thereby realizing a deceleration scheme through the first turntable and the second turntable 221, which is convenient for more accurate stopping to a preset position. Regarding the second motion unit, for example, a motor (preferably a reduction motor) or a pneumatic motor can be listed.

[0075] The present application has no specific restrictions on the transmission form of the first rotating disk and the second rotating disk 221. For example, the rotation can be driven by static friction. In this case, it is preferred that rubber is provided on the outer circumference of the second rotating disk 221 to increase the friction. Figure 7 to Figure 9As shown, the first turntable is provided with a third tooth surface; the second turntable 221 is provided with a fourth tooth surface meshing with the third tooth surface; the second turntable drives the first turntable to rotate through the meshing of the fourth tooth surface with the third tooth surface, so that the transmission of the two can be more stable. Regarding the position where the third tooth surface is set on the first turntable and the position where the fourth tooth surface is set on the second turntable, the present application has no specific restrictions, as long as it is convenient for the third tooth surface to mesh with the fourth tooth surface. For example, the third tooth surface is set on the outer peripheral surface of the first turntable, or the third tooth surface is set on the upper surface or lower surface of the first turntable; the fourth tooth surface is set on the outer peripheral surface of the second turntable, or the fourth tooth surface is set on the upper surface or lower surface of the second turntable. In this embodiment, in order to facilitate the contact and separation of the two, the tooth surfaces are all set on the outer peripheral surface of the turntable.

[0076] Regarding the clutch assembly, in this embodiment, as Fig. 9 As shown, it includes: a third motion unit 241, which can drive the rotating component 220 to contact or move away from the driven component 230; a third slide rail 242, which is directly or indirectly fixed to the fixed end of the third motion unit 241; a second slider 243, which is arranged on the fixed end of the rotating component 220, and the second slider 243 can slide on the third slide rail 242. Therefore, the stable contact between the rotating component and the driven component can be ensured by the third motion unit 241, the third slide rail 242, and the second slider 243. As for the third motion unit, for example, a cylinder or an electric push rod can be listed.

[0077] Regarding the limit assembly, it can include: a limit mark 260, which is directly or indirectly fixed on the driven assembly; a third sensor 270, which can detect the limit mark. Among them, the limit mark can be implemented as a positioning protrusion or a positioning hole, and in this embodiment, it is specifically a limit protrusion. The third sensor 270 can use an existing photoelectric sensor. Regarding the setting position of the third sensor 270, it can be exemplified as being directly or indirectly fixed on the first motor 251, or fixed on the clutch assembly 240, and in this embodiment, it is specifically fixed on the clutch assembly 240.

[0078] Regarding the robot module, such as Figure 1-2As shown, it includes: a first robot arm assembly 310, which can take out the container and the packaging material from the carrying module and put them into the container temporary storage station and the packaging material temporary storage station respectively; a second robot arm assembly 320, which can add the material in the container to the packaging material; a third robot arm assembly 330, which can seal the container and transfer the sealed container to the mixing module.

[0079] It should be noted that Figure 1-2 In order to fully reflect the apparatus of the recipe preparation device, partial structures of the first robotic arm 310, the second robotic arm assembly 320, and the third robotic arm assembly 330 are hidden.

[0080] This embodiment provides three mechanical arm components (first mechanical arm 310, second mechanical arm component 320, third mechanical arm component 330) to realize the technical solution of taking out the packaging materials and containers from the carrying module, adding the materials in the container to the packaging materials, and transferring the packaging materials to the mixing module. Therefore, when the packaging materials are transferred to the next mechanical arm component for control (such as when the second mechanical arm component 320 adds the materials in the container to the packaging materials), the previous mechanical arm component can still continue to work (such as the first mechanical arm component 310 can still take out the container and packaging materials), so that different mechanical arm components perform their respective duties, ensuring the continuous generation of cosmetics, which is conducive to improving the working efficiency of the device.

[0081] Regarding the structure of the first robot arm assembly 310, it includes: a first three-axis linear motion unit; and a first robot arm body, the first robot arm body is connected to the external end of the first three-axis linear motion unit, and the first robot arm body is provided with a first clamping unit. Thus, the packaging material and the container can be clamped by the first clamping unit, and the first three-axis linear motion unit drives them to be placed in the container temporary storage station and the packaging material temporary storage station.

[0082] In the present application, in order to facilitate the filling of materials, the container is in the form of a syringe. At this time, the structure of the second robot arm assembly 320 includes: a second three-axis linear motion unit; and, a second robot arm body, the second robot arm body is connected to the external end of the second three-axis linear motion unit; wherein, the second robot arm body includes: a second clamping unit, the second clamping unit can clamp the sleeve of the syringe; and, an ejector, the ejector can push the core rod of the syringe. Thus, the container can be clamped by the second clamping unit, driven by the second three-axis linear motion unit to move to the packaging material, and the ejector can push the materials in different syringes into the packaging material according to the formula.

[0083] In addition, in order to ensure the cleanliness of the material in the syringe and prevent the material from leaking out of the syringe, preferably, the outlet of the syringe is provided with a sealing cap. In this case, the formula preparation device further includes a cap removal module; the cap removal module is provided with a third clamping unit, and the third clamping unit can clamp the cap. Then, before adding the material to the packaging material, the second mechanical arm assembly 320 first drives the syringe to move to the cap removal module, the third clamping unit clamps the cap, and the second mechanical arm assembly 320 lifts the syringe to remove the cap.

[0084] Regarding the structure of the third mechanical arm assembly, it includes: a third three-axis linear motion unit; and a third mechanical arm body 331, wherein the third mechanical arm body 331 is connected to the external end of the third three-axis linear motion unit; wherein the third mechanical arm body 331 includes: a fourth clamping unit, wherein the fourth clamping unit can clamp the packaging material. Thus, the fourth clamping unit can clamp the cover stored in the device and move to the opening of the packaging material for sealing, and then the third three-axis linear motion unit can transfer the packaging material to the mixer.

[0085] In addition, the third mechanical arm assembly 330 can also include: an angle adjustment member 332, which is arranged between the third mechanical arm body and the external end of the third three-axis linear motion unit to adjust the angle between the two. Regarding the angle adjustment member 332, it can generally be implemented by a reduction motor, etc. For example, the fixed end (housing) of the reduction motor is fixed on the side of the external end of the third three-axis linear motion unit, and the moving end (rotating shaft) of the reduction motor is directly or indirectly fixed to the third mechanical arm body, so that the third mechanical arm body can be rotated relative to the external end of the third three-axis linear motion unit to adjust the angle between the two. At present, the supporting component 210 of the mixing module is mainly set to an inclined setting to facilitate mixing. The angle adjustment member 332 can adjust the inclination angle of the packaging material clamped by the fourth clamping unit in space, which is conducive to the smooth placement of packaging materials from the supporting component 210 of the mixing module.

[0086] Regarding the three-axis motion unit involved in the above-mentioned first three-axis linear motion unit to the third three-axis linear motion unit, it is an existing solution, which can independently realize the movement of the component along the three axes, thereby realizing the movement of the component in three-dimensional space. Specifically, a first lead screw is set in a horizontal direction (such as called the x direction), a second lead screw is set in a vertical direction (such as called the z direction), and a third lead screw is set in a direction perpendicular to the first lead screw and the second lead screw (such as called the y direction), wherein the second lead screw is set on the slider of the first lead screw, and the third lead screw is set on the slider of the second lead screw, and the component is fixed on the slider of the third lead screw, so that the component can be driven to move in the three-dimensional space xyz through the first lead screw, the second lead screw, and the third lead screw. In this application, the part where the three-axis linear motion unit is connected to the component and can drive the component to move in three-dimensional space (such as the slider of the third lead screw mentioned above) is called an "external end".

[0087] Regarding the packaging materials of cosmetics, generally used are essence bottles (the bottle and the cover are fixed by interference fit) and lotion bottles (the bottle and the cover are fixed by threads). For the essence bottle, the cover body can be clamped by the fourth clamping unit, and the cover body can be driven downward by the third three-axis linear motion unit to complete the capping. As for the lotion bottle, in this embodiment, the third mechanical arm body also includes: a rotating member 333, and the rotating member 333 can drive the fourth clamping unit to rotate. Regarding the rotating member 333, it can be realized by, for example, providing a reduction motor between the third mechanical arm body 331 and the fourth clamping unit, wherein the reduction motor is coaxial with the third mechanical arm body 331 and the fourth clamping unit. Therefore, for the lotion bottle, when the fourth clamping unit clamps the cover body, the third three-axis linear motion unit drives the cover body to be pressed downward while the rotating member 333 drives the cover body to rotate, thereby achieving capping.

[0088] As described above, the device may involve different packaging materials (essence bottles, lotion bottles). In order to ensure that the supporting component 210 of the mixing module 200 is suitable for fixing packaging materials of different volumes, in this embodiment, the device also includes a jig storage module, which can store jigs corresponding to different packaging materials. In this embodiment, the jig is annular and has a certain thickness, and is made of polymer materials. The interior of different jigs matches the outer surface of different packaging materials, and the exterior of the jig matches the interior of the supporting component 210 of the mixing module 200. Thus, the third robot arm module assembly 330 can clamp a suitable jig into the supporting component 210 of the mixing module 200, and then clamp the packaging material and extend it into the jig, so as to achieve the fixing of the packaging material by the supporting component 210 of the mixing module 200. At this time, the jig storage module 800 can be a plurality of cylinders arranged in the device, so as to be suitable for setting different jigs.

[0089] In order to reduce the complexity of the device and facilitate the independent and non-interference work of each robot arm, the device of this embodiment also includes a transfer module 400, which includes: a fifth clamping unit, which can clamp the packaging material; a transfer component, which can drive the fifth clamping unit to move between the first station and the second station, wherein the first station is the temporary storage station for the packaging material, and the third robot arm component 330 seals and clamps the packaging material at the second station. As for the transfer component, it can select an existing single-axis linear motion unit (such as a screw, a cylinder, an electric push rod, etc.).

[0090] In addition, the formula preparation device of this embodiment also includes a film sealing module 500, which includes: a heating component; a film sealing storage component, which can store a sealing film; a second motion component, which can drive the heating component to move between the film sealing storage component and the packaging material temporary storage station (that is, the first station mentioned above), and use the heating component to heat the sealing film to seal the packaging material, and then seal the lid after sealing the film. Regarding the heating component, it can adopt an existing film sealing (such as aluminum foil) heating solution, and regarding the second motion component, it can select an existing single-axis linear motion unit (such as a lead screw, a cylinder, an electric push rod, etc.).

[0091] Regarding the clamping units involved in the first clamping unit to the fifth clamping unit, the present application has no specific restrictions on their structures, as long as they are suitable for clamping packaging materials, etc. For example, the above clamping function can be achieved by moving the two baffles closer (clamping) or farther (opening) through a cylinder, an electric push rod, a motor, etc.

[0092] In order to ensure the cleanliness, temperature and humidity inside the device, the device further includes a box 600, which accommodates the carrying module, the mixing module 200, and the mechanical arm module. Regarding the combination of the pull-out basket and the box 600, this application has no specific restrictions. For example, the existing solution can be adopted, and the first slider 150 is set on both sides of the pull-out basket, and the corresponding track is set in the box 600, so as to facilitate the pulling out of the pull-out basket.

[0093] The formula preparation device further includes: a negative pressure module (not shown in the figure), which provides negative pressure to the box; and an air filtration module, which filters the air entering the box. The negative pressure module can be implemented by using an existing vacuuming solution, and the air filtration module can be implemented by mechanical filtration (filter) and / or activated carbon adsorption.

[0094] In order to ensure that the temperature inside the device is at a suitable level to ensure the quality of the formula prepared by the device, the device of the present application can also include a temperature control module (not shown in the figure), which can specifically include a heating component and / or a cooling component. The heating component can be implemented by conventional electric heating, and the cooling can be implemented by air cooling or by setting a cooling water pipeline.

[0095] The outside of the device also includes a computer control component (not shown in the figure), and the first robotic arm component can take out corresponding containers and packaging materials from the carrying module according to the formula information provided by the computer control component.

[0096] Of course, a delivery platform 900 may also be provided in the device of the present application to temporarily store the prepared cosmetics and facilitate operators to take away the cosmetics.

[0097] The formulations described in this application include cosmetic formulations, food formulations or pharmaceutical formulations.

[0098] Although the embodiments of the present application are described above, the present application is not limited to the above specific embodiments and application fields, and the above specific embodiments are merely illustrative and instructive, rather than restrictive. A person of ordinary skill in the art can make many forms under the guidance of this specification and without departing from the scope of protection of the claims of the present application, all of which belong to the scope of protection claimed in the present application.

Claims

1. A recipe preparation device, comprising: Carrying module, robotic arm module and mixing module, among which, The carrying module is capable of carrying packaging materials and containers containing materials; The robot module can take out the packaging material and the container from the carrying module, add the material in the container to the packaging material, and transfer the packaging material containing the material to the mixing module; The mixing module can fix the packaging material containing the material and drive the packaging material containing the material to move and / or vibrate.

2. The recipe preparation device according to claim 1, wherein: The robotic arm module comprises: A first robotic arm assembly, wherein the first robotic arm assembly can take out the container and the packaging material from the carrying module and place them in a container temporary storage station and a packaging material temporary storage station respectively; a second robotic arm assembly, the second robotic arm assembly being capable of adding the material in the container into the packaging material; The third robotic arm assembly is capable of sealing the packaging material containing the material and transferring the sealed packaging material to the mixing module.

3. The recipe preparation device according to claim 1, wherein: The first mechanical arm assembly comprises: The first three-axis linear motion unit and the first robot arm body, The first mechanical arm body is connected to the external end of the first three-axis linear motion unit, and a first clamping unit is disposed on the first mechanical arm body.

4. The recipe preparation device according to claim 2, wherein: The second mechanical arm assembly comprises: The second three-axis linear motion unit and the second robot body, The second mechanical arm body is connected to the external end of the second three-axis linear motion unit; Wherein, the second mechanical arm body comprises: The second clamping unit and the ejector, The second clamping unit is capable of clamping the sleeve of the syringe, The ejector can push the core rod of the syringe.

5. The recipe preparation device according to claim 2, wherein: The third mechanical arm assembly comprises: The third three-axis linear motion unit and the third robot arm body, The third mechanical arm body is connected to the external end of the third three-axis linear motion unit. Wherein, the third mechanical arm body comprises: a fourth clamping unit, the fourth clamping unit being capable of clamping the packaging material containing the material; Preferably, The third mechanical arm assembly further comprises: an angle adjustment member and / or a rotating member, The angle adjustment member is disposed between the third mechanical arm body and the external end of the third three-axis linear motion unit to adjust the angle between the two. The rotating member can drive the fourth clamping unit to rotate.

6. The recipe preparation device according to claim 1, wherein: The container is a syringe.

7. The recipe preparation device according to claim 6, wherein: The outlet of the syringe is provided with a sealing cap; The formula preparation device further comprises a capping module, wherein the capping module is provided with a third clamping unit, and the third clamping unit is capable of clamping the sealing cap.

8. The recipe preparation device according to claim 1, wherein: The formula preparation device also includes a transport module, and the transport module includes: a fifth clamping unit, the fifth clamping unit being capable of clamping the packaging material; and A transfer component, wherein the transfer component can drive the fifth clamping unit to move between a first station and a second station, wherein the first station is a temporary storage station for the packaging material.

9. The recipe preparation device according to claim 1, characterized in that: The carrying module includes more than one pull-out basket, The pull-out basket comprises: a bearing component and a drawer component. The carrying assembly is used to carry packaging materials and containers containing materials. The pulling assembly can drive the carrying assembly to slide, so that the packaging material or the container containing the material on the carrying assembly reaches a position where the first mechanical arm assembly can grasp it.

10. The recipe preparation device according to claim 1, characterized in that: The mixing module includes a biaxial mixer.

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