Automatic consumable feeding and discharging system and method

Abstract

The invention discloses an automatic consumable feeding and discharging system and method, and belongs to the technical field of automatic consumable processing, the automatic consumable feeding and discharging system comprises a rack, a conveying mechanism, a feeding mechanism, a working mechanism and a discharging mechanism, and the conveying mechanism comprises a conveying belt extending in the conveying direction; the feeding mechanism comprises a feeding channel and a feeding assembly, a plurality of consumables can be contained in the feeding channel, and the feeding assembly can transfer the consumables in the feeding channel to the conveying belt one by one; the working mechanism comprises a working jacking assembly, and the working jacking assembly can drive the consumables to move up and down; the discharging mechanism comprises a discharging channel and a discharging assembly, and the discharging assembly can transfer the consumables on the conveying belt to the discharging channel. The automatic consumable feeding and discharging system is adopted in the automatic consumable feeding and discharging method. Feeding and discharging are automatically completed, cost is reduced, labor intensity is lowered, shutdown waiting is not needed, and working efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic processing of consumables, and in particular to an automatic loading and unloading system and method for consumables. Background Art

[0002] Consumables are used in many industries such as food and medicine. Consumables include but are not limited to trays, deep well plates, test kits, etc. Consumables can protect items placed on them and facilitate the placement of items. In order to save space, most consumables are stacked. In order to transport the stacked consumables one by one, a robot is often used to clamp and transfer the stacked consumables one by one from the loading rack next to the conveyor to the conveyor, or to clamp and transfer them one by one from the conveyor to the unloading rack next to the conveyor and stack them for collection. The processing cost of the robot is high, the efficiency is not high, and it takes up a lot of space. If the consumables are directly taken and placed manually, the efficiency is low, and improper operation is easy to cause damage to the items in the consumables, consume a lot of labor, and take up a lot of space. Summary of the invention

[0003] The object of the present invention is to provide a system and method for automatically loading and unloading consumables, so as to solve the technical problem of low consumables conveying efficiency existing in the prior art.

[0004] As conceived above, the technical solution adopted by the present invention is:

[0005] A consumables automatic loading and unloading system, comprising:

[0006] A frame, wherein the frame comprises a loading position, a working position and a unloading position which are sequentially arranged along a conveying direction;

[0007] A conveying mechanism, disposed on the frame, the conveying mechanism comprising a conveying belt extending along the conveying direction;

[0008] A feeding mechanism is arranged at the feeding position, the feeding mechanism comprises a feeding channel and a feeding assembly, the feeding channel can accommodate a plurality of consumables, and the feeding assembly can transfer the plurality of consumables in the feeding channel to the conveyor belt one by one;

[0009] A working mechanism is arranged at the working position, and the working mechanism includes a working lifting component, and the working lifting component can drive the consumable to move up and down;

[0010] A material unloading mechanism is arranged at the material unloading position, and the material unloading mechanism includes a material unloading channel and a material unloading component, and the material unloading component can transfer the consumables on the conveyor belt to the material unloading channel.

[0011] Wherein, the conveyor belt extends in a horizontal direction, the loading channel extends in a vertical direction, the loading channel is located above the conveyor belt, and the unloading channel extends in a vertical direction, the unloading channel is located above the conveyor belt.

[0012] Among them, the feeding component includes a feeding lifting component and a feeding limit component, the feeding limit component is arranged at the bottom end of the feeding channel, the feeding lifting component is arranged below the feeding channel, and the feeding limit component can be switched between a locked state and a released state. When the feeding limit component is in the locked state, it can limit the downward movement of the consumable.

[0013] Wherein, the feeding limit assembly comprises:

[0014] Two first feeding support frames are distributed on two opposite sides of the feeding channel;

[0015] At least two supporting blocks, each of the first loading support frames is provided with at least one of the supporting blocks;

[0016] A first loading drive assembly is provided corresponding to each of the supporting blocks, and the first loading drive assembly can drive the supporting blocks on the two first loading support frames to move closer to or away from each other, and the supporting blocks can support the consumables.

[0017] Among them, the material unloading component includes a material unloading lifting component and a material unloading limiting component, the material unloading limiting component is arranged at the bottom end of the material unloading channel, the material unloading lifting component is arranged below the material unloading channel, and the material unloading limiting component can be switched between a locked state and a released state. When the material unloading limiting component is in the locked state, it can limit the downward movement of the consumable.

[0018] Wherein, the blanking limit assembly comprises:

[0019] Two first material unloading support frames are distributed on two opposite sides of the material unloading channel;

[0020] At least two bearing blocks, each of the first material unloading support frames is provided with at least one of the bearing blocks, the bearing blocks are movably connected to the first material unloading support frame, and the bearing blocks can move between a locking position and a releasing position;

[0021] A reset member, at least one of which is provided corresponding to each of the bearing blocks, and the reset member can push the bearing block to move from the release position to the locking position.

[0022] Wherein, the bearing block is rotatably connected to the first material unloading support frame, and the bearing block can rotate around its own axis between the locking position and the releasing position.

[0023] Wherein, the blanking limit assembly also includes:

[0024] A limiting member is arranged on one side of the bearing block. When the bearing block is in the locking position, the limiting member abuts against the bearing block and limits the bearing block from continuing to rotate in the direction from the releasing position to the locking position.

[0025] Wherein, the working mechanism also includes a working platform, which is arranged above the conveyor belt, and a positioning channel is arranged on the working platform; the working lifting assembly can lift the consumables so that the consumables enter the positioning channel, and / or the working lifting assembly can drive the consumables to move downward so that the consumables leave the positioning channel.

[0026] A method for automatic loading and unloading of consumables, using the above-mentioned automatic loading and unloading system of consumables, includes: S1, loading process: the loading component transfers the consumables closest to the conveyor belt in the loading channel to the conveyor belt; S2, working process: the conveyor belt is started, and the consumables at the loading position are moved forward. When the working limit component limits the consumables from moving forward, the consumables are located at the working position and the conveyor belt stops rotating; the working jacking component drives the consumables to move upward to the operating position, and the working jacking component supports the consumables; the working limit component releases the restriction on the consumables; after the work is completed, the working jacking component drives the consumables to move downward until the consumables are placed on the conveyor belt; S3, unloading process: the conveyor belt is started, and the consumables at the working position are moved to the unloading position; the unloading component transfers the consumables at the unloading position to the unloading channel and places the consumables at the position closest to the conveyor belt; S4, repeating the above S1 to S3, so that multiple consumables arranged in sequence in the loading channel are moved one by one to the unloading channel through the loading position, the working position and the unloading position.

[0027] Beneficial effects of the present invention: The present invention proposes an automatic loading and unloading system for consumables. During the loading process, the loading component transfers the consumables closest to the conveyor belt in the loading channel to the conveyor belt; during the working process, the conveyor belt starts to move the consumables at the loading position forward to the working position; the working lifting component drives the consumables to move upward to the operating position, and the working lifting component supports the consumables; after the work is completed, the working lifting component drives the consumables to move downward until the consumables are placed on the conveyor belt; the conveyor belt starts to move the consumables at the working position to the unloading position; the unloading component transfers the consumables at the unloading position to the unloading channel and places the consumables at the position closest to the conveyor belt; the above-mentioned loading process, working process and unloading process are repeated, so that multiple consumables arranged in sequence in the loading channel are moved one by one to the unloading channel through the loading position, the working position and the unloading position. Through the above-mentioned automatic loading and unloading system for consumables, the loading process, the working process and the unloading process are automatically completed, the cost is reduced, the labor intensity is reduced, and there is no need to stop and wait during loading and unloading, thereby improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a structural schematic diagram of the automatic loading and unloading system for consumables provided in an embodiment of the present invention;

[0029] Figure 2 It is a partial structural schematic diagram of the automatic loading and unloading system for consumables provided in an embodiment of the present invention;

[0030] Figure 3 is a schematic diagram of the structure of the consumables provided by an embodiment of the present invention;

[0031] Figure 4 It is a structural schematic diagram of a feeding mechanism provided by an embodiment of the present invention;

[0032] Figure 5 It is a structural schematic diagram of a loading limiter assembly provided in an embodiment of the present invention;

[0033] Figure 6 It is a partial structural schematic diagram of a feeding mechanism provided in an embodiment of the present invention;

[0034] Figure 7 It is a structural schematic diagram of a working mechanism provided by an embodiment of the present invention;

[0035] Figure 8 It is a partial structural schematic diagram of a working mechanism provided by an embodiment of the present invention;

[0036] Fig. 9 yes Figure 8 A magnified image of point A;

[0037] Fig.10 It is a structural schematic diagram of a feeding mechanism provided by an embodiment of the present invention;

[0038] Fig.11 The structure of the material limiting assembly provided by the embodiment of the present invention is shown in FIG. Figure 1 ;

[0039] Fig.12 The structure of the material limiting assembly provided by the embodiment of the present invention is shown in FIG. Figure 2 ;

[0040] Fig.13 It is a schematic diagram of the exploded structure of the material blanking limiter assembly provided in an embodiment of the present invention;

[0041] Fig.14 is a schematic diagram of an automatic loading and unloading system for consumables provided in an embodiment of the present invention;

[0042] Fig.15 It is a schematic diagram of the feeding process provided by the embodiment of the present invention. Figure 1 ;

[0043] Fig.16 It is a schematic diagram of the feeding process provided by the embodiment of the present invention. Figure 2 ;

[0044] Fig.17 It is a schematic diagram of the feeding process provided by the embodiment of the present invention. Figure 3 ;

[0045] Fig.18 This is a schematic diagram of the working process provided by the embodiment of the present invention. Figure 1 ;

[0046] Fig.19 This is a schematic diagram of the working process provided by the embodiment of the present invention. Figure 2 ;

[0047] Fig. 20 This is a schematic diagram of the working process provided by the embodiment of the present invention. Figure 3 ;

[0048] Fig.21 It is a schematic diagram of the blanking process provided by the embodiment of the present invention. Figure 1 ;

[0049] Fig. 22 It is a schematic diagram of the blanking process provided by the embodiment of the present invention. Figure 2 ;

[0050] Fig.23 It is a schematic diagram of the blanking process provided by the embodiment of the present invention. Figure 3 .

[0051] In the figure:

[0052] 100, consumables; 101, legs;

[0053] 10. Frame; 11. Loading rack; 12. Working rack; 13. Unloading rack;

[0054] 20. Conveying mechanism; 21. Conveying belt; 22. Driving pulley; 23. Driven pulley; 24. Conveying motor;

[0055] 30. Feeding mechanism; 31. Feeding bin; 311. Feeding channel; 32. Feeding lifting assembly; 321. Feeding lifting plate; 33. Feeding limit assembly; 331. First feeding support frame; 332. Support block; 333. First feeding drive assembly; 3331. First motor; 3332. First lead screw; 3333. First slider; 3334. Guide rail;

[0056] 40. Working mechanism; 41. Working lifting assembly; 411. Working lifting plate; 4111. Positioning protrusion; 42. Working limit assembly; 421. Limit plate; 43. Working platform;

[0057] 50. Material unloading mechanism; 51. Material unloading bin; 511. Material unloading channel; 52. Material unloading lifting assembly; 521. Material unloading lifting plate; 53. Material unloading limiting assembly; 531. First material unloading support frame; 532. Load-bearing block; 5321. Guide slope; 533. Reset member; 534. Rotating shaft; 535. Limit member; 536. Limit support plate. DETAILED DESCRIPTION

[0058] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0059] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0060] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0061] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0062] See also Figures 1 to 23The embodiment of the present invention provides an automatic loading and unloading system for consumables, which can automatically realize the loading, working and unloading of consumables 100. The automatic loading and unloading system for consumables includes a frame 10, a conveying mechanism 20, a loading mechanism 30, a working mechanism 40 and a unloading mechanism 50. The frame 10 plays a supporting role. The frame 10 includes a loading position, a working position and an unloading position arranged in sequence along the conveying direction. The conveying mechanism 20 is arranged on the frame 10. The conveying mechanism 20 includes a conveyor belt 21 extending along the conveying direction. The conveyor belt 21 can drive the consumables 100 to move. The loading mechanism 30, the working mechanism 40 and the unloading mechanism 50 are all arranged on the frame 10. The loading mechanism 30 is arranged at the loading position, the working mechanism 40 is arranged at the working position, and the unloading mechanism 50 is arranged at the unloading position. Therefore, the loading mechanism 30, the working mechanism 40 and the unloading mechanism 50 are arranged in sequence along the conveying direction.

[0063] The loading mechanism 30 includes a loading channel 311 and a loading assembly. The loading channel 311 can accommodate multiple consumables 100, and the loading assembly can transfer the multiple consumables 100 in the loading channel 311 to the conveyor belt 21 one by one; the working mechanism 40 includes a working lifting assembly 41, and the working lifting assembly 41 can drive the consumables 100 to move up and down; the unloading mechanism 50 includes a unloading channel 511 and a unloading assembly, and the unloading assembly can transfer the consumables 100 on the conveyor belt 21 to the unloading channel 511. In this embodiment, the multiple consumables 100 in the loading channel 311 are stacked; the multiple consumables 100 in the unloading channel 511 are stacked. The consumables 100 include but are not limited to trays, deep well plates, reagent kits, etc.

[0064] When in use, it is divided into a loading process, a working process and a unloading process. In the loading process, the loading component transfers the consumable 100 closest to the conveyor belt 21 in the loading channel 311 to the conveyor belt 21; in the working process, the conveyor belt 21 starts, and moves the consumable 100 at the loading position forward to the working position, and the conveyor belt 21 stops rotating; the working jacking component 41 drives the consumable 100 to move upward to the operating position, and the working jacking component 41 supports the consumable 100; after the work is completed, the working jacking component 41 drives the consumable 100 to move upward to the operating position. The consumables 100 are moved downward until they are placed on the conveyor belt 21; the conveyor belt 21 is started, and the consumables 100 at the working position are moved to the unloading position; the unloading assembly transfers the consumables 100 at the unloading position to the unloading channel 511 and places the consumables 100 at the position closest to the conveyor belt 21; the above-mentioned loading process, working process and unloading process are repeated, so that the multiple consumables 100 arranged in sequence in the loading channel 311 are moved one by one to the unloading channel 511 through the loading position, working position and unloading position. Through the above-mentioned consumable automatic loading and unloading system, the loading process, working process and unloading process are automatically completed, reducing costs and labor intensity. There is no need to stop and wait during loading and unloading, thereby improving work efficiency.

[0065] In some embodiments, the conveying mechanism 20 is provided with one group, and the conveyor belt 21 is a whole and extends continuously along the conveying direction. In other embodiments, the conveying mechanism 20 is provided with two groups, and the loading position and the working position can share one conveyor belt 21, or the working position and the unloading position can share one conveyor belt 21. In this embodiment, the conveying mechanism 20 is provided with three groups, and the three groups of conveying mechanisms 20 are respectively arranged at the loading position, the working position and the unloading position. The three groups of conveying mechanisms 20 are started and stopped independently, and the two adjacent groups of conveying mechanisms 20 are arranged at intervals.

[0066] In the conveying mechanism 20, the conveyor belt 21 is wound around the driving pulley 22 and the driven pulley 23. The driving pulley 22 can be directly driven by the conveying motor 24, or indirectly driven by the conveying motor 24 through a transmission mechanism. In this embodiment, two conveyor belts 21 are provided, and the two conveyor belts 21 are arranged in parallel and spaced apart to carry the consumables 100. The space formed between the two conveyor belts 21 is convenient for installing other components. During the entire process of transferring the consumables 100, the conveyor belt 21 can be always in an open state, or in an intermittent start-stop state, which can be set according to actual needs.

[0067] In some embodiments, the frame 10 can be a fixed integral body. In this embodiment, the frame 10 includes three detachable groups, namely, a loading frame 11, a working frame 12 and a unloading frame 13, wherein the loading mechanism 30 is arranged on the loading frame 11, the working mechanism 40 is arranged on the working frame 12, and the unloading mechanism 50 is arranged on the unloading frame 13; the conveying mechanism 20 is provided with three groups, and one group of conveying mechanisms 20 is respectively arranged on the loading frame 11, the working frame 12 and the unloading frame 13. The loading frame 11, the working frame 12 and the unloading frame 13 can be assembled together so that the loading mechanism 30, the working mechanism 40 and the unloading mechanism 50 are used in combination. The loading frame 11, the working frame 12 and the unloading frame 13 can be disassembled so that the loading mechanism 30, the working mechanism 40 and the unloading mechanism 50 are used separately.

[0068] See also Figure 1 , the loading channel 311 can be formed by a frame. In this embodiment, the loading mechanism 30 includes a loading bin 31, which is arranged on the frame 10, and the loading channel 311 is formed in the loading bin 31. The loading bin 31 has a loading door, and the consumables 100 in the loading bin 31 can be taken out by opening the loading door. The unloading channel 511 can be formed by a frame. In this embodiment, the unloading mechanism 50 includes a unloading bin 51, which is arranged on the frame 10, and the unloading channel 511 is formed in the unloading bin 51. The unloading bin 51 has a unloading door, and the consumables 100 in the unloading bin 51 can be taken out by opening the unloading door.

[0069] Generally, the conveyor belt 21 extends in the horizontal direction to provide a stable support for the consumables 100. In some embodiments, the conveyor belt 21 may also be inclined to a certain extent according to actual needs.

[0070] The loading assembly can transfer the multiple consumables 100 in the loading channel 311 to the conveyor belt 21 one by one, so the loading assembly has at least a shifting function. In some embodiments, the conveyor belt 21 extends in the horizontal direction, the loading channel 311 can extend in the horizontal direction, and the loading assembly pushes the consumables 100 so that the consumables 100 are transferred to the conveyor belt 21 one by one. There can be a height difference between the loading channel 311 and the conveyor belt 21, for example, the loading channel 311 is higher than the conveyor belt 21. In some embodiments, the conveyor belt 21 extends in the horizontal direction, the unloading channel 511 can extend in the horizontal direction, and the unloading assembly pushes the consumables 100 so that the consumables 100 are transferred to the unloading channel 511 one by one. There can be a height difference between the unloading channel 511 and the conveyor belt 21, for example, the unloading channel 511 is lower than the conveyor belt 21.

[0071] In this embodiment, the conveyor belt 21 extends in the horizontal direction, the loading channel 311 extends in the vertical direction, and the loading channel 311 is located above the conveyor belt 21. The unloading channel 511 extends in the vertical direction, and the unloading channel 511 is located above the conveyor belt 21. By setting the loading channel 311 and the unloading channel 511 to extend in the vertical direction, multiple consumables 100 are stacked in the vertical direction, reducing the space occupied in the horizontal direction, and the consumables 100 can be moved downward by their own gravity.

[0072] See also Figures 4 to 6 ,as well as Figures 15 to 17 The loading assembly includes a loading lifting assembly 32 and a loading limiting assembly 33. The loading limiting assembly 33 is arranged at the bottom end of the loading channel 311. The loading lifting assembly 32 is arranged below the loading channel 311. The loading limiting assembly 33 can be switched between a locked state and a released state. When the loading limiting assembly 33 is in a locked state, it can limit the consumable 100 from moving downward.

[0073] During the loading process, it includes: the loading limit assembly 33 is in a locked state, and the consumables 100 located at the bottom layer in the loading channel 311 are limited by the loading limit assembly 33 and cannot move downward; the loading lifting assembly 32 moves upward by a first loading distance, lifts all consumables 100, so that the consumables 100 located at the bottom layer are separated from the loading limit assembly 33, and the loading limit assembly 33 is switched to a released state; the loading lifting assembly 32 moves downward by a second loading distance, so that the consumables 100 located at the bottom layer are moved out of the loading channel 311, the loading limit assembly 33 is switched to a locked state, and the loading lifting assembly 32 moves downward by a third loading distance, and the consumables 100 are placed on the conveyor belt 21.

[0074] The loading lifting assembly 32 includes a loading lifting plate 321 that can move up and down and a first loading driving member, and the first loading driving member can drive the loading lifting plate 321 to move up and down. When the loading lifting plate 321 moves upward, it can lift the consumables 100 so that the consumables 100 move upward. When the loading lifting plate 321 moves downward, the consumables 100 move downward with the loading lifting plate 321 under the action of its own gravity. The first loading driving member can be a linear module or a cylinder, which is not limited here.

[0075] The loading lifting plate 321 is located between the two conveyor belts 21 so as not to interfere with each other. It is understandable that the bottom size of the consumable 100 is larger than the size of the loading lifting plate 321. When the consumable 100 moves downward along with the loading lifting plate 321, the consumable 100 is received by the two conveyor belts 21, and the loading lifting plate 321 continues to move downward to a position lower than the conveyor belts 21.

[0076] The distance that the loading lifting assembly 32 moves refers to the distance that the loading lifting plate 321 moves. The sum of the second loading distance and the third loading distance is equal to the first loading distance, so that the loading lifting plate 321 can return to its original position for the next lifting.

[0077] The loading limit assembly 33 in the locked state only limits the consumable 100 from moving downward. When the loading lifting assembly 32 lifts the consumable 100 to move upward, the loading limit assembly 33 will not limit the consumable 100, so that the loading lifting assembly 32 can lift the consumable 100 upward in one go without pausing in the middle, thereby improving work efficiency. The loading limit assembly 33 is not an existing clamping assembly. If the consumable 100 is clamped and limited, the loading lifting assembly 32 cannot lift the consumable 100 in one go and needs to wait for the clamping assembly to be released.

[0078] In this embodiment, the loading limit assembly 33 only supports the consumable 100, specifically, it can support the bottom of the consumable 100. The top and / or bottom of the consumable 100 are provided with legs 101, and the provision of the legs 101 forms a gap between adjacent consumables 100, so that the loading limit assembly 33 can limit the consumable 100. In other embodiments, for consumables 100 with outer edges, the loading limit assembly 33 can also support the outer edge of the consumable 100. In other embodiments, a groove can be provided on the consumable 100, and the loading limit assembly 33 can support the groove of the consumable 100.

[0079] Specifically, the loading limit assembly 33 includes two first loading support frames 331, at least two supporting blocks 332 and a first loading drive assembly 333. The two first loading support frames 331 are distributed on opposite sides of the loading channel 311. Each first loading support frame 331 is provided with at least one supporting block 332. A group of first loading drive assemblies 333 is provided corresponding to each supporting block 332. The first loading drive assembly 333 can drive the supporting blocks 332 on the two first loading support frames 331 to move closer to or away from each other, and the supporting blocks 332 can support the consumables 100. Since the supporting blocks 332 only support the consumables 100, when the loading lifting assembly 32 lifts the consumables 100 and moves upward, the supporting blocks 332 will not limit the consumables 100. Since the supporting blocks 332 on the two first loading support racks 331 can approach each other or move away from each other, they can be switched between a locked state and a released state. When the supporting blocks 332 on the two first loading support racks 331 approach each other to a first set distance, they are in a locked state, and the supporting blocks 332 can support the consumables 100; when the supporting blocks 332 on the two first loading support racks 331 move away from each other to a second set distance, they are in a released state, and the consumables 100 can move between the two first loading support racks 331.

[0080] More specifically, the support block 332 is L-shaped, which is convenient for supporting the consumables 100 and for connecting with the first feeding drive assembly 333. The first feeding drive assembly 333 includes a first motor 3331, a first lead screw 3332 and a first slider 3333. The first motor 3331 is fixedly arranged on the first feeding support frame 331. The motor shaft of the first motor 3331 is connected to the first lead screw 3332. The first slider 3333 is slidably connected to the first feeding support frame 331 and is threadedly connected to the first lead screw 3332. The first motor 3331 drives the first lead screw 3332 to rotate, thereby driving the first slider 3333 to move along the first lead screw 3332. The support block 332 is connected to the first slider 3333.

[0081] The first loading support frame 331 is provided with a guide rail 3334, and the first slider 3333 is slidably connected to the guide rail 3334, and the guide rail 3334 serves to limit and guide the first slider 3333. Two sets of limit switches are arranged at intervals on the guide rail 3334, and when the first slider 3333 moves to trigger the limit switch, the first motor 3331 stops to make the first slider 3333 stop moving.

[0082] When the loading lifting assembly 32 moves downward by the second loading distance, the consumables 100 located at the bottom layer move out of the loading channel 311, and the loading limiting assembly 33 switches to a locked state, so as to limit the consumables 100 located at the second layer. The second layer is the second layer from bottom to top. It can be understood that after the consumables 100 located at the bottom layer move out of the loading channel 311, the remaining consumables 100 continue to be limited to wait for the next movement.

[0083] During the loading process, it includes: the two supporting blocks 332 are in a locked state to support all the consumables 100 in the loading channel 311, and the consumables 100 located at the bottom layer in the loading channel 311 are carried on the supporting blocks 332; the loading lifting plate 321 moves upward by a first loading distance to lift all the consumables 100, so that the consumables 100 located at the bottom layer are separated from the supporting blocks 332, and the supporting blocks 332 on the two first loading support frames 331 move away from each other; the loading lifting plate 321 moves downward by a second loading distance, so that the consumables 100 located at the bottom layer are moved out of the loading channel 311, and the supporting blocks 332 on the two first loading support frames 331 approach each other to limit the consumables 100 in the loading channel 311, and the loading lifting assembly 32 moves downward by a third loading distance to place the consumables 100 on the conveyor belt 21.

[0084] The loading lifting assembly 32 moves downward by a third loading distance to place the consumables 100 on the conveyor belt 21. The conveyor belt 21 is started to move the consumables 100 at the loading position forward.

[0085] See also Figures 7 to 9 ,as well as Figures 18 to 20 The working lifting assembly 41 includes a working lifting plate 411 and a first working driving member, and the first working driving member can drive the working lifting plate 411 to move up and down. When the working lifting plate 411 moves upward, it can lift the consumable 100, so that the consumable 100 moves upward. When the working lifting plate 411 moves downward, the consumable 100 can move downward with the working lifting plate 411 under the action of its own gravity. The first working driving member can be a linear module or a cylinder, which is not limited here.

[0086] The working lifting plate 411 is provided with a plurality of positioning protrusions 4111, and the plurality of positioning protrusions 4111 surround and form a positioning space, and the positioning space can accommodate the bottom of the consumable 100. The positioning protrusions 4111 play a positioning role on the consumable 100 to prevent the consumable 100 from shifting during operation. For example, a well plate is provided on the consumable 100, and the reagent on the well plate needs to be sucked during operation. The consumable 100 is stabilized by the positioning protrusions 4111.

[0087] In this embodiment, the working lifting plate 411 is substantially rectangular, and two positioning protrusions 4111 are provided, and the two positioning protrusions 4111 are respectively located at two diagonal positions of the working lifting plate 411. When the working lifting plate 411 moves upward, the bottom of the consumable 100 is just inserted into the positioning space.

[0088] The working mechanism 40 further includes a working limit assembly 42, which is disposed at the working position and selectively limits the forward movement of the consumable 100. When the conveyor belt 21 is started to move the consumable 100 at the loading position forward, the working limit assembly 42 limits the forward movement of the consumable 100, so that the consumable 100 stays at the working position.

[0089] The working limit assembly 42 has a limit state and a non-limit state. When the working limit assembly 42 is in the limit state, the working limit assembly 42 limits the consumable 100 from moving forward. When the working limit assembly 42 is in the non-limit state, the conveyor belt 21 can drive the consumable 100 to move forward.

[0090] The working limit assembly 42 includes a limit plate 421 and a second working drive member, and the second working drive member can drive the limit plate 421 to move between a limit position and a non-limit position. When the limit plate 421 is located at the limit position, the limit plate 421 limits the consumable 100 from moving forward, and when the limit plate 421 is located at the non-limit position, the consumable 100 can move forward, so the limit plate 421 is selectively located on the moving path of the consumable 100.

[0091] In this embodiment, the limit plate 421 is arranged at the lower side of the working position, and can move between the limit position and the non-limit position in the up-down direction. In other embodiments, the limit plate 421 is arranged at the left or right side of the working position, and can move between the limit position and the non-limit position in the horizontal direction. Among them, the conveying direction of the consumable 100 is the front side. The second working drive member can be a linear module, a cylinder or a screw mechanism, which is not limited here.

[0092] The working mechanism 40 also includes a working platform 43, which is arranged above the conveyor belt 21, and a positioning channel is arranged on the working platform 43; the working lifting assembly 41 can lift the consumable 100 so that the consumable 100 enters the positioning channel, and / or the working lifting assembly 41 can drive the consumable 100 to move downward so that the consumable 100 leaves the positioning channel. The positioning channel plays a positioning role for the consumable 100 to prevent the consumable 100 from shifting during operation. Other components that facilitate test operations can be arranged on the working platform 43.

[0093] After the consumable 100 is located at the working position, the conveyor belt 21 stops rotating, and the working lifting assembly 41 drives the consumable 100 to move upward to the operating position, and the working lifting assembly 41 supports the consumable 100. When the consumable 100 is located at the operating position, the upper part of the consumable 100 is inserted into the positioning channel, and the consumable 100 can be flush with the surface of the working platform 43. After the work is completed, the working lifting assembly 41 drives the consumable 100 to move downward until the consumable 100 is placed on the conveyor belt 21.

[0094] When the consumable 100 is located at the working position, at any time after the conveyor belt 21 stops rotating and before the conveyor belt 21 starts again, the working limit assembly 42 can release the restriction on the consumable 100. In this embodiment, after the working lifting assembly 41 drives the consumable 100 to move upward to the operating position, the working limit assembly 42 releases the restriction on the consumable 100, so that the consumable 100 will not interfere with or rub against the limit plate 421 during the downward movement, so that the consumable 100 can return to the conveyor belt 21 smoothly.

[0095] See also Figures 10 to 13 ,as well as Figure 21 to Figure 23 During the unloading process, the conveyor belt 21 starts to move the consumables 100 at the working position to the unloading position. The unloading assembly includes an unloading lifting assembly 52 and an unloading stop assembly 53. The unloading stop assembly 53 is arranged at the bottom end of the unloading channel 511. The unloading lifting assembly 52 is arranged below the unloading channel 511. The unloading stop assembly 53 can be switched between a locked state and a released state. The unloading stop assembly 53 in the locked state only limits the consumables 100 from moving downward.

[0096] During the material unloading process, it includes: the material unloading limit assembly 53 is in a locked state, and the consumables 100 located at the bottom layer in the material unloading channel 511 are limited by the material unloading limit assembly 53; the material unloading lifting assembly 52 moves upward by a first unloading distance, lifts the consumables 100 on the conveyor belt 21, so that the consumables 100 enter the material unloading channel 511 and become the consumables 100 located at the bottom layer in the material unloading channel 511. When the consumables 100 located at the bottom layer are higher than the material unloading limit assembly 53, the material unloading limit assembly 53 switches to a released state; the material unloading lifting assembly 52 moves downward by a first unloading distance, and during the movement, the consumables 100 located at the bottom layer are limited by the material unloading limit assembly 53.

[0097] The unloading limit assembly 53 in the locked state only limits the consumable 100 from moving downward. When the unloading lifting assembly 52 lifts the consumable 100 to move upward, the unloading limit assembly 53 does not limit the consumable 100, so that the unloading lifting assembly 52 can lift the consumable 100 upward in one go without pausing, thereby improving work efficiency.

[0098] Specifically, the material unloading lifting assembly 52 includes a material unloading lifting plate 521 that can move up and down and a first material unloading driving member, and the first material unloading driving member can drive the material unloading lifting plate 521 to move up and down. When the material unloading lifting plate 521 moves upward, it can lift the consumables 100 so that the consumables 100 move upward. When the material unloading lifting plate 521 moves downward, the consumables 100 can move downward with the material unloading lifting plate 521 under the action of its own gravity. The first material unloading driving member can be a linear module or a cylinder, which is not limited here.

[0099] The material unloading lifting plate 521 is located between the two conveyor belts 21 so as not to interfere with each other. It is understandable that the bottom size of the consumable 100 is larger than the size of the material unloading lifting plate 521. When the consumable 100 moves downward along with the material unloading lifting plate 521, the consumable 100 is limited by the material unloading limiting assembly 53, and the material unloading lifting plate 521 continues to move downward to a position below the conveyor belt 21. The distance moved by the material unloading lifting assembly 52 refers to the distance moved by the material unloading lifting plate 521.

[0100] In some embodiments, the lower material limiting assembly 53 may have the same structure as the upper material limiting assembly 33 .

[0101] In this embodiment, the material unloading limit assembly 53 includes two first material unloading support frames 531, at least two supporting blocks 532 and a reset member 533. The two first material unloading support frames 531 are distributed on two opposite sides of the material unloading channel 511. Each first material unloading support frame 531 is provided with at least one supporting block 532. The supporting block 532 is movably connected to the first material unloading support frame 531, and the supporting block 532 can move between a locked position and a released position. At least one reset member 533 is provided corresponding to each supporting block 532, and the reset member 533 can push the supporting block 532 to move from the released position to the locked position.

[0102] When the unloading lifting assembly 52 lifts the consumable 100 to move upward, the consumable 100 pushes the bearing block 532 located in the locking position to move to the release position. When the consumable 100 moves above the bearing block 532, the bearing block 532 can move from the release position to the locking position under the action of the reset member 533. When the consumable 100 moves downward, the consumable 100 can be carried on the bearing block 532, and the bearing block 532 supports and limits the consumable 100. It can be seen that the bearing block 532 does not need to be electrically driven, saving energy. In order to facilitate the consumable 100 to push the bearing block 532, a guide slope 5321 can be set at one end of the bearing block 532 close to the consumable 100, and the guide slope 5321 extends obliquely downward. When the consumable 100 moves upward, the thrust is transmitted to the bearing block 532 by means of the guide slope 5321, so as to facilitate the movement of the bearing block 532.

[0103] In this embodiment, the reset member 533 is a spring. In other embodiments, the reset member 533 may also be an elastic pad, specifically a rubber pad or a silicone pad. In this embodiment, two reset members 533 are provided for each bearing block 532, so that the bearing block 532 is subjected to balanced force.

[0104] In some embodiments, the bearing block 532 is slidably connected to the first material unloading support frame 531, and the bearing block 532 can slide between a locking position and a release position. When the bearing block 532 is in the locking position, the bearing block 532 protrudes into the interior of the unloading channel 511 and is located on the moving path of the consumable 100. When the bearing block 532 is in the release position, the bearing block 532 retracts and avoids the moving path of the consumable 100. In this embodiment, the bearing block 532 is rotatably connected to the first material unloading support frame 531, and the bearing block 532 can rotate around its own axis between the locking position and the release position. The rotating setting is easier to push than the sliding setting. Specifically, the bearing block 532 is rotatably connected to the first material unloading support frame 531 through a rotating shaft 534, and the bearing block 532 can rotate around the rotating shaft 534.

[0105] The material unloading limiting assembly 53 further includes a limiting member 535, which is disposed on one side of the bearing block 532. When the bearing block 532 is in the locked position, the limiting member 535 abuts against the bearing block 532 to limit the bearing block 532 from further rotating in the direction from the release position to the locked position. In other words, the bearing block 532 can only rotate from the locked position to the release position, but cannot rotate from the locked position to a direction away from the release position.

[0106] The limiting member 535 may be a limiting column arranged on the first unloading support frame 531, and the limiting column is arranged on one side of the bearing block 532 to limit the rotation angle of the bearing block 532. Specifically, the limiting member 535 and the reset member 533 are located on the same side of the bearing block 532. When the bearing block 532 is located at the locked position, the bearing block 532 abuts against the limiting member 535, and the bearing block 532 cannot rotate downward. When the consumable 100 pushes the bearing block 532 to rotate upward, the reset member 533 is compressed, and the bearing block 532 reaches the release position. When the consumable 100 reaches above the bearing block 532, the bearing block 532 rotates downward under the action of the reset member 533. When the bearing block 532 abuts against the limiting member 535, the bearing block 532 stops rotating and returns to the locked position.

[0107] A limiting support plate 536 is provided above the bearing block 532 on each first material unloading support frame 531, and a limiting channel is formed between the limiting support plates 536 on the two first material unloading support frames 531. When the unloading lifting assembly 52 lifts the consumable 100 upward, the consumable 100 moves in the limiting channel. The limiting channel limits the consumable 100 to prevent the stacked consumable 100 from tipping over.

[0108] During the unloading process, it includes: the supporting block 532 is in the locked position, and the consumables 100 located at the bottom layer in the unloading channel 511 are carried on the supporting block 532; the unloading lifting plate 521 moves upward for a first unloading distance, lifts the consumables 100 on the conveyor belt 21, so that the consumables 100 enter the unloading channel 511 and become the consumables 100 located at the bottom layer in the unloading channel 511, and the consumables 100 push the supporting block 532 to rotate from the locked position to the released position during the upward movement; when the consumables 100 located at the bottom layer are higher than the supporting block 532, the supporting block 532 rotates from the released position to the locked position under the action of the reset member 533; the unloading lifting plate 521 moves downward for a first unloading distance, and during the movement, the consumables 100 located at the bottom layer are carried on the supporting block 532.

[0109] See also Figures 1 to 23 The embodiment of the present invention also provides a method for automatically loading and unloading consumables, which adopts the above-mentioned automatic loading and unloading system for consumables, including: S1, loading process: the loading component transfers the consumables 100 closest to the conveyor belt 21 in the loading channel 311 to the conveyor belt 21; S2, working process: the conveyor belt 21 starts, and moves the consumables 100 at the loading position forward to the working position, and the conveyor belt 21 stops rotating; the working lifting component 41 drives the consumables 100 to move upward to the operating position, and the working lifting component 41 supports the consumables 100; after the work is completed, the working lifting component 41 The lifting assembly 41 drives the consumable 100 to move downward until the consumable 100 is placed on the conveyor belt 21; S3, unloading process: the conveyor belt 21 starts and moves the consumable 100 at the working position to the unloading position; the unloading assembly transfers the consumable 100 at the unloading position to the unloading channel 511 and places the consumable 100 at the position closest to the conveyor belt 21; S4, repeat the above S1 to S3, so that the multiple consumables 100 arranged in sequence in the loading channel 311 are moved one by one to the unloading channel 511 through the loading position, the working position and the unloading position.

[0110] See also Figures 15 to 17 During the loading process, it includes: the loading limit assembly 33 is in a locked state, and the consumables 100 located at the bottom layer in the loading channel 311 are limited by the loading limit assembly 33; the loading lifting assembly 32 moves upward by a first loading distance, lifts all consumables 100, so that the consumables 100 located at the bottom layer are separated from the loading limit assembly 33, and the loading limit assembly 33 is switched to a released state; the loading lifting assembly 32 moves downward by a second loading distance, so that the consumables 100 located at the bottom layer are moved out of the loading channel 311, the loading limit assembly 33 is switched to a locked state, and the loading lifting assembly 32 moves downward by a third loading distance, and the consumables 100 are placed on the conveyor belt 21.

[0111] Specifically, during the loading process, the two supporting blocks 332 are in a locked state to support all the consumables 100 in the loading channel 311, and the consumables 100 at the bottom layer in the loading channel 311 are carried on the supporting blocks 332; the loading lifting plate 321 moves upward by a first loading distance to lift all the consumables 100, so that the consumables 100 at the bottom layer are separated from the supporting blocks 332, and the supporting blocks 332 on the two first loading support frames 331 move away from each other; the loading lifting plate 321 moves downward by a second loading distance, so that the consumables 100 at the bottom layer are moved out of the loading channel 311, and the supporting blocks 332 on the two first loading support frames 331 approach each other to limit the consumables 100 in the loading channel 311, and the loading lifting assembly 32 moves downward by a third loading distance to place the consumables 100 on the conveyor belt 21.

[0112] See also Figures 18 to 20 When the working limit assembly 42 is set, during the working process, the conveyor belt 21 starts to move the consumable 100 at the loading position forward. When the working limit assembly 42 limits the consumable 100 from moving forward, the consumable 100 is located at the working position and the conveyor belt 21 stops rotating; the working lifting assembly 41 drives the consumable 100 to move upward to the operating position, and the working lifting assembly 41 supports the consumable 100; the working limit assembly 42 releases the restriction on the consumable 100; after the work is completed, the working lifting assembly 41 drives the consumable 100 to move downward until the consumable 100 is placed on the conveyor belt 21.

[0113] See also Figure 21 to Figure 23 During the material unloading process, it includes: the material unloading limit assembly 53 is in a locked state, and the consumables 100 located at the bottom layer in the material unloading channel 511 are limited by the material unloading limit assembly 53; the material unloading lifting assembly 52 moves upward by a first unloading distance, lifts the consumables 100 on the conveyor belt 21, so that the consumables 100 enter the material unloading channel 511 and become the consumables 100 located at the bottom layer in the material unloading channel 511. When the consumables 100 located at the bottom layer are higher than the material unloading limit assembly 53, the material unloading limit assembly 53 switches to a released state; the material unloading lifting assembly 52 moves downward by a first unloading distance, and during the movement, the consumables 100 located at the bottom layer are limited by the material unloading limit assembly 53.

[0114] Specifically, during the unloading process, the supporting block 532 is in a locked position, and the consumables 100 located at the bottom layer in the unloading channel 511 are carried on the supporting block 532; the unloading lifting plate 521 moves upward by a first unloading distance, lifts the consumables 100 on the conveyor belt 21, so that the consumables 100 enter the unloading channel 511 and become the consumables 100 located at the bottom layer in the unloading channel 511, and the consumables 100 push the supporting block 532 to rotate from the locked position to the released position during the upward movement; when the consumables 100 located at the bottom layer are higher than the supporting block 532, the supporting block 532 rotates from the released position to the locked position under the action of the reset member 533; when the supporting block 532 rotates from the released position to the locked position, the limit member 535 abuts against the supporting block 532 to limit the supporting block 532 from continuing to rotate; the unloading lifting plate 521 moves downward by a first unloading distance, and during the movement, the consumables 100 located at the bottom layer are carried on the supporting block 532.

[0115] In this embodiment, one group of each of the feeding mechanism 30, the working mechanism 40 and the unloading mechanism 50 is provided. In other embodiments, any one of the feeding mechanism 30, the working mechanism 40 and the unloading mechanism 50 can be provided in two or more groups, and along the conveying direction of the consumables 100, the feeding mechanism 30 is located upstream of the working mechanism 40, and the working mechanism 40 is located upstream of the unloading mechanism 50; for example, one feeding mechanism 30, two working mechanisms 40 and one unloading mechanism 50 are arranged in sequence along the conveying direction of the consumables 100. Since the working mechanism 40 is provided in two groups, two consumables 100 can be operated at the same time, thereby improving efficiency.

[0116] The above embodiments are only to illustrate the basic principles and characteristics of the present invention. The present invention is not limited by the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may be subject to various changes and modifications, which are within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic loading and unloading system for consumables, characterized in that: include: A frame (10), the frame (10) comprising a loading position, a working position and a unloading position arranged in sequence along a conveying direction; A conveying mechanism (20) is arranged on the frame (10), and the conveying mechanism (20) comprises a conveying belt (21) extending along the conveying direction; A loading mechanism (30) is arranged at the loading position, the loading mechanism (30) comprises a loading channel (311) and a loading component, the loading channel (311) can accommodate a plurality of consumables (100), and the loading component can transfer the plurality of consumables (100) in the loading channel (311) to the conveyor belt (21) one by one; A working mechanism (40) is arranged at the working position, and the working mechanism (40) comprises a working lifting component (41), and the working lifting component (41) can drive the consumable (100) to move up and down; A material unloading mechanism (50) is arranged at the material unloading position, and the material unloading mechanism (50) comprises a material unloading channel (511) and a material unloading component, and the material unloading component can transfer the consumable material (100) on the conveyor belt (21) to the material unloading channel (511).

2. The automatic loading and unloading system for consumables according to claim 1 is characterized in that: The conveyor belt (21) extends in a horizontal direction, the loading channel (311) extends in a vertical direction, the loading channel (311) is located above the conveyor belt (21), and the unloading channel (511) extends in a vertical direction, the unloading channel (511) is located above the conveyor belt (21).

3. The automatic loading and unloading system for consumables according to claim 1 is characterized in that: The feeding component comprises a feeding lifting component (32) and a feeding limiting component (33); the feeding limiting component (33) is arranged at the bottom end of the feeding channel (311); the feeding lifting component (32) is arranged below the feeding channel (311); the feeding limiting component (33) can be switched between a locked state and a released state; when the feeding limiting component (33) is in the locked state, it can limit the consumable (100) from moving downward.

4. The automatic loading and unloading system for consumables according to claim 3 is characterized in that: The loading limit assembly (33) comprises: Two first loading support frames (331) are distributed on two opposite sides of the loading channel (311); at least two supporting blocks (332), each of the first loading support frames (331) being provided with at least one of the supporting blocks (332); A first loading drive component (333) is provided with a group of the first loading drive components (333) corresponding to each of the supporting blocks (332), and the first loading drive component (333) can drive the supporting blocks (332) on the two first loading support frames (331) to approach each other or move away from each other, and the supporting blocks (332) can support the consumables (100).

5. The automatic loading and unloading system for consumables according to claim 1 is characterized in that: The material unloading component comprises a material unloading lifting component (52) and a material unloading limiting component (53); the material unloading limiting component (53) is arranged at the bottom end of the material unloading channel (511); the material unloading lifting component (52) is arranged below the material unloading channel (511); the material unloading limiting component (53) can be switched between a locked state and a released state; when the material unloading limiting component (53) is in the locked state, it can limit the consumable (100) from moving downward.

6. The automatic loading and unloading system for consumables according to claim 5, characterized in that: The material discharging limiting assembly (53) comprises: Two first material unloading support frames (531) are distributed on two opposite sides of the material unloading channel (511); at least two bearing blocks (532), each of the first material removal support frames (531) being provided with at least one of the bearing blocks (532), the bearing blocks (532) being movably connected to the first material removal support frame (531), and the bearing blocks (532) being movable between a locking position and a releasing position; A reset member (533), at least one reset member (533) is provided corresponding to each of the bearing blocks (532), and the reset member (533) can push the bearing block (532) to move from the release position to the locking position.

7. The automatic loading and unloading system for consumables according to claim 6, characterized in that: The bearing block (532) is rotatably connected to the first material unloading support frame (531), and the bearing block (532) can rotate around its own axis between the locking position and the releasing position.

8. The automatic loading and unloading system for consumables according to claim 7, characterized in that: The material discharging limiting component (53) further comprises: A limiting member (535) is arranged on one side of the bearing block (532); when the bearing block (532) is in the locking position, the limiting member (535) abuts against the bearing block (532) and limits the bearing block (532) from continuing to rotate in the direction from the release position to the locking position.

9. The automatic loading and unloading system for consumables according to any one of claims 1 to 8, characterized in that: The working mechanism (40) further comprises a working platform (43), wherein the working platform (43) is arranged above the conveyor belt (21), and a positioning channel is arranged on the working platform (43); the working lifting assembly (41) is capable of lifting the consumable (100) so that the consumable (100) enters the positioning channel, and / or the working lifting assembly (41) is capable of driving the consumable (100) to move downward so that the consumable (100) leaves the positioning channel.

10. A method for automatically loading and unloading consumables, characterized in that: The automatic loading and unloading system for consumables according to any one of claims 1 to 9 comprises: S1. Loading process: The feeding component transfers the consumable material (100) in the feeding channel (311) closest to the conveyor belt (21) to the conveyor belt (21); S2. Working process: The conveyor belt (21) is started to move the consumables (100) at the loading position forward to the working position, and the conveyor belt (21) stops rotating; The working lifting assembly (41) drives the consumable (100) to move upward to the operating position, and the working lifting assembly (41) supports the consumable (100); After the work is completed, the working lifting assembly (41) drives the consumables (100) to move downward until the consumables (100) are placed on the conveyor belt (21); S3, unloading process: The conveyor belt (21) is started to move the consumables (100) at the working position to the unloading position; The unloading component transfers the consumable material (100) located at the unloading position into the unloading channel (511) and places the consumable material (100) at a position closest to the conveyor belt (21); S4. Repeat the above steps S1 to S3, so that the multiple consumables (100) arranged in sequence in the loading channel (311) are moved one by one to the unloading channel (511) through the loading position, the working position and the unloading position.

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