Automatic consumable conveying device and operation method thereof

Abstract

The invention provides an automatic consumable conveying device. The automatic consumable conveying device comprises a first conveying area, a second conveying area, a conveying supporting piece, a first conveying assembly, a separating assembly, a third conveying assembly, a recycling assembly and a second conveying assembly, wherein the first conveying assembly, the separating assembly and the third conveying assembly are located in the first conveying area, and the recycling assembly and the second conveying assembly are located in the second conveying area. Automatic consumable extraction and stacking structure recovery of the consumable insertion structure of the stacking structure can be achieved. When a part of each stacking structure is stored in the second conveying assembly, the separated consumable inserting structure in each stacking structure moved out of the recycling assembly is stacked with the part, stored in the second conveying assembly and corresponding to the part in each stacking structure in a one-to-one mode, of each stacking structure. The invention further discloses a corresponding operation method. Automation of extraction of the consumables loaded in the consumable insertion structures arranged in a stacked mode becomes possible.

Description

Technical Field

[0001] The present invention belongs to the technical field of biological sample analysis equipment, and in particular relates to a device in a consumables management system in a biological analysis instrument, that is, an operation method thereof. Background Art

[0002] The background information related to the present invention provided in this section may not all be prior art, and may contain content that does not constitute prior art.

[0003] A biological sample analyzer is an analysis and management system used to perform experiments or medical purposes on biological samples. It generally includes at least a sample injection management system, a consumables management system, a reagent management system, a reaction management system, a detection management system, and a recovery management system.

[0004] Specifically, the above-mentioned sample injection management system is used to transfer an external sample tube containing a sample liquid containing a biological sample into the biological sample analyzer; the above-mentioned consumables management system is used to call the consumables to be used to store the sample liquid extracted from the above-mentioned sample tube; the above-mentioned reagent management system is used to add designated reagents to the consumables to mix with the sample liquid in the sample tube; the above-mentioned reaction management system is used to induce a chemical reaction between the sample liquid contained in the consumables and the reagent solution; the above-mentioned detection management system is used to detect the products of the completed chemical reaction; and the above-mentioned recycling management system is used to recycle used consumables and other wastes.

[0005] In the existing consumables management system, the consumables insertion structure for storing consumables is mostly laid out flat, and this arrangement is considered to facilitate the removal of consumables from the consumables insertion structure. In addition, since the number of consumables that can be stored in a consumables insertion structure is limited, after the consumables in the consumables insertion structure are used up, if only one consumables insertion structure is set in the biological sample analysis, it needs to be replaced manually every short period of time. In order to reduce the manual workload, the current method is to increase the storage area to solve the problem of accommodating more consumables insertion structures.

[0006] However, the above configuration adds new requirements to the internal installation space size of the biological sample analyzer, the outer shell size of the analyzer, the transportation of the entire device, etc.

[0007] In addition, for the consumables insertion structure that is stacked and filled with consumables, it is also necessary to consider how to separate the two adjacent consumables insertion structures at the top of the structure formed by stacking the consumables insertion structures filled with consumables within a limited space to facilitate an external robotic arm to extract the consumables, as well as the problem of recycling the consumables insertion structures after extracting the consumables. Summary of the invention

[0008] The object of the present invention is to provide an automatic consumables conveying device, which is divided into two parallel first conveying areas and second conveying areas. The first conveying component below the first conveying area and the separation component above the first conveying area are arranged so that it is possible to separate the two adjacent consumables insertion structures at the top of the structure formed by stacking the consumables insertion structures loaded with consumables. The recovery component above the second conveying area and the second conveying component below it are arranged so that after the consumables on the separated consumables insertion structures are extracted, they are recovered into the second conveying component below.

[0009] Based on the above purpose, the present invention proposes an automatic consumables conveying device, which is used to convey an external stacking structure, or to simultaneously convey multiple external stacking structures that are arranged in parallel and have substantially the same height. The stacking structure is formed by stacking a plurality of independently arranged consumables insertion structures with the same structure and size in the up and down direction. The consumables insertion structure is used for inserting multiple external consumables, and includes:

[0010] a first conveying area and a second conveying area;

[0011] Conveying support member;

[0012] A first conveying assembly is located in the first conveying area, is disposed on the conveying support, and is arranged in the up-down direction, and is used to move one or more stacked structures arranged side by side and having substantially the same height from bottom to top in the first conveying area;

[0013] A second conveying assembly is located in the second conveying area, is disposed on the conveying support, and is substantially parallel to the first conveying assembly, moves from top to bottom in the second conveying area, and is used to receive all the stacked structures conveyed by the first conveying assembly;

[0014] A separation component, located above the first conveying component and disposed on the conveying support, is used to separate the consumable material insertion structure located at the top of each stacking structure conveyed by the first conveying component from the part below it;

[0015] A third conveying assembly, located above the separation assembly and disposed on the conveying support, for conveying the separated one or more consumable material insertion structures from a relatively upper portion of the first conveying area to a relatively upper portion of the second conveying area; and

[0016] A recovery component is disposed above the second conveying component, and is used to support the separated one or more consumable material insertion structures located thereon, or, after the support is removed, allow the separated one or more consumable material insertion structures located thereon to enter the second conveying component located thereunder by virtue of their own gravity;

[0017] When the consumable material insertion structure exists in the second conveying component, all the consumable material insertion structures removed from the recycling component are stacked with the consumable material insertion structures that correspond to the adjacent consumable material insertion structures in the second conveying component.

[0018] In one example, the first delivery assembly includes:

[0019] A first conveying driver is provided on the conveying support;

[0020] A first conveying transmission member is arranged in the up-down direction and moves in the up-down direction under the driving of the first conveying driver;

[0021] A first conveying lifting member is provided on the first conveying transmission member, moves in the up-down direction with the operation of the first conveying transmission member, and is used to lift all the stacking structures located in the first conveying area so that the stacking structures move from bottom to top under the lifting;

[0022] The second conveying assembly comprises:

[0023] A second conveying driver is provided on the conveying support;

[0024] The second conveying transmission member is arranged in the up-down direction and moves in the up-down direction under the driving of the second conveying driver;

[0025] A second conveying lifting member is provided on the second conveying transmission member, moves in the up-down direction with the operation of the second conveying transmission member, and is used to lift the part of all the stacked structures conveyed by the first conveying assembly that enters the second conveying assembly, so that the part moves from top to bottom under the lifting;

[0026] The third conveying assembly comprises:

[0027] A third conveying driver is provided on the conveying support;

[0028] A third conveying transmission member is arranged from the first conveying area to the second conveying area, and is driven by the third conveying driver to run along the first conveying area to the second conveying area;

[0029] The third conveying pushing member is arranged on the third conveying transmission member, and pushes the separated one or more consumable material insertion structures from the first conveying area to the second conveying area as the third conveying transmission member runs.

[0030] In one example, the first conveying assembly further includes:

[0031] A first conveying guide member, which is substantially parallel to the setting direction of the first conveying transmission member and is used for slidingly cooperating with the first conveying lifting member;

[0032] The second conveying assembly also includes:

[0033] A second conveying guide member is substantially parallel to the setting direction of the second conveying transmission member and is used for slidingly cooperating with the second conveying lifting member;

[0034] The third conveying assembly further comprises:

[0035] The third conveying guide member is substantially parallel to the setting direction of the third conveying transmission member, and is used for slidingly cooperating with the third conveying pushing member.

[0036] In one example, the separation assembly includes:

[0037] At least one pair of separation plates, located above the first conveying assembly, are spaced apart and correspondingly hinged to the conveying support;

[0038] Among them, the spacing between the pair of separation plates satisfies: when the pair of separation plates are located at their respective final rotation positions, they are each arranged to be inclined inward from bottom to top, so that one of the consumable insertion structures located at the top of each stacking structure conveyed by the first conveying component can simultaneously pass upward from between the pair of separation plates; when the pair of separation plates fall back to the initial rotation position under their own gravity, they are supported on the bottom of one or more of the separated consumable insertion structures.

[0039] In one example, the separation assembly includes:

[0040] At least one pair of separation plates, located above the first conveying assembly, are fixedly mounted on the conveying support member at intervals and correspondingly, and the pair of separation plates are arranged in an inclined inward direction from bottom to top;

[0041] Among them, the spacing between the pair of separation plates satisfies: the maximum dimension between the two sides of the corresponding pair of separation plates on the top of each of the stacking structures conveyed by the first conveying component is slightly smaller than the minimum spacing between the pair of separation plates, so that after the separated one or more consumable insertion structures pass through the pair of elastically deformed separation plates upward, the pair of separation plates return to their original state with the aid of elastic restoring force, and the top of the pair of separation plates restored to their original state is simultaneously supported on the bottom of the separated one or more consumable insertion structures.

[0042] In one example, the recycling component includes:

[0043] A recovery driver is provided on the conveying support;

[0044] A recovery transmission member, cooperating with the recovery driver;

[0045] A pair of recovery opening and closing members, whose working surfaces are basically located on the same plane, are respectively arranged on a corresponding side of the recovery transmission member. As the recovery transmission member runs, the spacing between the pair of recovery opening and closing members increases or decreases. The spacing between the pair of recovery opening and closing members satisfies: when the spacing between the pair of recovery opening and closing members decreases, its size must be sufficient to support the bottom of one or more separated consumable material insertion structures; when the spacing becomes larger, its size must be sufficient to allow one or more separated consumable material insertion structures to use their own gravity to fall from the gap between the pair of recovery opening and closing members to the second conveying component below.

[0046] In one example, the recycling component further comprises:

[0047] The recovery guide member is substantially parallel to the setting direction of the recovery transmission member and is used for slidingly cooperating with the pair of recovery opening and closing members.

[0048] In one example, it also includes:

[0049] A limiting component for consumable material extraction, located above the recovery component, is used to limit the displacement of one or more separated consumable material insertion structures in one or more directions in the circumferential direction;

[0050] The limiting component for consumable material extraction includes:

[0051] A front stopper for consumable material extraction is provided on the conveying support member, and when the separated one or more consumable material insertion structures are conveyed to the top of the recovery component by the third conveying component, the front stopper cooperates with the front side of the separated one or more consumable material insertion structures in the conveying direction to limit the displacement of the consumable material insertion structures in the conveying direction;

[0052] The left limiter for consumable material extraction and the right limiter for consumable material extraction respectively cooperate with the two sides of the separated one or more consumable material insertion structures extending along the conveying direction to limit the left and right displacement of the separated one or more consumable material insertion structures in the conveying direction.

[0053] In one example, the left limit member for consumable material extraction and the right limit member for consumable material extraction are both wheel structures, which are rotatably connected to the conveying support respectively. In the process of the third conveying component conveying the separated one or more consumable material insertion structures to the top of the recycling component, the left limit member for consumable material extraction and the right limit member for consumable material extraction roll on the separated one or more consumable material insertion structures.

[0054] In one example, the left limit member for consumable material extraction or the right limit member for consumable material extraction is suspended above the separated one or more consumable material insertion structures, and is inclined from top to bottom to cooperate with the intersection of the top of the separated one or more consumable material insertion structures and one side thereof extending along the conveying direction of the third conveying component.

[0055] Based on the above purpose, the present invention also proposes an operating method of the above-mentioned automatic consumables conveying device, and the operating method comprises:

[0056] Sending a first detection instruction to detect whether the stacking structure is installed in the first conveying area;

[0057] When it is detected that the stacking structure is installed in the first conveying area, a first moving instruction is sent to the first conveying component to instruct the first conveying component to convey the stacking structure from bottom to top;

[0058] When the consumables insertion structure with the consumables inserted at the top of the stacking structure is detached and transported to the third conveying component, a second movement instruction is sent to the third conveying component to instruct the third conveying component to transport the detached consumables insertion structure to above the sub-recovery component in the second conveying area;

[0059] Sending a second detection instruction to detect whether all the consumables in the detached consumable insertion structure located above the sub-recovery component have been extracted;

[0060] When it is detected that all the consumables in the detached consumable insertion structure have been extracted, a third movement instruction is sent to the recycling component, the recycling component performs an opening operation, and the detached consumable insertion structure moves toward the second conveying component;

[0061] Sending a fourth movement instruction to the second conveying component to instruct the second conveying component to perform an operation of moving from top to bottom;

[0062] Repeat the above steps until all the stacked structures lifted by the first conveying assembly enter the second conveying assembly.

[0063] Based on the above purpose, the present invention also proposes a computer-readable storage medium, in which a computer program is stored. The computer program is suitable for being loaded and executed by a processor so that a computer device having the processor executes the operating method of the above-mentioned automatic consumables conveying device.

[0064] Based on the above purpose, the present invention also proposes a computer program product, including a computer program, which implements the operating method of the above consumables management system when executed by a processor.

[0065] Additional aspects and advantages of the present invention will be given in the description which follows, and in part will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0067] Figure 1A The schematic diagram is a schematic diagram of the structure observed from a top view according to an embodiment of the consumable material insertion structure of the present invention.

[0068] Figure 1B for Figure 1A A schematic structural diagram of an embodiment of the consumable material insertion structure observed from an upward perspective.

[0069] Figure 1C for Figure 1A Schematic top view of .

[0070] Figure 1D for Figure 1A Schematic diagram from top view.

[0071] Figure 1E for Figure 1A Schematic front view of .

[0072] Figure 1F For multiple Figure 1A A schematic structural diagram of a stacked structure formed by stacking in the up and down directions in one embodiment of the consumable insertion structure.

[0073] Figure 1G for Figure 1F Rear view schematic diagram of .

[0074] Figure 2A It is a structural schematic diagram from one perspective of an embodiment of the mobile consumable material carrying structure in the present invention.

[0075] Figure 2B for Figure 2A A structural schematic diagram of another perspective of an embodiment of the mobile consumable material carrying structure.

[0076] Figure 2C for Figure 2A Schematic top view of .

[0077] Figure 2D for Figure 2A Rear view schematic diagram of .

[0078] Figure 2E for Figure 2A Schematic diagram of the right side.

[0079] Figure 2F for Figure 2A A schematic diagram of the structure of an embodiment of the mobile consumable material carrying structure, a first tray and a second tray of the same size.

[0080] Figure 3 The figure is a structural schematic diagram of an embodiment of the present invention when the mobile consumables carrying structure is located in the automatic consumables conveying device and the stacking structure is located on the mobile consumables carrying structure.

[0081] Figure 4 It is a structural schematic diagram of an embodiment of the present invention when the mobile consumables carrying structure is located outside the consumables automatic conveying device.

[0082] Figure 5 It is a structural schematic diagram of an embodiment according to the present invention when the mobile consumables carrying structure is located in the automatic consumables conveying device and the stacking structure is not provided on the mobile consumables carrying structure.

[0083] Figure 6 It is a structural schematic diagram of the consumables insertion structure stored in both the third conveying component and the recycling component of the automatic consumables conveying device according to one embodiment of the present invention.

[0084] Figure 7 It is a structural schematic diagram of the consumables insertion structure stored in both the third conveying component and the recycling component of the automatic consumables conveying device according to one embodiment of the present invention.

[0085] Figure 8 It is a side view schematic diagram of the separation component in the automatic consumables conveying device according to one embodiment of the present invention when cooperating with the separated consumables insertion structure.

[0086] Fig. 9 It is a structural schematic diagram of the recovery component and the limiting component for consumable extraction in the automatic consumable conveying device according to one embodiment of the present invention when cooperating with a separated consumable insertion structure.

[0087] Fig.10 It is a schematic diagram of an operating method according to one embodiment of the present invention.

[0088] The accompanying drawings are for illustrative purposes only and are not intended to be drawn to scale. In the accompanying drawings, the same reference symbols are used to indicate the same elements. For the purpose of simplicity, not every component is labeled in every drawing. DETAILED DESCRIPTION

[0089] The present invention will be described below with reference to several examples. It should be understood that these embodiments are described to enable those skilled in the art to better understand and implement the present invention, and do not represent or imply any limitation on the scope of the present invention.

[0090] A biological sample analyzer is an integrated device used to detect biological samples, which generally includes at least a sample injection management system, a consumables management system, a reagent management system, a reaction management system, and a detection management system.

[0091] In order to ensure the accuracy of detection and analysis, each biological sample to be detected and analyzed is extracted and stored separately. In order to prevent mixing with other biological samples, the materials used for extraction and storage are usually disposable. Materials that must be discarded after one use and cannot be used again are usually called consumables.

[0092] The consumables used in the biological sample analyzer generally include disposable consumables for extraction, such as a tip (i.e., a pipette tip), and disposable consumables for storage (such as a tubular component, etc.). Of course, other consumables may also be included as needed.

[0093] The consumables are usually pre-inserted into a consumables inserting structure for storing the consumables. The consumables inserting structure may be a tray, a rack, a seat, a box or the like, but is not limited to the above structures.

[0094] Since the detection of each biological sample requires multiple consumables, including at least a tip (i.e., a pipette tip) and a tubular component for storing consumables, etc., the demand for consumables is large and of different types.

[0095] In addition, in order to facilitate the extraction of consumables, the consumables are inserted into the consumable insertion structure. Since the consumable insertion structure is usually placed in the biological sample analyzer, in order to facilitate the automatic grabbing of consumables in the biological sample analyzer and to simplify the related equipment used to extract the consumables, the technicians in this field must lay the consumable insertion structure containing the consumables flat.

[0096] However, since the demand for consumables is large and the types are different, if only a small number of consumable insertion structures are placed in the biological sample analyzer, the biological sample analyzer needs to be manually opened to replace the consumable insertion structures at short intervals. In order to reduce the number of replacements, those skilled in the art must increase the area for laying out the consumable insertion structures in the biological sample analyzer so that the biological sample analyzer can accommodate more consumable insertion structures at the same time.

[0097] Although those skilled in the art may also consider using a stacking method, when using the stacking method, they need to consider whether the stacking will cause tipping, whether the upper and lower consumables will affect each other, and how to complete the extraction of consumables when stacking. Therefore, when choosing the placement method of the consumable insertion structure in the biological sample analyzer: whether to choose flat or stacking, the technicians in this field will inevitably choose the flat method.

[0098] The choice of laying the consumables in a flat structure will inevitably lead to an increase in the space of the biological sample analyzer, and the corresponding size of various related components on it will inevitably increase, which will inevitably increase the material cost. In addition, the increase in weight and volume of the whole unit also poses new challenges to the transportation of the whole unit.

[0099] Therefore, the question of “how to facilitate the extraction of consumables from the consumable insertion structure without increasing or even reducing the storage area of ​​the consumable insertion structure in the biological sample analyzer” is a technical obstacle facing those skilled in the art.

[0100] A biological sample analyzer is an analysis and management system used to perform experiments or medical purposes on biological samples. It generally includes at least a sample injection management system, a consumables management system, a reagent management system, a reaction management system, a detection management system, and a recovery management system.

[0101] Specifically, the above-mentioned sample injection management system is used to transfer an external sample tube containing a sample liquid containing a biological sample into the biological sample analyzer; the above-mentioned consumables management system is used to call the consumables to be used to store the sample liquid extracted from the above-mentioned sample tube; the above-mentioned reagent management system is used to add designated reagents to the consumables to mix with the sample liquid in the sample tube; the above-mentioned reaction management system is used to induce a chemical reaction between the sample liquid contained in the consumables and the reagent solution; the above-mentioned detection management system is used to detect the products of the completed chemical reaction; and the above-mentioned recycling management system is used to recycle used consumables and other wastes.

[0102] An implementation of the consumables management system of the present invention includes a consumables insertion and placement structure, a mobile consumables carrying structure and a consumables automatic conveying device.

[0103] The workflow of this embodiment is as follows: the stacked consumables insertion structure loaded with consumables is first placed on the mobile consumables bearing structure, and then the mobile consumables bearing structure is moved into the consumables automatic conveying device, and the stacked consumables insertion structure loaded with consumables is conveyed one by one to the consumables extraction operation area set at the top, so that the external robotic arm can extract the consumables in the consumables insertion structure located at the top. After the consumables are completely extracted, the consumables insertion structure is recycled, and the recycled consumables insertion structure remains in a stacked state. In this way, it is possible to place more consumables insertion structures without increasing the area of ​​the consumables insertion structure in the biological sample analyzer, or even reducing the area of ​​the consumables insertion structure. At the same time, the problem of extracting the consumables in the consumables insertion structure is solved.

[0104] Consumables insertion structure

[0105] As an embodiment of the consumable material insertion structure, it includes a consumable material support body, a consumable material containing component and an abutting component.

[0106] like Figures 1A to 1G As shown, as an example of the consumable support body, it is a consumable support seat 2301, and the top and bottom of the outer side of the consumable support seat 2301 are substantially parallel. Of course, the consumable support body can also be another structure, such as a disc structure, a frame structure, etc.

[0107] The top and bottom of the outer side of the consumable support seat 2301 are basically arranged in parallel. When the consumable support seat 2301 is stacked in the up and down directions, the bottom and top thereof remain basically arranged horizontally and parallel to each other, thereby reducing the instability of the stacking structure caused by tilting during stacking.

[0108] It should be noted that the "up and down directions" mentioned above and below may refer to the direction perpendicular to the horizontal plane, and the angle formed by this direction and the horizontal plane is basically 90 degrees. It refers to the upward direction perpendicular to the horizontal plane, and / or refers to the downward direction perpendicular to the horizontal plane; and / or refers to a direction not perpendicular to the horizontal plane, that is, the angle formed by it and the horizontal plane is an acute angle less than 90 degrees or an obtuse angle greater than 90 degrees and less than 180 degrees. It is inclined relative to the horizontal plane, and may refer to an inclined downward direction, and / or may refer to an inclined upward direction.

[0109] like Figure 1B As shown, the consumable support seat 2301 is provided with a consumable support seat inner cavity 2302 (i.e., a type of the consumable support inner cavity), the bottom of the consumable support seat inner cavity 2302 is connected to the outside, the top area is smaller than the bottom area, and the size of the bottom area can at least accommodate the top entry of the consumable insertion structure.

[0110] like Figure 1A ,1E , 1F, and 1G are another example of the consumable support body, in which the cross-sectional area gradually increases from the top to the bottom. The above arrangement lowers the center of gravity of the consumable support body and improves the stability of the consumable insertion structure in the stacking structure.

[0111] like Figure 1A , 1C As shown in 1D, 1E, 1F, and 1G, the cross-sectional area of ​​the consumable support seat 2301 increases from the top to the bottom, and each side portion extending in the up-down direction is inclined downward and outward. This makes the length of each side of the bottom of the consumable insertion structure at the bottom of the stacking structure greater than the length of the corresponding side of the bottom, so that the stability of each side of the bottom of the consumable insertion structure at the bottom of the stacking structure can be improved, and there is no situation where the length of one side of the bottom of the consumable insertion structure at the bottom is less than or equal to the length of the corresponding side of the top, so that the relatively short bottom side of the consumable insertion structure at the bottom is prone to tilting.

[0112] An example of the consumables containing assembly includes a plurality of consumables containing holes.

[0113] The consumables containing hole can be in a form in which both the inside and the outside are directly connected to the outside world (that is, in the form of a through hole, so that the inside and the outside of the consumables containing hole are respectively directly connected to the outside world), or it can be in the form of only the outside being directly connected to the outside world, and the inside not being directly connected to the outside world (that is, in the form of a non-through hole).

[0114] An example of the consumables receiving opening is as follows: Figure 1A , 1B , 1C, and 1D show a consumables receiving through hole 2303, which is opened on the top of the consumables support seat 2301. The consumables receiving through hole 2303 is connected to the consumables support seat inner cavity 2302. A portion of the consumables inserted therein can pass through the consumables receiving opening and enter the consumables support seat inner cavity 2302.

[0115] Of course, as required, the consumables accommodating through hole 2303 may also be provided on the outer side of the consumables supporting seat 2301 extending in the up-down direction.

[0116] The above-mentioned arrangement of multiple consumable accommodating through holes 2303 on the top of the consumable support seat 2301 enables the robotic arm in the biological sample analyzer to extract the consumables inserted in the consumable accommodating through holes 2303 from the top of the consumable support seat 2301, and the robotic arm can extract the consumables in the up and down directions perpendicular to the bottom.

[0117] Compared with the outer portion of the consumables receiving through hole 2303 extending in the up-down direction on the consumables support seat 2301, the extraction path is shorter, and the probability of being interfered by the consumables support seat 2301 in the extraction path is also greatly reduced. In addition, the operation complexity of the robot arm can be reduced, that is, when the robot arm extracts the consumables from top to bottom, the part that grabs the consumables may no longer need to adjust its angle relative to the grabbed consumables through a rotation operation, which simplifies the grabbing steps and reduces the rotation function requirements of the robot arm, which can also help simplify the structural complexity of the robot arm and reduce the complexity of the control process.

[0118] An example of the consumables containing assembly also includes a consumables containing channel.

[0119] An example of the consumables receiving channel is as follows Figure 1B , 1D As shown, a consumable accommodating channel 2304 is formed by a grid structure located in the inner cavity 2302 of the consumable support seat and serves to enhance the working strength. One end port of the consumable accommodating channel 2304 is connected to the consumable accommodating through hole 2303, and the other end port is connected to the inner cavity 2302 of the consumable support seat.

[0120] Whether to open the consumables receiving through hole 2303 on the consumables support seat 2301 or to add the consumables receiving channel 2304 on the basis of opening the consumables receiving through hole 2303 can be determined according to the consumables type. Specifically, for the tip head (i.e., the liquid pipetting gun head), the consumables receiving channel 2304 can be added so that two adjacent tip heads (i.e., the liquid pipetting gun heads) will not interfere with each other, which may be more suitable for the tip heads (i.e., the liquid pipetting gun heads) that are easily damaged; and for the tubular parts made of plastic for holding liquids, only the consumables receiving through hole 2303 can be set, because even if the adjacent tubular parts collide, it usually does not affect their use, and in this case, it can be considered not to use the consumables receiving channel 2304.

[0121] In addition, according to the different types of consumables used, multiple consumable accommodating areas 2305 can be set on the outside of the same consumable support seat 2301. In one consumable accommodating area 2305, only multiple consumable accommodating through holes 2303 of the same size and shape are provided.

[0122] That is, one consumables accommodating area 2305 is only designed to insert and place the consumables accommodating through hole 2303 of one type of consumables. Specifically, how many consumables accommodating areas 2305 should be divided depends on the number of types of consumables used.

[0123] The above-mentioned setting of dividing each of the consumable support seats 2301 into multiple consumable accommodating areas 2305 can be based on the consideration of reducing the number of stacking structures. If only one consumable accommodating area 2305 is set on a consumable support seat 2301, that is, only one type of consumable can be inserted on the consumable support seat 2301; if another type of consumable is required, it is necessary to set another consumable support seat 2301 with another consumable accommodating area 2305. In this case, two stacking structures placed in parallel are required, one of the consumable support seats 2301 in the stacking structure is inserted with one type of consumable, and the other of the consumable support seats 2301 in the stacking structure is inserted with another type of consumable. If more types of consumables are required, the number of stacking structures set in parallel will also be more, which will greatly occupy the already scarce installation space resources.

[0124] In addition, the setting of dividing each of the above-mentioned consumable support seats 2301 into multiple consumable accommodating areas 2305 can also be based on the consideration of simplifying the operation of the robotic arm, that is, if there are multiple stacking structures, when the robotic arm extracts the consumables, not only the walking path becomes longer, but also when placing these stacking structures, the position of the stacking structures storing different consumables relative to the consumable support seat 2301 cannot be made wrong, otherwise the robotic arm may extract the wrong type of consumables or the system needs to add a functional module to determine the type of consumables inserted in the stacking structure.

[0125] If different consumables containing areas 2305 are provided on the consumables support seat 2301 according to different types of consumables, the robot arm only needs to operate various types of consumables on one consumables support seat 2301, which can greatly shorten the walking path of the robot arm. In addition, it is also convenient to complete the positioning of the consumables support seat 2301 for inserting and placing the consumables in advance.

[0126] The function of the abutment component is: when stacking, the top of the consumable material insertion structure located relatively below is abutted against the inner wall of the consumable material support cavity in the consumable material insertion structure located relatively above; in addition, when stacking, the consumables inserted on the two adjacent consumable material insertion structures in the stacking structure stacked in the up-down direction are prevented from contacting each other; in addition, the probability of the top of the consumable material insertion structure located relatively below abutting against the inner wall of the consumable material support cavity in the consumable material insertion structure located relatively above to move circumferentially in the consumable material support cavity in the consumable material insertion structure located relatively above against which it abuts is reduced; and a gap such as the above is left between the two adjacent consumable material insertion structures in the stacking structure stacked in the up-down direction. Figure 1F , 1GThe separation spacing area 2307 shown is connected to the outside world and is used for allowing a part of the separation component (see the relevant description below for details) on the automatic consumable conveying device to extend into the separation spacing area 2307 to support the consumable insertion structure located above it. Therefore, the length (i.e., height) of the separation spacing area 2307 in the up and down directions cannot be too small, otherwise a part of the separation component (see the relevant description below for details) on the automatic consumable conveying device cannot be extended therein. Of course, it cannot be too large. If it is too large, it may cause the position of the abutment component to be set too high, which may cause the consumables inserted on the two adjacent consumable insertion structures to contact, or cause the height of the consumable insertion structure to be increased during design, and unnecessary consumption of too much material required for manufacturing the consumable insertion structure. In addition, if the height of the consumable insertion structure is too large, the stability after stacking may be reduced. In addition, it may be considered that if the height of the overlapping part of the upper and lower stacked consumable insertion structures is too large, it will be inconvenient for subsequent separation operations.

[0127] An example of the abutment assembly includes an abutment member disposed at a relatively lower portion of the consumable support inner cavity.

[0128] An example of the abutment member is Figure 1B As shown, the abutment opening 2306 can be an inverted opening angle structure, including an upper abutment portion 2306a located at a relatively upper part and a side abutment portion 2306b located at a relatively lower part. The abutment opening 2306 has the upper abutment portion 2306a and the side abutment portion 2306b as two sides of the angle.

[0129] The upper abutment portion 2306a abuts against the top outer edge of the consumable support seat 2301 located relatively below, and the side abutment portion 2306b abuts against the portion extending along the up-down direction on the outer side of the consumable support seat 2301 located relatively below.

[0130] The arrangement of the upper abutment portion 2306a and the side abutment portion 2306b makes it difficult for the consumable support seat 2301 located relatively below after stacking to move along the outer circumferential direction within the consumable support seat inner cavity 2302 within the consumable support seat 2301 located relatively above, thereby reducing the probability of the stacking mechanism tilting.

[0131] In addition, when setting the position of the abutment member along the up and down directions within the inner cavity 2302 of the consumable support seat, it is necessary to consider: in the stacking structure, all the consumables stored in the consumable support seat 2301 located relatively above do not touch the consumables inserted on the top of the consumable support seat 2301 located relatively below.

[0132] like Figure 1BAs shown, the abutment opening 2306 can be provided on a reinforcing rib located in the inner cavity 2302 of the consumable support seat 2301 and having a structural reinforcement effect. The reinforcing rib can be plate-shaped or tubular.

[0133] Of course, the upper abutment portion and the side abutment portion constituting the abutment opening may also be directly a portion of the inner side wall of the consumable support seat 2301 .

[0134] The number of the abutting openings 2306 is at least 3. Each of the abutting openings 2306 matches with a corresponding side of at least three sides of the consumable support seat 2301, or corresponds to a corresponding part of at least three parts of the consumable support seat 2301.

[0135] The positions of the plurality of abutment openings 2306 are basically located at the same height so that the contact surface thereof with the top of the consumable material support seat 2301 located therebelow is basically maintained on the same plane.

[0136] In this way, the plurality of abutment openings 2306 are substantially at the same height, forming a ring-shaped structure on the radially outer side of the consumable support seat 2301, so that the consumable support seat 2301 located relatively above can be stably stacked above the consumable support seat 2301 located relatively below.

[0137] As an embodiment of the consumable insertion structure, it also includes a stacking positioning component. Its function is to make the consumable insertion structure located relatively above overlap on the consumable insertion structure located relatively below it. The "overlapping" means that the center lines of each consumable insertion structure in the stacking structure extending in the up-down direction are basically located on a straight line. In addition, the stacking positioning component also serves to limit the height of the top of the consumable insertion structure located relatively below entering the consumable support inner cavity of the consumable insertion structure located relatively above during stacking.

[0138] An example of the stack positioning assembly includes a stack positioning slot and a stack positioning plug.

[0139] The stacking positioning slot can be arranged on the top of the consumable support body or on a side portion arranged along the up-down direction. The stacking positioning plug is arranged on the consumable support body and is located at the lower part of the consumable support inner cavity.

[0140] The stacking positioning plug is used to be inserted into the stacking positioning slot of a consumable insertion structure below it when the consumable insertion structures are stacked.

[0141] like Figure 1A , 1B, 1C, 1E, and 1F, the notch of the stacking positioning slot 2308 is opened at the top of the consumable support seat 2301, the notch is connected to the outside, and its body is located on a part of the outer side arranged along the up-down direction on the consumable support seat 2301. The stacking positioning plug 2309 (a structure of the stacking positioning plug, and can also be other structures, such as a plate-like structure).

[0142] In order to make the stacking positioning plug not to be inserted into the stacking positioning slot accurately, Figure 1A , 1B As shown in Figures 1C, 1E, and 1F, the notch of the stacking positioning slot 2308 is set to a structure with a large outer end and a small inner end, that is, the notch becomes the wide part of the stacking positioning slot, and the width of the slot body is basically the same as the inner end width of the notch, that is, it becomes the narrow part of the stacking positioning slot. In this way, when the stacking positioning slot 2308 is plugged into the stacking positioning insert 2309, the stacking positioning insert 2309 can be easily inserted into the stacking positioning slot 2308, so that after stacking, each of the consumable insertion structures thereon is basically in a positively stacked state, so as to reduce the probability of the stacking structure being tilted, and can greatly reduce the time required for stacking.

[0143] In one example, one side of the consumable support seat 2301 where the stacking positioning slot 2308 is located is symmetrical, and the side has a center line extending in the up-down direction, and the side is symmetrically structured with the center line extending in the up-down direction. When the stacking positioning slot 2308 and the stacking positioning insert 2309 that cooperates with it are plugged in, both are symmetrically distributed with the center line extending in the up-down direction as the symmetry axis.

[0144] In one example, the stacking positioning slot 2308 and the stacking positioning insert 2309 are arranged on the center line extending along the up and down directions on the symmetrical side of the consumable support seat 2301, which conforms to the human body's preference for symmetrical things, so as to facilitate improving the operation speed.

[0145] Of course, the stacking positioning slot 2308 and the stacking positioning insert 2309 may not be arranged on the center line, but may be arranged on the side offset from the center line, which may give most operators a feeling that the upper and lower consumable support seats 2301 are not stacked properly when stacking the consumable support seats 2301, thereby disrupting the normal thinking of the operator and eventually causing the stacking speed to become slow. Of course, such a setting may be beneficial to the operating habits of people who are accustomed to operating with an offset structure.

[0146] The outer side of the above-mentioned consumable support seat 2301 can be composed of multiple side parts located on different surfaces, and its cross-section is a polygon; it can also be an outer side with a circular cross-section. In this case, there is not only one but countless center lines extending in the up and down directions on the outer side of the consumable support seat 2301. Every line extending in the up and down directions on the outer side is a center line. In this case, there can be multiple setting positions for the stacking positioning slot 2308 and the stacking positioning insert 2309 that cooperates with it.

[0147] In one example, the thickness of the stacking positioning insert 2309 matches the spacing between a pair of slot walls on the slot body (i.e., the narrow portion of the stacking positioning slot) of the stacking positioning slot 2308, i.e., the thickness of the two is substantially the same, so as to limit the movement of the two relatively upper and lower consumable support seats 2301 in the left-right or front-back direction. It cooperates with the consumable accommodating assembly to strengthen the position limitation of the relatively lower consumable support seat 2301 in the consumable support seat inner cavity 2302 of the relatively upper consumable support seat 2301.

[0148] In one example, the head of the stacking positioning plug 2309 is an arc-shaped structure, that is, the head has no edges and corners. Since the stacking positioning plug 2309 may more or less rub against each other during the insertion of the stacking positioning plug 2309 into the stacking positioning slot 2308, the arc-shaped head is conducive to reducing the resistance encountered during the rubbing, and can reduce the wear rate of the stacking positioning plug 2309 due to the rubbing. For the thin stacking positioning plug, a too fast wear rate may greatly reduce the plug-in fit after plugging, and may cause greater looseness, so that the function of the stacking positioning component may be greatly reduced.

[0149] In one example, if Figure 1A , 1B As shown in Figures 1C, 1D, 1E, 1F, and 1G, a supporting foot 2310 is also provided at the bottom of the consumable support seat 2301, and the supporting foot 2310 includes a radially extending portion 2310a of the supporting foot and a bent lower edge portion 2310b of the supporting foot.

[0150] The radial extension part 2310a of the support foot is connected to the outer edge of the bottom of the consumable support seat 2301 and extends from the inside to the outside. The bent lower edge part 2310b of the support foot is connected to the radial extension part 2310a of the support foot and extends approximately in the up-down direction.

[0151] The setting of the radial extension portion 2310a of the supporting foot can achieve: without substantially increasing the height of the consumable support seat 2301, the area of ​​a portion of the separation component on the automatic consumable conveying device (for details, see the relevant statements below) extending into the separation spacing area 2307 can be increased; or, because the automatic consumable conveying device is still at a certain distance from the consumable support seat 2301, the automatic consumable conveying device cannot achieve the purpose of supporting and conveying the consumable support seat 2301. By setting the radial extension portion 2310a of the supporting foot, a portion of the separation component on the automatic consumable conveying device (for details, see the relevant statements below) can enter the separation spacing area 2307, thereby achieving the purpose of supporting and conveying the consumable support seat 2301.

[0152] The setting of the bent lower edge 2310b of the support foot can not only reduce the probability of friction with the inside of the consumable support seat 2301 when a part of the separation component (see the relevant description below for details) on the automatic consumable conveying device enters and exits the separation spacing area 2307, but also enables the internal structure of the consumable support seat 2301 to remain relatively intact for a long time, so that the internal structure can function normally for a long time; in addition, when the consumable support seat 2301 located at the bottom of the stacking structure contacts with the outside, the radial extension portion 2310a of the support foot basically does not rub against the outside, which is also conducive to protecting the radial extension portion 2310a of the support foot to maintain a relatively intact structure for a long time, so that it can function normally for a long time.

[0153] As an embodiment of the consumable insertion and placement structure, it also includes a positioning component for consumable extraction. Its function is to cooperate with the consumable extraction limiting component on the consumable automatic conveying device (see the following related description for details) so as to provide a possibility for more accurately determining the position of the consumable extraction limiting component on the consumable automatic conveying device acting on the consumable insertion and placement structure when the external mechanical arm extracts the consumables in the consumable insertion and placement structure.

[0154] An embodiment of the consumable material extraction positioning component is as follows Figure 1A , 1C1F, including a positioning groove 2311 for consumable extraction, the positioning groove 2311 for consumable extraction is opened on the outer side of the consumable support seat 2301, and the corresponding pair of groove walls on the positioning groove 2311 for consumable extraction are arranged in sequence along the direction in which the consumable support seat 2301 is transported by the consumable automatic conveying device. The spacing between the pair of groove walls on the positioning groove 2311 for consumable extraction gradually narrows from the outside to the inside, and the pair of groove walls cooperate with the left limit member for consumable extraction and / or the right limit member for consumable extraction in the limit assembly for consumable extraction on the consumable automatic conveying device (please see the relevant description below for details),

[0155] The setting of the positioning groove 2311 for consumable material extraction not only positions the left limiting member for consumable material extraction and / or the right limiting member for consumable material extraction in the limiting assembly for consumable material extraction on the consumable material insertion structure; but also the left limiting member for consumable material extraction and / or the right limiting member for consumable material extraction in the limiting assembly for consumable material extraction cooperate with a pair of groove walls thereon after entering the positioning groove 2311 for consumable material extraction, thereby increasing the cooperating contact surface, thereby providing technical support for enhancing the limiting function of the limiting assembly for consumable material extraction on the automatic consumable conveying device.

[0156] In one example, the consumable material extraction positioning groove 2311 is opened at the top edge of the consumable material support seat 2301, and the consumable material extraction positioning groove 2311 is arranged from top to bottom and is inclined.

[0157] In this way, when the positioning groove 2311 for consumable extraction cooperates with the left limit member for consumable extraction and / or the right limit member for consumable extraction in the limit assembly for consumable extraction on the automatic consumable conveying device, the left limit member for consumable extraction and / or the right limit member for consumable extraction in the limit assembly for consumable extraction not only limit the relative left side or relative right side of the conveying direction of the consumable support seat 2301, but also limit the upward movement of the consumable support seat 2301.

[0158] In one example, a pair of groove walls on the positioning groove 2311 for consumable extraction are symmetrically arranged to form a V-shaped structure, so that when a part of the separation component on the automatic consumable conveying device (see the relevant description below for details) cooperates with the pair of groove walls, it is possible to make the two places acting on the pair of groove walls symmetrically arranged, so that the forces acting on the two places are naturally symmetrical. As a result, it is possible to improve the limiting stability of the consumables on the consumable support seat 230 when the consumables are operated.

[0159] The above-mentioned symmetrical arrangement makes it possible for the two forces acting on a pair of groove walls of the consumable extraction positioning groove 2311 by the left limiter for consumable extraction and / or the right limiter for consumable extraction in the limiter for consumable extraction on the automatic consumable conveying device to be symmetrical. When the consumable extraction positioning groove 2311 cooperates with the left limiter for consumable extraction or the right limiter for consumable extraction in the limiter for consumable extraction, the probability of the left limiter for consumable extraction and / or the right limiter for consumable extraction accidentally moving out of the consumable extraction positioning groove 2311 is reduced, thereby facilitating the stability of the limiting effect of the left limiter for consumable extraction and / or the right limiter for consumable extraction in the limiter for consumable extraction on the automatic consumable conveying device on the consumable support seat 230.

[0160] Mobile consumables carrying structure

[0161] The mobile consumable material carrying structure is used to carry the above-mentioned consumable material insertion structure stacked in the up and down directions. After stacking the consumable material insertion structure filled with the consumable material outside, it is placed in the mobile consumable material carrying structure, and then the mobile consumable material carrying structure is moved into the automatic consumable material conveying device, so that the consumable material insertion structure filled with the consumable material is conveyed to the operating position operable by the robot arm through the automatic consumable material conveying device. After the consumable material on the consumable material insertion structure is taken away by the robot arm, it is conveyed to the recycling area located on the mobile consumable material carrying structure by the automatic consumable material conveying device.

[0162] As an embodiment of the mobile consumable material bearing structure, it includes a mobile base, a first stacking platform, a first separation area, a first conveying limiting assembly, a second stacking platform, a second separation area, and a second conveying limiting assembly.

[0163] like Figure 2A , 2B As shown in FIGS. 2C, 2D and 2E, the mobile base 2201 can be moved and operated by an operator, and is a working platform arranged at the bottom of the mobile consumable material carrying structure for movement and load-bearing.

[0164] A first bearing area and a second bearing area are defined above the mobile base 2201. The purpose of defining the first bearing area and the second bearing area is to divide the top of the mobile base 2201 into two areas, one of which is used to store the consumable insertion structure with the consumable inserted. The number of the consumable insertion structures can be one or more. When the number of the consumable insertion structures is multiple, it is a stacking structure stacked in the up-down direction. The other area is used to recycle the consumable insertion structures that have been withdrawn. Similarly, the number of the consumable insertion structures in the other area can be one or more. When it is multiple, it is also a stacking structure stacked in the up-down direction.

[0165] When there are multiple stacking structures, they are arranged in parallel and have substantially the same height. Such an arrangement enables the automatic consumables conveying device to convey the multiple stacking structures arranged in parallel at the same time, in the same direction, and with the same displacement.

[0166] The cross-sections of the two regions need to satisfy the requirement that the number of the consumable insertion structures that can be placed in the two regions is the same. In this way, after the consumables on the consumable insertion structures with the consumables inserted are withdrawn, there is enough space to store the corresponding number of consumable insertion structures to be recycled.

[0167] In an example of the bearing area, the first bearing area 2202 and the second bearing area 2203 have substantially the same height and substantially the same cross-section. This arrangement may allow each area to accommodate the maximum possible number of the same number of consumable insertion structures, without any space for accommodating an extra consumable insertion structure. This may improve the utilization rate of the installation space when the installation space is limited.

[0168] The first carrying area 2202 is provided with a first stacking platform, a first separation area, and a first conveying position limiting assembly, and the second carrying area 2203 is provided with a second stacking platform, a second separation area, and a second conveying position limiting assembly.

[0169] A first stacking platform 2204 is provided in the first carrying area 2202 and is suspended above the movable base 2201 for supporting one or more stacking structures arranged in parallel.

[0170] A first separation zone 2205 is formed between the first stacking platform 2204 and the portion of the movable base 2201 corresponding to the first stacking platform 2204. A first through hole 2206 is provided on the first stacking platform 2204. The opening of the first through hole 2206 is provided on one side of the first stacking platform 2204 and is connected to the outside in the upper and lower directions.

[0171] The first separation area 2205 is used for the parts of the consumables automatic conveying device that match with all the stacking structures. After the consumables automatic conveying device is separated from all the stacking structures, it enters the first separation area 2205 through the first through hole 2206.

[0172] The above-mentioned first stacking platform 2204, first through hole 2206, first separation area 2205 and the following second stacking platform 2208, second through hole 2210, second separation area 2209 are provided so that after the corresponding components in the consumables automatic conveying device are separated from the stacking structure, the movable base 2201 and all the stacking structures thereon can be separated from the consumables automatic conveying device. In this way, when the mobile consumables carrying structure is loading or unloading the stacking structure, it can be operated outside the biological sample analyzer, so that the operation of loading or unloading the stacking structure is almost not limited by the operating space. At the same time, the operation of loading or unloading the stacking structure in the biological sample analyzer may cause a collision with other components in the biological sample analyzer, thereby possibly affecting the normal use of the colliding components.

[0173] Similarly, a second separation area 2209 is formed between the second stacking platform 2208 and the portion of the movable base 2201 corresponding to the second stacking platform 2208. A second through hole 2210 is provided on the second stacking platform 2208. The opening of the second through hole 2210 is provided on one side of the second stacking platform 2208 and is connected to the outside in the upper and lower directions.

[0174] The second separation area 2209 is used for the parts of the consumables automatic conveying device that match with all the stacking structures. After the consumables automatic conveying device is separated from all the stacking structures, it enters the second separation area 2209 through the second through hole 2210.

[0175] The first conveying limit assembly is arranged above the first stacking platform 2204, and one of its functions is to limit the movement of one or more directions in the circumferential direction formed by all the stacking structures therein when all the stacking structures move in the up and down directions under the action of the automatic consumables conveying device.

[0176] In one example of the first conveying limiting assembly, Figure 2A , 2B , 2C, 2D, and 2E, including one or more flat first conveying limiting plates 2207a (a structure of the first conveying limiting member), arranged in the up-down direction, and enclosed by the first conveying limiting plates 2207a to form a first conveying limiting channel 2207b, and the ports at the upper and lower ends of the first conveying limiting channel 2207b are connected to the outside. The shape and size of the cross section of the first conveying limiting channel 2207b are adapted to the shape and size of the occupied area required for all the stacking structures contained therein. Of course, the first conveying limiting assembly can also be other structures, such as but not limited to fences, enclosures, etc.

[0177] In one example of the first conveying limiting channel, Figure 2A , 2B As shown in Figure 2D, the port at the upper end of the first conveying limiting channel 2207b is a structure that is narrow at the bottom and wide at the top, that is, it forms an upward flaring structure, so that the probability of the stacking structure in the first conveying limiting channel 2207b being touched can be reduced during the process of moving upward through the port at the upper end. In the process of the stacking structure entering the first conveying limiting channel 2207b through the port at the upper end, even if some slight circumferential movement occurs, it will basically not affect the result that the stacking structure can finally enter the first conveying limiting channel 2207b.

[0178] Similarly, the second conveying limit assembly is arranged above the second stacking platform 2208, and part of its function is to limit one or more directional movements in the circumference of all the stacking structures therein while all the stacking structures are moving in the up and down directions under the action of the automatic consumables conveying device.

[0179] In one example of the second conveying limiting assembly, Figure 2A , 2B As shown in 2D, it includes one or more flat second conveying limiting plates 2211a (a structure of the second conveying limiting member), which are arranged in the up-down direction, and the second conveying limiting plates 2211a enclose a second conveying limiting channel 2211b, and the ports at the upper and lower ends of the second conveying limiting channel 2211b are connected to the outside. The shape and size of the cross section of the second conveying limiting channel 2211b are adapted to the shape and size of the occupied area required for all the stacking structures contained therein. Of course, the second conveying limiting assembly can also be other structures, such as but not limited to fences, racks, etc.

[0180] In addition, in an example of the second conveying limiting channel, Figure 2A , 2B As shown in Figure 2D, the port at the upper end of the second conveying limiting channel 2211b is a structure that is narrow at the bottom and wide at the top, that is, it forms an upward flaring structure, so that the probability of the stacking structure in the second conveying limiting channel 2211b being touched can be reduced during the process of moving upward through the port at the upper end. In the process of the stacking structure entering the second conveying limiting channel 2211b through the port at the upper end, even if some slight circumferential movement occurs, it will basically not affect the result that the stacking structure can finally enter the second conveying limiting channel 2211b.

[0181] In one example of the first conveying position-limiting assembly, in order to facilitate the entry and exit of all the stacking structures that cooperate with the first conveying position-limiting assembly into and out of the first conveying position-limiting channel, that is, to facilitate the loading and unloading of the stacking structure, if there is only one first conveying position-limiting member, a first radial inlet and outlet can be opened on the first conveying position-limiting member along the up and down direction; and when there are multiple first conveying position-limiting members, such as Figure 2A , 2B As shown in FIG. 2D , when there are two first conveying limit plates 2207 a , a first radial inlet and outlet 2207 c can be formed by controlling the interval between a pair of adjacent first conveying limit plates 2207 a .

[0182] The arrangement of the first radial inlet and outlet makes it possible to enter and exit the first conveying limiting channel substantially horizontally.

[0183] In addition, in an example of the first radial inlet and outlet, Figure 2A , 2B As shown in Figure 2D, the first radial inlet and outlet 2207c is a structure that is narrow inside and wide outside, that is, a flared structure is formed. In this way, when the stacking structure is pushed into the first conveying limiting channel 2207b, it does not need to be precisely positioned. It can not only enter the first radial inlet and outlet 2207c more easily, but also, as it extends into the first radial inlet and outlet 2207c, it will calibrate the entry position into the first conveying limiting channel 2207b through the action of a pair of side walls of the first radial inlet and outlet 2207c.

[0184] Similarly, in an example of the second conveying limit assembly, in order to facilitate the entry and exit of all the stacking structures that cooperate with the second conveying limit assembly into and out of the second conveying limit channel, that is, to facilitate the loading and unloading of the stacking structure, if there is only one second conveying limit member, a second radial inlet and outlet can be opened on the second conveying limit member along the up and down direction; and when there are multiple second conveying limit members, specifically, Figure 2A , 2B As shown in FIG. 2D , when there are two first conveying limit plates 2211 a , a second radial inlet and outlet 2211 c can be formed by controlling the interval between a pair of adjacent second conveying limit plates 2211 a .

[0185] The arrangement of the second radial inlet and outlet makes it possible to enter and exit the second conveying limiting channel substantially horizontally.

[0186] Similarly, in an example of the second radial inlet and outlet, Figure 2A , 2BAs shown in Figure 2D, the second radial inlet and outlet 2211c is a structure that is narrow inside and wide outside, that is, a flared structure is formed. In this way, when the stacking structure is pushed into the first conveying limiting channel 2207b, it does not need to be precisely positioned. It can not only enter the second radial inlet and outlet 2211c more easily, but also, as it extends into the second radial inlet and outlet 2211c, it will calibrate the entry position into the second conveying limiting channel 2211b through the action of a pair of side walls of the second radial inlet and outlet 2211c.

[0187] In one embodiment of the mobile consumable material carrying structure, it also includes a first tray, a first positioning assembly for the first tray, a second tray, and a first positioning assembly for the second tray.

[0188] The arrangement of the first tray and the second tray makes the connection between the first conveying lifting member and the consumable insertion structure and between the second conveying lifting member and the consumable insertion structure in the consumable automatic conveying device more secure. In addition, by replacing the first tray and the second tray of corresponding structure according to the different consumable insertion structures to be lifted, the purpose of adapting to the consumable insertion structures of different structures is achieved.

[0189] The first tray uses a first positioning component, which is used to position the first tray at a preset position on the automatic consumables conveying device when the first tray cooperates with the automatic consumables conveying device.

[0190] Similarly, the second tray uses a first positioning component to position the second tray at a preset position on the automatic consumables conveying device when the second tray cooperates with the automatic consumables conveying device.

[0191] The first tray and the first positioning assembly for the first tray are arranged in the first carrying area, and the second tray and the first positioning assembly for the second tray are arranged in the second carrying area.

[0192] In an example of the mobile consumables carrying structure, since the first tray and the second tray are usually loaded with the same number (referring to the number of the stacking structure arranged in parallel) and the stacking structure formed by the stacking of the consumables insertion structure, the first tray and the second tray can be basically the same in size and shape, and the first positioning assembly for the first tray and the first positioning assembly for the second tray can also be basically the same in size and shape. The purpose of simplifying the structure can be achieved, and the above components can also be borrowed from each other, which is convenient for the replacement of related components during future maintenance.

[0193] An example of the first tray is Figure 2A , 2BAs shown in 2C, 2D, 2E, and 2F, the first tray 2212 is placed across the first through hole 2206, that is, placed on the first stacking platform 2204, and matched with the stacking structure. One side of the first tray 2212 that matches the bottom of the stacking structure can enter the inner cavity of the consumable support seat in the consumable insertion structure.

[0194] In an example of the first tray, the shape and size of the outer edge of the side of the first tray that matches the bottom of the consumable insertion structure are compatible with the shape and size of the inner cavity of the consumable support seat.

[0195] An example of a first positioning assembly for the first tray is as follows Figure 2A , 2B As shown in , 2C, and 2F, it includes a first positioning hole 2213a for the first tray and a first positioning plug 2213b for the first tray.

[0196] The first positioning hole 2213a for the first tray is provided on the first tray 2212, and the first positioning plug 2213b for the first tray is provided on the first transport supporting member (specifically, the first transport supporting seat 2106) in the first transport assembly in the consumables automatic transport device. Of course, the first positioning hole 2213a for the first tray and the first positioning plug 2213b for the first tray can be provided at opposite positions.

[0197] In addition, if Figure 2A , 2B As shown in FIGS. 2C and 2F, the number of the first positioning jack 2213a for the first tray and the first positioning plug 2213b for the first tray can be more than one but multiple, so as to increase the connection surface between the first tray and the automatic consumables conveying device, which not only makes the connection more firm, but also makes the force exerted by the automatic consumables conveying device on the first tray 2212 more widely and more evenly distributed. In this way, the probability of premature wear of the first tray 2212 due to excessive force locally can be reduced.

[0198] In one example where the number of the first positioning holes of the first tray is multiple, Figure 2A , 2B As shown in , 2C, and 2F, there are two first positioning holes 2213a for the first tray, and the two first positioning holes 2213a for the first tray are symmetrically distributed with the center line of the first tray 2212 as the symmetry axis. In this way, the distribution of the force exerted by the automatic consumables conveying device on the first tray 2212 is symmetrically arranged, and when conveying the first tray 2212 and the stacking structure thereon, the stability is better and it is less likely to fall over.

[0199] In one example of the first tray with the first positioning hole, Figure 2A , 2B As shown in 2C and 2F, the opening of the first positioning hole 2213a of the first tray that cooperates with the automatic consumables conveying device is designed to be narrow inside and wide outside, that is, a flared structure. In this way, during the cooperation process, the two do not need to be inserted very accurately.

[0200] In an example of the first tray using the first positioning plug, as Figure 2A , 2B As shown in 2C, 2F, and 6, the first positioning plug 2213b for the first tray is designed to be narrow outside and wide inside. In this way, it can be quickly plugged into the first positioning plug hole 2213a for the first tray with an expanded structure, and the probability of being touched during the plugging process can be reduced, or even if it is touched, the force applied to the touch will be reduced.

[0201] An example of the first positioning assembly for the first tray may also include one or more pairs of magnetic components made of magnetic materials and having opposite magnetic properties, each pair of magnetic components being arranged between the first tray and the consumables automatic conveying device. This can achieve both rapid separation and automatic alignment by the principle of magnetic opposites attracting each other. Of course, this example can also be used in combination with the previous example of the first positioning assembly for the first tray.

[0202] An example of the second tray is Figure 2A , 2B As shown in 2C, 2D, 2E, and 2F, the second tray 2215 is placed across the second through hole 2210, that is, placed on the second stacking platform 22084, and matched with the stacking structure. One side of the second tray 2215 that matches with the bottom of the stacking structure can enter the inner cavity of the consumable support seat in the consumable insertion structure.

[0203] In an example of the second tray, the shape and size of the outer edge of the side of the second tray that matches with the bottom of the consumable insertion structure are adapted to the shape and size of a portion of the inner cavity of the consumable support seat that matches with it.

[0204] The second tray uses an example of a first positioning assembly, such as Figure 2A , 2B , 2C, 2F, and 6, including a first positioning hole 2216a for a second tray and a first positioning plug 2216b for a second tray.

[0205] The first positioning hole 2216a for the second tray is provided on the second tray 2215, and the first positioning plug 2216b for the second tray is provided on the second transport support member (specifically, the second transport support seat 2110) in the second transport assembly in the consumables automatic transport device. Of course, the second tray first positioning hole 2216a and the second tray first positioning plug 2216b may be provided at opposite positions.

[0206] In addition, if Figure 2A , 2B As shown in 2C, 2F, and 6, the number of the first positioning jack 2216a for the second tray and the first positioning plug 2216b for the second tray can be more than one but multiple, so as to increase the connection surface between the second tray and the automatic consumables conveying device, which not only makes the connection more firm, but also makes the force exerted by the automatic consumables conveying device on the second tray 2215 more widely and more evenly distributed. In this way, the second tray 2215 can also reduce the probability of premature wear due to excessive force locally.

[0207] In an example when the number of the second positioning holes for the first tray is multiple, such as Figure 2A , 2B As shown in 2C and 2F, there are two first positioning holes 2216a for the second tray, and the two first positioning holes 2216a for the second tray are symmetrically distributed with the center line of the second tray 2215 as the symmetry axis. In this way, the distribution of the force exerted by the consumables automatic conveying device on the second tray 2215 is symmetrically arranged, and when conveying the second tray 2215 and the stacking structure thereon, the stability is better and it is less likely to fall over.

[0208] In one example of the second tray with the first positioning hole, Figure 2A , 2B As shown in 2C and 2F, the opening of the first positioning hole 2216a of the second tray that matches the automatic consumables conveying device is designed to be narrow inside and wide outside, that is, a flared structure. In this way, during the matching process, the two do not need to be inserted very accurately.

[0209] In the example of the second tray with the first positioning plug, as Figure 2A , 2B As shown in 2C, 2F, and 6, the second tray first positioning plug 2216b is designed to be narrow outside and wide inside. In this way, it can be quickly plugged into the second tray first positioning plug hole 2216a with an expanded structure, and the probability of being touched during the plugging process can be reduced, or even if it is touched, the force applied to the touch will be reduced.

[0210] An example of the first positioning assembly for the second tray may also include one or more pairs of magnetic components made of magnetic materials and having opposite magnetic properties, each pair of magnetic components being arranged between the second tray and the consumables automatic conveying device. This can achieve both rapid separation and automatic alignment by the principle of magnetic opposites attracting each other. Of course, this example can also be used in combination with the previous example of the first positioning assembly for the second tray.

[0211] In one embodiment of the mobile consumable material carrying structure, it also includes a second positioning component for the first tray and a second positioning component for the second tray.

[0212] The second positioning assembly for the first tray is also arranged in the first carrying area, and the second positioning assembly for the second tray is also arranged in the second carrying area.

[0213] The second positioning assembly for the first pallet is disposed between the first pallet and the first stacking platform, and is used to position the first pallet at a preset position on the first stacking platform when the first pallet is moved onto the first stacking platform. The first positioning assembly for the second pallet is disposed between the second pallet and the second stacking platform, and is used to position the second pallet at a preset position on the second stacking platform when the second pallet is moved onto the second stacking platform.

[0214] The setting of the second positioning assembly for the first tray or the second positioning assembly for the second tray is based on the following considerations: since the first tray or the second tray is movable in the up-down direction, after the first tray or the second tray is placed on the first stacking table or the second stacking table, the automatic consumables conveying device is separated from the first tray or the second tray, thereby entering the first separation zone or the second separation zone. When the automatic consumables conveying device is separated from the first tray or the second tray, the first tray or the second tray may move on the first stacking table or the second stacking table due to external reasons. If the movement range exceeds a certain range, it may affect: the subsequent cooperation between the automatic consumables conveying device and the first tray or the second tray.

[0215] An example of the second positioning assembly for the first tray includes a second positioning socket for the first tray (not shown in the figure) and a second positioning plug for the first tray (not shown in the figure).

[0216] like Figure 2A , 2B, 2C, and 2F, the second positioning hole for the first tray (not shown in the figure) is provided on the first tray 2212, and the second positioning plug for the first tray (not shown in the figure) is arranged at a matching position of the first stacking platform 2204. Of course, the arrangement positions of the second positioning hole for the first tray (not shown in the figure) and the second positioning plug for the first tray (not shown in the figure) can be opposite to each other.

[0217] In addition, if Figure 2A , 2B As shown in , 2C, and 2F, the number of the second positioning socket for the first tray (not shown in the figure) and the second positioning plug for the first tray (not shown in the figure) can be one each, or of course, can be multiple. When there are multiple, the connection surface between the first tray 2212 and the first stacking platform 2204 can be increased, which makes it possible to improve the stability after connection. When there is only one each, the number of the second positioning socket for the first tray (not shown in the figure) and the second positioning plug for the first tray (not shown in the figure) can be reduced, and the difficulty of plugging can be reduced.

[0218] When there are multiple second positioning holes for the first tray and multiple second positioning plugs for the first tray, in one example, all the second positioning holes for the first tray and the second positioning plugs for the first tray are evenly spaced along the circumference or symmetrically distributed along a center line. The above arrangement is conducive to more uniform force and better stability during plug-in mating.

[0219] In an example of the second positioning plug for the first tray, the second positioning plug for the first tray (not shown in the figure) has a structure that is wide inside and narrow outside, so that during the process of plugging and matching the second positioning plug for the first tray (not shown in the figure) with the second positioning socket for the first tray (not shown in the figure), the two do not need to be plugged in very accurately.

[0220] In the example of the second positioning socket for the first tray, the second positioning socket for the first tray (not shown) is designed to have an opposite structure of being narrow inside and wide outside. In this way, after being plugged with the second positioning plug for the first tray (not shown), the gap between the two is reduced, so that the probability of movement between the two or the movable range is reduced. That is, the stability of the plugging can be improved.

[0221] An example of the second positioning assembly for the first tray may also include one or more pairs of magnetic components made of magnetic materials and having opposite magnetic properties, each pair of magnetic components being arranged between the first tray and the consumables automatic conveying device. This can achieve both rapid separation and automatic alignment by the principle of magnetic opposites attracting each other. Of course, this example can also be used in combination with the previous example of the second positioning assembly for the first tray.

[0222] An example of the second positioning assembly for the second tray includes a second positioning socket for the second tray (not shown in the figure) and a second positioning plug for the second tray (not shown in the figure).

[0223] like Figure 2A , 2B , 2C, and 2F, the second positioning hole for the second tray (not shown in the figure) is provided on the first tray 2212, and the second positioning plug for the second tray (not shown in the figure) is arranged at a matching position of the first stacking platform 2204. Of course, the arrangement positions of the second positioning hole for the second tray (not shown in the figure) and the second positioning plug for the second tray (not shown in the figure) can be opposite to each other.

[0224] In addition, if Figure 2A , 2B As shown in , 2C, and 2F, the number of the second positioning socket for the second tray (not shown in the figure) and the second positioning plug for the second tray (not shown in the figure) can be one each, or of course, can be multiple each. When multiple each is provided, the connection surface between the first tray 2212 and the first stacking platform 2204 can be increased, which makes it possible to improve the stability after connection. When each is provided with one each, the number of the second positioning socket for the second tray (not shown in the figure) and the second positioning plug for the second tray (not shown in the figure) can be reduced, and the difficulty of plugging can be reduced.

[0225] In one example, when there are multiple second positioning holes for the second tray and multiple second positioning plugs for the second tray, all the second positioning holes for the second tray and multiple second positioning plugs for the second tray are evenly spaced along the circumference or symmetrically distributed along a center line. The above arrangement is conducive to more uniform force and better stability during plug-in mating.

[0226] In an example of the second positioning plug for the second tray, the second positioning plug for the second tray (not shown in the figure) has a structure that is wide inside and narrow outside, so that during the process of plugging and matching the second positioning plug for the second tray (not shown in the figure) with the second positioning socket for the second tray (not shown in the figure), the two do not need to be plugged in very accurately.

[0227] In the example of the second positioning socket for the second tray, the second positioning socket for the second tray (not shown) is designed to have an opposite structure of being narrow inside and wide outside. In this way, after being plugged with the second positioning plug for the second tray (not shown), the gap between the two is reduced, so that the probability of movement between the two or the movable range is reduced. That is, the stability of the plugging can be improved.

[0228] An example of the second positioning assembly for the second tray may also include one or more pairs of magnetic components made of magnetic material and having opposite magnetic properties, each pair of magnetic components being arranged between the first tray and the consumables automatic conveying device. This can achieve both rapid separation and automatic alignment by the principle of magnetic opposites attracting each other. Of course, this example can also be used in combination with the previous example of the second positioning assembly for the second tray.

[0229] In an example of the mobile consumable material carrying structure, the components located on the first carrying area have the same structure and size as the corresponding components located on the second carrying area, specifically, such as between the first pallet and the second pallet, between the first stacking table and the second stacking table, between the first conveying limit assembly and the second conveying limit assembly, between the first positioning assembly for the first pallet and the first positioning assembly for the second pallet, and between the second positioning assembly for the first pallet and the second positioning assembly for the second pallet.

[0230] The above arrangement can make the components located on the first bearing area and the corresponding components located on the second bearing area universal, so that the number of components of different structures required for the mobile consumables bearing structure is reduced by half, and the installation is simplified. In addition, the two corresponding components can be replaced with each other. This is conducive to the source of the components to be replaced in the future maintenance.

[0231] In one embodiment of the mobile consumable material carrying structure, it also includes a stacking positioning component for a first tray and a stacking positioning component for a second tray.

[0232] The stacking positioning assembly for the first tray is used to accurately position the stacking structure at a designated position on the first tray. The stacking positioning assembly for the second tray is used to accurately position the stacking structure at a designated position on the second tray. The stacking structure is stacked on the first tray or the second tray. The stability of the stacking structure during operation is improved and the possibility of tipping is reduced.

[0233] An example of the stack positioning assembly for the first pallet includes a stack positioning piece for the first pallet.

[0234] In one example of a stacking positioner for the first tray, Figure 2A , 2B As shown in FIGS. 2C and 2F, a first tray stacking positioning slot 2214 is provided on one side of the first tray 2212 plugged into the stacking structure and at a position corresponding to the stacking positioning plug in the stacking positioning assembly.

[0235] Of course, a first tray stacking positioning plug (not shown) may also be provided on the first tray to be plugged into and matched with a corresponding slot in the consumables insertion structure.

[0236] An example of the stack positioning assembly for the second pallet includes a stack positioning piece for the second pallet.

[0237] In one example of a stacking positioner for the second tray, Figure 2A , 2B As shown in FIGS. 2C and 2F, a stacking positioning slot 2217 for a second tray is provided on a portion of the second tray 2215 corresponding to the stacking positioning plug in the stacking positioning assembly on one side of the second tray 2215 plugged into the stacking structure.

[0238] Of course, the second tray can also be provided with a second tray stacking positioning plug (not shown in the figure) to be plugged into and matched with the corresponding slot in the consumable insertion structure.

[0239] An embodiment of the mobile consumables carrying structure is as follows: Figure 2A , 2B , 2C, 2D, a gripping handle 2218 is provided on the mobile base 2201 near the outside. It is convenient for operators to pull or push the mobile base 2201 and the objects loaded on the mobile base 2201.

[0240] In one example of the grip handle, Figure 2A , 2B As shown in , 2C, and 2D, the gripping handle 2218 can be arranged close to the second carrying area as the recycling area, so that the operator can closely observe the loading of the stacking structure in the second carrying area located relatively outside. Specifically, if the operator observes that the stacking structure in the second carrying area is full, it means that the consumables in the stacking structure have been extracted, and the operator pulls the mobile base out of the consumables automatic conveying device to the outside, and then after replacing the stacking structure, pushes the mobile base and the objects thereon back into the consumables automatic conveying device.

[0241] An embodiment of the mobile consumable material carrying structure further includes a sliding assembly arranged on the mobile base, and the sliding assembly is extended along the moving direction of the mobile base.

[0242] An example of the sliding assembly is Figure 4 As shown, it includes a pair of base sliding rails 2219, which are protruded on the lateral sides of the movable base 2201 and slideably cooperate with the base sliding grooves 2220 provided on the base sliding frames 2221 provided on the lateral sides of the consumables automatic conveying device.

[0243] On the contrary, the above-mentioned base slide groove 2220 can also be directly opened on the movable base 2201, and the base slide rail 2219 can be set on both lateral sides of the consumables automatic conveying device. Or the base slide frame 2221 provided with the base slide groove 2220 is set on both lateral sides of the movable base 2201, and the base slide rail 2219 is set on both lateral sides of the consumables automatic conveying device.

[0244] In an example, Figure 4 As shown, the length of the base sliding rail 2219 is substantially the same as the length of the mobile base 220 along the direction in which it moves in the automatic consumables conveying device, and the length of the base sliding groove 2220 is at least substantially equal to the length of the base sliding rail 2219. This allows the mobile base 220 to be substantially located in the automatic consumables conveying device when the consumables management system is operating.

[0245] In an example, Figure 4 As shown, the difference between the length of the bottom slide rail 2219, the bottom slide groove 2220 and the length of the consumables automatic conveying device extending along the bottom slide groove 2220 is in the single digit of centimeters, so that the space utilization rate in the consumables automatic conveying device is relatively high.

[0246] Automatic consumables conveying device

[0247] In one embodiment of the automatic consumables conveying device, it can be divided into a first conveying area and a second conveying area, and may include a conveying support, a first conveying component, a second conveying component, a separation component, a third conveying component and a recovery component.

[0248] The first conveying area is provided with the first conveying assembly, the separation assembly and the third conveying assembly in sequence from bottom to top. The second conveying area is provided with the recovery assembly and the second conveying assembly in sequence from top to bottom.

[0249] After the mobile consumables carrying structure carrying one or more stacked consumables insertion structures is moved into or one or more stacked consumables insertion structures are directly moved into the consumables automatic conveying device, the first carrying area in the mobile consumables carrying structure is located in the first conveying area, and the second carrying area in the mobile consumables carrying structure is located in the second conveying area.

[0250] After directly moving one or more stacked consumables insertion structures into the consumables automatic conveying device, the stacked consumables insertion structures are initially located only in the first conveying area, and are located in the second conveying area after being recycled.

[0251] The working process of an embodiment of the consumables automatic conveying device is as follows:

[0252] After the mobile consumables carrying structure carrying one or more stacked consumables insertion structures is moved into the consumables automatic conveying device, or one or more stacked consumables insertion structures are directly moved into the consumables automatic conveying device, the first conveying assembly conveys the stacking structure containing consumables in the first conveying area from bottom to top to the third conveying assembly above the stacking structure, wherein the stacking structure is formed by stacking the one or more consumables insertion structures in the up-down direction;

[0253] When approaching the third conveying assembly, the stacking structure passes through the separation assembly, and the separation assembly separates the consumable material insertion structure located at the top of the stacking structure from the other consumable material insertion structures below it, and the separated consumable material insertion structure containing consumables is conveyed to the third conveying assembly;

[0254] The third conveying component conveys the consumables insertion structure containing consumables to the consumables extraction operation area, and the consumables extraction operation area can be used for an external robotic arm to extract the consumables; after the consumables in the consumables insertion structure are extracted, the recycling component conveys the consumables insertion structure from which the consumables have been extracted to the second conveying component below it. The second conveying component is located in the second conveying area, and the recycled multiple consumables insertion structures are stacked in the up and down directions and conveyed downward until all the stacked structures are conveyed to the second conveying component.

[0255] Finally, all the stacking structures in the first conveying area are shifted to the second conveying area. If the mobile consumables carrying structure is provided, the operator can first move out the mobile consumables carrying structure, and then take out all the stacking structures from the second carrying area, and load the stacking structures containing consumables into the first carrying area. As for the case where one or more stacked consumables insertion structures are directly placed on the automatic consumables conveying device, the operator only needs to directly take the stacking structure from which the consumables have been taken in the second conveying area.

[0256] An embodiment of the above-mentioned automatic consumables conveying device is different from the existing method of conveying consumables completely manually by laying them on the consumables extraction operation area, and only one layer of height, for the external robotic arm to extract. It has the characteristics that after the operator loads the stacked stacking structure into the mobile consumables bearing structure, and then after the mobile consumables bearing structure is loaded into the automatic consumables conveying device, the stacking structure can be automatically conveyed from bottom to top in the first conveying area, the consumables insertion structure at the top of the stacking structure is separated, and the consumables insertion structure at the top of the separated stacking structure is conveyed to the consumables extraction operation area (i.e., above the second conveying area), the consumables insertion structure at the top of the separated stacking structure is separated from the consumables extraction operation area, and the consumables bearing structure is conveyed from top to bottom in the second conveying area in a stacked manner, so as to finally complete the recycling of the consumables bearing structure in the form of a stack. It has become possible to solve the problem of "how to make the consumables in the consumables insertion structure in a stacked state be extracted by an external robotic arm without manual labor".

[0257] The number of the stacking structures to be transported can be one or more. When there are more than one, the consumables automatic transport device can transport the multiple stacking structures simultaneously. At this time, all the stacking structures are required to be arranged in parallel and have basically the same height (that is, to make the number of the consumables insertion structures in each stacking structure the same).

[0258] In one example of the first conveying area and the second conveying area, Figure 2A , 2B As shown in FIG. 2D , the first conveying area 2101 and the second conveying area 2102 are respectively arranged in the up-down direction and in parallel, and their respective cross-sections and heights are substantially the same.

[0259] The conveying support member is a component that provides support for the installation of other components in the automatic consumable conveying device (such as the first conveying component, the second conveying component, the separation component, the third conveying component and the recovery component, etc.), and its structure can be but is not limited to: a frame structure, a shell structure, a box structure, a box body structure, etc.

[0260] In one example of the transport support, Figure 3 , 4 As shown in , 5, 6, and 7, it includes a conveying support frame 2103.

[0261] The first conveying assembly is used to move one or more stacked structures arranged side by side and having substantially the same height from bottom to top in the first conveying area. The movement is substantially in the form of linear motion.

[0262] As an example of the first conveying component, it includes a first conveying driver, a first conveying transmission member and a first conveying lifting member.

[0263] During operation, the first conveying driver drives the first conveying transmission member to move, and the first conveying lifting member arranged on the first conveying transmission member moves substantially in a straight line as the first conveying transmission member moves.

[0264] The first transport supporting member can be used to support the stacking structure to move in a substantially linear manner along the up-down direction.

[0265] An example of the first conveying driver is as follows: Figure 3 , 4 , 5, 6, and 7 show the first conveying drive motor 2104. The first conveying drive motor 2104 can be a DC motor or an AC motor. The first conveying drive motor 2104 can be a fixed frequency motor or a variable frequency motor.

[0266] An example of the first conveying transmission member is as follows: Figure 3 , 4 , 5, 6, and 7 show a first conveying belt 2105a and a first conveying wheel 2105b. The first conveying belt 2105a is a circular closed-loop structure, which rotates with the first conveying wheel 2105b, and the first conveying wheel 2105b is driven by the first conveying driving motor 2104 to rotate forward or reverse.

[0267] In other examples of the first conveying transmission member, it may also be, but not limited to, a screw transmission structure, a drag chain transmission structure, a chain transmission structure composed of a chain and a sprocket, or any combination of the above structures.

[0268] An example of the first transport support is as follows: Figure 6 Shown is a first transport support seat 2106, the top of which serves as a working surface and cooperates directly or indirectly with the stacking structure.

[0269] In order to improve the stability of the first transport lifting member when lifting the stacking structure for linear movement, a concave-convex structure matching the bottom of the consumable material insertion structure constituting the stacking structure can be provided on the working surface of the first transport lifting member for lifting the stacking structure, so that when the stacking structure moves after matching, it is not easy to tilt and affect the accuracy of transportation.

[0270] When the first tray is arranged between the first transport lifting member and the stacking structure, a first positioning assembly for the first tray is arranged between the first transport lifting member and the first tray. As an example of the first positioning assembly for the first tray, Figure 2A , 2B As shown in Figures 2D, 2F, and 6, a first positioning plug 2213b for a first pallet is protrudingly provided on the working surface of the first conveying lifting seat 2106, which is an example of the first conveying lifting member, and a first positioning hole 2213a for a first pallet that matches the first positioning plug 2213b for the first pallet is correspondingly provided on the first pallet 2212.

[0271] In other examples of the first conveying lifting member, it can also be, but is not limited to, a plate-type structure, a block-type structure, etc.

[0272] As an example of the first conveying component, a first conveying guide may also be included.

[0273] The first conveying guide is substantially parallel to the direction in which the first conveying transmission member is set, and is used to cooperate with the first conveying lifting member in sliding motion, that is, when the first conveying lifting member moves with the first conveying transmission member, the first conveying lifting member slides on the first conveying guide, so that it is possible to reduce the left-right movement of the first conveying lifting member when it moves in the up-and-down direction.

[0274] The first conveying guide may be, but is not limited to, a raised slide rail structure, or may be, but is not limited to, an open slide groove structure.

[0275] As an example of the first conveying guide, Figure 3 , 4 As shown in Figures 5, 6 and 7, the first conveying lifting seat 2106, which is an example of the first conveying lifting member, slides directly or indirectly on the first conveying guide rail 2107 arranged in the up and down direction as a slider.

[0276] As an example of the first conveying assembly, the first conveying transmission member may not be needed, and the first conveying driver may directly cooperate with the first conveying lifting member.

[0277] At this time, the first conveying driver can be an electric cylinder, and the movable end of the electric cylinder directly cooperates with the first conveying lifting member.

[0278] The second conveying assembly is used to move one or more stacked structures arranged side by side and having substantially the same height from top to bottom in the second conveying area. The movement is substantially in the form of linear motion.

[0279] As an example of the second conveying component, it includes a second conveying driver, a second conveying transmission member and a second conveying lifting member.

[0280] During operation, the second conveying driver drives the second conveying transmission member to operate, and the second conveying lifting member arranged on the second conveying transmission member moves substantially in a straight line as the second conveying transmission member operates.

[0281] The second transport supporting member can be used to support the stacking structure to move in a substantially linear manner along the up-down direction.

[0282] An example of the second conveying driver is as follows: Figure 3 , 4 , 5, 6, and 7 show the second conveying drive motor 2108. The second conveying drive motor 2108 can be a DC motor or an AC motor. The second conveying drive motor 2108 can be a fixed frequency motor or a variable frequency motor.

[0283] An example of the second conveying transmission member is as follows: Figure 3 , 4 , 5, 6, and 7 show a second conveying belt 2109a and a second conveying wheel 2109b. The second conveying belt 2109a is a circular closed-loop structure, which rotates with the second conveying wheel 2109b, and the second conveying wheel 2109b is driven by the second conveying driving motor 2108 to rotate forward or reverse.

[0284] In other examples of the second conveying transmission member, it may also be, but not limited to, a screw transmission structure, a drag chain transmission structure, a chain transmission structure composed of a chain and a sprocket, or any combination of the above structures.

[0285] An example of the second transport support is as follows: Figure 3 , 4 As shown in , 5, 6, and 7, it is a second conveying lifting seat 2110, the top of which serves as a working surface and directly or indirectly cooperates with the stacking structure.

[0286] In order to improve the stability of the second conveying support when lifting the stacking structure for linear movement, a concave-convex structure matching the bottom of the consumable material insertion structure constituting the stacking structure can be provided on the working surface of the second conveying support for lifting the stacking structure, so that when the stacking structure moves after the matching, it is not easy to tilt and affect the accuracy of the conveying.

[0287] When the second tray is arranged between the second transport support and the stack structure, a first positioning assembly for the second tray is arranged between the second transport support and the second tray. As an example of the first positioning assembly for the second tray, Figure 2A , 2B As shown in Figures 2D, 2F, and 6, a first positioning plug 2216b for a second pallet is protrudingly provided on the working surface of the second conveying lifting seat 2110, which is an example of the second conveying lifting member, and a first positioning hole 2216a for a second pallet that matches the first positioning plug 2216b for the second pallet is correspondingly provided on the second pallet 2212.

[0288] In other examples of the second conveying supporting member, it may also be, but is not limited to, a plate-type structure, a block-type structure, etc.

[0289] As an example of the second conveying component, a second conveying guide may also be included.

[0290] The second conveying guide is substantially parallel to the setting direction of the second conveying transmission member, and is used for slidingly cooperating with the second conveying lifting member, that is, when the second conveying lifting member moves with the second conveying transmission member, the second conveying lifting member slides on the second conveying guide, so that it is possible to reduce the left-right movement of the second conveying lifting member when it moves in the up-down direction.

[0291] The second conveying guide may be, but is not limited to, a raised slide rail structure, or may be, but is not limited to, a slide groove structure with an opening.

[0292] As an example of the second conveying guide, Figure 3 , 4 As shown in Figures 5, 6 and 7, the second conveying lifting seat 2110, which is an example of the second conveying lifting member, slides directly or indirectly on the second conveying guide rail 2111 arranged in the up-down direction as a slider.

[0293] As an example of the second conveying assembly, the second conveying transmission member may not be required, and the second conveying driver may directly cooperate with the second conveying lifting member.

[0294] At this time, the second conveying driver can be an electric cylinder, and the movable end of the electric cylinder directly cooperates with the second conveying lifting member.

[0295] The third conveying assembly is used to convey one or more of the separated consumable material insertion structures in the stacked structures arranged side by side and having substantially the same height from above the first conveying area to above the second conveying area. The movement is also substantially in the form of linear motion.

[0296] An example of the third conveying component includes a third conveying driver, a third conveying transmission member, and a third conveying pushing member.

[0297] During operation, the third conveying driver drives the third conveying transmission member to operate, and the third conveying pushing member arranged on the third conveying transmission member moves substantially in a straight line as the third conveying transmission member operates.

[0298] The third transport pusher can be used to push each consumable insertion structure separated by the separation assembly in the stacking structure from the first transport area to the second transport area. That is, the third transport pusher acts on one side of the consumable insertion structure instead of the bottom of the consumable insertion structure, that is, the third transport pusher does not need to bear the function of supporting the consumable insertion structure. And the pushing process is basically a linear movement.

[0299] An example of the third conveying driver is as follows: Figure 3 , 4 , 5, 6, and 7 show the third conveying drive motor 2112. The third conveying drive motor 2112 can be a DC motor or an AC motor. The third conveying drive motor 2112 can be a fixed frequency motor or a variable frequency motor.

[0300] An example of the third transport transmission member is as follows: Figure 3 , 4 , 5, 6, and 7 show a third conveying belt 2113a and a third conveying wheel 2113b. The third conveying belt 2113a is a circular closed-loop structure, which rotates with the third conveying wheel 2113b. The third conveying wheel 2113b is driven by the third conveying driving motor 2112 to rotate in the forward or reverse direction.

[0301] In other examples of the third conveying transmission member, it may also be, but not limited to, a screw transmission structure, a drag chain transmission structure, a chain transmission structure composed of a chain and a sprocket, or any combination of the above structures.

[0302] An example of the third conveying pusher is as follows: Figure 4 , 5 As shown in , 6 and 7, it is a third conveying push rod 2114, and one side thereof extending in the length direction serves as a working surface, which directly or indirectly cooperates with the adjacent side of the separated consumable material insertion structure.

[0303] In other examples of the third conveying pushing member, it may also be, but not limited to, a plate-type structure, a block-type structure, a tube-type structure, etc.

[0304] As an example of the third conveying component, a third conveying guide may be further included.

[0305] The third conveying guide is substantially parallel to the setting direction of the third conveying transmission member, and is used for slidingly cooperating with the third conveying push member, that is, when the third conveying push member moves with the third conveying transmission member, the third conveying push member slides on the third conveying guide, so that the third conveying push member can reduce the left and right movement when moving from the first conveying area to the second conveying area.

[0306] The third conveying guide may be, but is not limited to, a raised slide rail structure, or may be, but is not limited to, a slide groove structure with an opening.

[0307] As an example of the third conveying guide, Figure 4 , 5 As shown in FIGS. 6 and 7 , the third conveying push rod 2114 , which is an example of the third conveying push member, acts as a slider and slides directly or indirectly on the third conveying guide rail 2115 .

[0308] As an example of the third conveying component, a third conveying stopper may also be included.

[0309] The third conveying limit member is basically parallel to the setting direction of the third conveying transmission member, and is used to cooperate with the separated one or more consumable material insertion structures pushed by the third conveying pushing member. There is at least a pair of them, which are respectively arranged on the left and right sides of the separated one or more consumable material insertion structures in the direction of moving from the first conveying area to the second conveying area.

[0310] As an example of the third conveying stopper, Figure 4 , 5 As shown in , 6 and 7, it is a third conveying limiting plate 2124, which can be arranged on the conveying support member (specifically, the conveying support frame 2103).

[0311] The third conveying limiting plate 2124 can also be arranged on a movable recycling opening and closing member (specifically, recycling opening and closing plate 2119) on the recycling assembly. In this way, the spacing between the pair of third conveying limiting members can be adjusted according to the number and size of the separated one or more consumable material insertion structures.

[0312] As an example of the third conveying assembly, the third conveying transmission member may not be needed, and the third conveying driver may directly cooperate with the third conveying pushing member.

[0313] At this time, the third conveying driver can be an electric cylinder, and the movable end of the electric cylinder directly cooperates with the third conveying pushing member.

[0314] The separation component is located above the first conveying component and is arranged on the conveying support member, and is used to separate the consumable material insertion structure located at the top from the part below in each stacking structure conveyed by the first conveying component.

[0315] As an example of the separation component, it includes at least one pair of separation pieces, and each of the separation pieces is hingedly arranged.

[0316] An example of such a separation member is Figure 7 , 8 Shown is a pair of separation plates 2116.

[0317] The pair of separation plates 2116 are arranged at intervals, and each of the separation plates 2116 is hinged to the conveying support frame 2103 .

[0318] The consumables insertion structure at the top of the stacking structure is pushed out from below a gap formed by the pair of separation plates 2116, and the pair of separation plates 2116 rotate from the inside to the outside. When the bottom of the consumables insertion structure at the top of the stacking structure is out of a gap formed by the pair of separation plates 2116, the separation plates 2116 are at the final rotation position. At this time, the separation plates 2116 at the final rotation position are arranged inwardly from bottom to top, and then the pair of separation plates 2116 use their own gravity to return to the initial rotation position. In the process of rotating back to the initial rotation position, at least a portion of the pair of separation plates 2116 enters the separation spacing area 2307 in the stacking structure to support the bottom of the consumable insertion structure (i.e., the consumable insertion structure to be separated) located at the top of the stacking structure, and separates the consumable insertion structure (i.e., the consumable insertion structure to be separated) located at the top from the consumable insertion structure located below it.

[0319] The pair of separation plates 2116 can be separated and matched with only the consumable material insertion structure located at the top in one of the stacking structures, or can be separated and matched with the consumable material insertion structures located at the top in multiple stacking structures at the same time.

[0320] In addition, the number of the separation plates 2116 can be multiple pairs. When there are multiple pairs, they are arranged in one row or multiple rows. Each pair of separation plates 2116 may correspond to one consumable material insertion structure, or a pair of separation plates 2116 may correspond to the consumable material insertion structures at the top of multiple stacking structures.

[0321] In one example of the separator, as shown, the separator plate 2116 includes a separator plate horizontal portion 2116a and a separator plate vertical portion 2116b, wherein the separator plate horizontal portion 2116a is used to extend into the separation spacing area 2307 in the stacking structure to separate and support the separated one or more consumable material insertion structures, and the separator plate vertical portion 2116b serves to limit one or more circumferential directions of the separated one or more consumable material insertion structures.

[0322] The separator may be in other structures besides the plate-like or sheet-like structures mentioned above.

[0323] As an example of the separation component, in addition to the above-mentioned hinged separation member, it also includes an elastic recovery member.

[0324] The elastic restoring member acts on the separating member, and is used for when the bottom of the consumable material insertion structure at the top of the stacking structure is separated from the spacing opening of the pair of separating members, the separating member has rotated to the final rotation position, and the elastic restoring member is in an elastic deformation state. The separating member is automatically adjusted from the final rotation position to the initial rotation position by utilizing the elastic restoring force generated by the elastic deformation of the elastic restoring member.

[0325] Due to the elastic recovery member, the separator is not required to be in the form of "being arranged inwardly from bottom to top" when it is in the final rotation position. That is, the separator can also be in the form of "being arranged outwardly from bottom to top" when it is in the final rotation position.

[0326] As an example of the separation assembly, it includes at least one pair of separation members, one side of the separation member is fixedly arranged, and the other side is a free side (i.e., not fixed to other components). The separation member is a sheet-like structure, and the pair of separation members are arranged at intervals. The pair of separation members are arranged in an inclined inward direction from bottom to top.

[0327] The spacing between the pair of separating parts satisfies that: the maximum dimension between the two sides of the separating part on the separated one of the consumable material insertion structures in the stacking structure that match with the separating part is slightly smaller than the minimum spacing between the pair of separating parts, so that after the separated one of the consumable material insertion structures in all the stacking structures passes through the pair of elastically deformed separating parts upward, the pair of separating parts returns to its original state with the help of elastic restoring force, and the top of the pair of separating parts that have returned to its original state is simultaneously supported by the bottom of the separated one of the consumable material insertion structures in all the stacking structures.

[0328] The pair of separation members can be separated and matched with only the consumable material insertion structure located at the top in one of the stacking structures, or can be separated and matched with the consumable material insertion structures located at the top in multiple stacking structures at the same time.

[0329] In addition, the number of the separation members may be multiple pairs. When there are multiple pairs, they are arranged in one row or multiple rows. Each pair of separation members may correspond to one consumable material insertion structure, or a pair of separation members may correspond to the consumable material insertion structures at the top of multiple stacking structures at the same time.

[0330] The recycling component is located above the second conveying component and adjacent to the third conveying component. It is used to receive the consumables insertion structure conveyed from the third conveying component. When the consumables in the consumables insertion structure thereon are extracted by an external robot arm, it is used to support the consumables insertion structure thereon; after the consumables in the consumables insertion structure thereon are extracted, they are recycled into the second conveying component.

[0331] An example of the recovery component includes a recovery driver, a recovery transmission member, and a recovery opening and closing member.

[0332] When working, the recycling driver drives the recycling transmission member to run, and the recycling opening and closing member arranged on the recycling transmission member realizes the opening or closing of the pair of recycling opening and closing members as the recycling transmission member runs forward or reverse. When the recycling opening and closing member is closed, it supports the consumable material insertion structure located thereon, and when the recycling opening and closing member is opened, the consumable material insertion structure thereon falls into the second conveying assembly below by its own gravity, and is stacked with a consumable material insertion structure adjacent to it that is already in the second conveying assembly.

[0333] An example of such a recycling drive is Figure 5 , 7 9 shows a recovery drive motor 2117. The recovery drive motor 2117 can be a DC motor or an AC motor. The recovery drive motor 2117 can be a fixed frequency motor or a variable frequency motor.

[0334] An example of the recycling transport member is Figure 5 , 7 As shown in 9, the recycling conveyor belt 2118a and the recycling conveyor wheel 2118b are shown. The recycling conveyor belt 2118a is a circular closed-loop structure, which rotates with the recycling conveyor belt 2118a, and the recycling conveyor wheel 2118b is driven by the recycling drive motor 2117 to rotate forward or reverse.

[0335] Other examples of the recovery transmission member may include, but are not limited to, a screw transmission structure, a drag chain transmission structure, a chain transmission structure composed of a chain and a sprocket, or any combination of the above structures.

[0336] An example of the recycling opening and closing member is as follows Figure 5 ,7 As shown in 9, a pair of opening and closing plates 2119 for recovery are shown, and the top of the plates serves as a working surface, which directly or indirectly cooperates with one of the separated consumable material insertion structures.

[0337] In order to improve the stability of the recycling opening and closing member when opening and closing, a concave-convex structure matching the bottom of the consumable material insertion structure constituting the stacking structure can be provided on the working surface of the recycling opening and closing member for supporting the stacking structure, so that when the consumable material is moved after matching, it is not easy to tilt and affect the accuracy of transportation.

[0338] In other examples of the recycling opening and closing member, it can also be, but not limited to, a plate-type structure, a block-type structure, etc.

[0339] As an example of the recovery component, a recovery guide may be further included.

[0340] The recovery guide is substantially parallel to the direction in which the recovery transmission member is set, and is used to slide with the recovery opening and closing member, that is, when the recovery opening and closing member moves with the recovery transmission member, the recovery opening and closing member slides on the recovery guide, so that the recovery opening and closing member can reduce the left and right movement when moving in the up and down direction.

[0341] The recovery guide may be, but is not limited to, a raised slide rail structure, or may be, but is not limited to, an open slide groove structure.

[0342] As an example of the guide member for recovery, Figure 5 , 7 As shown in FIG. 9 , a guide rail 2120 for recovery is shown, and the opening and closing plate 2119 for recovery acts as a slider to slide directly or indirectly on the guide rail 2120 for recovery.

[0343] As an example of the recovery component, it is also possible that there is no need for a recovery transmission component, and the recovery driver directly cooperates with the recovery opening and closing component.

[0344] At this time, the recovery driver can be an electric cylinder, and the movable end of the electric cylinder directly cooperates with the recovery opening and closing member.

[0345] In one embodiment of the automatic consumables conveying device, a limiting component for consumables extraction is also included.

[0346] The limiting component for consumable material extraction is arranged above the recycling component. Its main function may be: when the consumables in the consumable material insertion structure located above the recycling component are extracted by an external robotic arm, a possible limitation is imposed on the movement in one or more circumferential directions of the outer edge of the consumable material insertion structure.

[0347] An example of the limiting assembly for consumable material extraction includes a front limiting member for consumable material extraction, a left limiting member for consumable material extraction, and a right limiting member for consumable material extraction.

[0348] When one or more of the consumable material placement structures separated by the separation component moves to the top of the recovery component along the conveying direction under the conveyance of the third conveying component, the front limit member for consumable material extraction cooperates with the relative front side of the one or more consumable material placement structures separated in the moving direction to limit the displacement caused by the consumable material placement structure continuing to move in the conveying direction; and the left limit member for consumable material extraction and the right limit member for consumable material extraction respectively cooperate with the two sides of the one or more consumable material placement structures separated that extend along the conveying direction to limit the left and right movement of the consumable material placement structure in the conveying direction.

[0349] When the consumables insertion structure is provided with the positioning assembly for consumables extraction, at least one of the left limiting member for consumables extraction and the right limiting member for consumables extraction cooperates with the positioning assembly for consumables extraction. Since the consumables insertion structure is in a conveyed state, that is, the consumables insertion structure is basically in a moving state during the entire conveying process, although the setting of the limiting assembly for consumables extraction can limit one or more directions in the circumferential direction of the consumables insertion structure, the limitation may not be very accurate. Therefore, the left limiting member for consumables extraction and / or the right limiting member for consumables extraction are matched with the positioning assembly for consumables extraction to achieve the effect of further accurately limiting the position of the consumables insertion structure.

[0350] That is, the coordination between the positioning component for consumable material extraction and the limiting component for consumable material extraction,

[0351] As an example of the front limit member for consumable material extraction, there is a front limit block for consumable material extraction of a block structure (not shown in the figure), which is fixedly arranged at the end point of the conveying direction on the separated one or more consumable material insertion structures (i.e., the end point conveyed by the third conveying component), and the front limit block for consumable material extraction is also located above the recovery component.

[0352] As an example of the front stopper for the consumable material extraction, the first stopper has an elastic function that can produce elastic deformation. For this purpose, the first stopper can be made of the elastic material (such as rubber, etc.), or the first stopper can also have an elastic structure itself, or be connected to a component made of an elastic material, or be connected to a component with an elastic structure. The elastic function allows the separated one or more consumable material insertion structures to reduce the impact force on the first stopper when they collide with the first stopper with the elastic function.

[0353] As an example of the front limiting member for extracting consumables, as shown in Figures 1, 2, 3, 4, 5, 7, and 9, the front limiting wheel 2121 for extracting consumables is a wheel-shaped structure, which can be rotatably mounted on the conveying support. When the front limiting wheel 2121 for extracting consumables contacts the separated one or more consumable insertion structures, if the separated one or more consumable insertion structures move relative to the front limiting wheel 2121 for extracting consumables, rolling friction occurs between the two at this time, rather than sliding friction, which can slow down the wear rate of the front limiting wheel 2121 for extracting consumables. If the wear rate of the front limiting wheel 2121 for extracting consumables exceeds a preset value, the execution effect of the limiting function of the front limiting wheel 2121 for extracting consumables on the separated one or more consumable insertion structures may be greatly reduced, so that a new front limiting member for extracting consumables must be replaced.

[0354] As an example of the front stopper for consumable material extraction, the front stopper wheel for consumable material extraction in a wheel-shaped structure hinged on the conveying support is made of elastic materials such as rubber. In this way, the front stopper wheel for consumable material extraction can comprehensively play the aforementioned role of reducing the impact force on the front stopper for consumable material extraction and delaying wear.

[0355] As an example of the left limit member for consumable material extraction, there is a second limit block of a block-shaped structure, which is fixedly arranged on the conveying support member and cooperates with the left side of the direction in which the one or more separated consumable material insertion structures are moved by the third conveying component. The second limit block is also located above the recovery component.

[0356] When the third conveying position limiting member (specifically, the third conveying position limiting plate 2124) is provided, the second position limiting block (not shown) may also be fixed on the third conveying position limiting member (specifically, the third conveying position limiting plate 2124).

[0357] As an example of the left stopper for consumable material extraction, the second stopper has an elastic function that can produce elastic deformation. For this purpose, the second stopper can be made of the elastic material (such as rubber, etc.), or the second stopper can also have an elastic structure itself, or be connected to a component made of an elastic material, or be connected to a component with an elastic structure. The elastic function allows the separated one or more consumable material insertion structures to reduce the impact force on the second stopper when they collide with the second stopper with the elastic function.

[0358] As an example of the left stopper for the consumables extraction, Figure 6 , 7As shown in Figure 9, the left limiting wheel 2122 for consumables extraction is a wheel-shaped structure, which is rotatably arranged on the conveying support. When the left limiting wheel 2122 for consumables extraction contacts the one or more separated consumables insertion structures, if the separated one or more consumables insertion structures move relative to the left limiting wheel 2122 for consumables extraction, rolling friction, rather than sliding friction, occurs between the two, which can slow down the wear rate of the left limiting wheel 2122 for consumables extraction. If the wear rate of the left limiting wheel 2122 for consumables extraction exceeds a preset value, the execution effect of the limiting function of the left limiting wheel 2122 for consumables extraction on the one or more separated consumables insertion structures may be greatly reduced, so that the left limiting member for consumables extraction must be replaced with a new one.

[0359] When the third conveying position limiting member (specifically, the third conveying position limiting plate 2124 ) is provided, the left position limiting wheel 2122 for consumable material extraction can also be rotatably provided on the third conveying position limiting member (specifically, the third conveying position limiting plate 2124 ).

[0360] As an example of the left stopper for consumable material extraction, the left stopper wheel for consumable material extraction in a wheel-shaped structure hinged on the conveying support is made of elastic materials such as rubber. In this way, the left stopper wheel for consumable material extraction can comprehensively play the aforementioned role of reducing the impact force on the left stopper for consumable material extraction and delaying wear.

[0361] As an example of the left stopper for the consumables extraction, Figure 6 , 7 As shown in Figures 9 and 10, the left limiting wheel 2122 for consumables extraction, which is a wheel-shaped structure hinged on the conveying support, is arranged in an inclined manner from top to bottom, and cooperates with the intersection of the top of the one or more consumables insertion structures separated and the left side thereof along the conveying direction. This arrangement can apply two force components to the one or more consumables insertion structures separated, one force component is in the direction of being perpendicular to the one or more consumables insertion structures separated from top to bottom, and this force component can be used to set resistance for the one or more consumables insertion structures separated to move upward; the other force component is in the direction from left to right along the conveying direction on the one or more consumables insertion structures separated, and this other force component can be used to set resistance when the one or more consumables insertion structures separated move from right to left in the conveying direction.

[0362] As an example of the left stopper for consumable material extraction, it is not fixedly arranged on the conveying support, but arranged on a recycling opening and closing member (specifically, recycling opening and closing plate 2119) in the recycling assembly, that is, at this time, the left stopper for consumable material extraction is arranged in a positionally variable manner relative to the separated one or more consumable material insertion structures. In this way, it can cooperate with the right stopper for consumable material extraction to better limit the movement of the separated one or more consumable material insertion structures from the left and right directions of the moving direction.

[0363] As an example of the right limit member for consumable material extraction, there is a third limit block of a block structure (not shown in the figure), which is fixed on the conveying support and cooperates with the right side of the one or more separated consumable material insertion structures in the direction of movement when being conveyed by the third conveying component. The third limit block is also located above the recovery component.

[0364] When the third conveying position limiting member (specifically, the third conveying position limiting plate 2124) is provided, the third position limiting block (not shown) may also be fixed on the third conveying position limiting member (specifically, the third conveying position limiting plate 2124).

[0365] As an example of the right stopper for consumable material extraction, the third stopper has an elastic function that can produce elastic deformation. For this purpose, the third stopper can be made of the elastic material (such as rubber, etc.), or the third stopper can also have an elastic structure itself, or be connected to a component made of an elastic material, or be connected to a component with an elastic structure. The elastic function allows the separated one or more consumable material insertion structures to reduce the impact force on the third stopper when they collide with the third stopper with the elastic function.

[0366] As an example of the right limiter for consumable material extraction, as shown in FIGS. 1, 2, 3, 4, 5, 7, and 9, a right limiter wheel 2123 for consumable material extraction is a wheel-shaped structure, which is rotatably arranged on the conveying support. When the right limiter wheel 2123 for consumable material extraction contacts the one or more separated consumable material insertion structures, if the separated one or more separated consumable material insertion structures move relative to the right limiter wheel 2123 for consumable material extraction, rolling friction occurs between the two at this time, rather than sliding friction, which can slow down the wear rate of the right limiter wheel 2123 for consumable material extraction. If the wear rate of the right limiter wheel 2123 for consumable material extraction exceeds a preset value, the execution effect of the right limiter wheel 2123 for consumable material extraction on the one or more separated consumable material insertion structures may be greatly reduced, so that a new right limiter for consumable material extraction must be replaced.

[0367] When the third conveying limiting member (specifically, the third conveying limiting plate 2124 ) is provided, the right limiting wheel 2123 for consumable material extraction can also be rotatably provided on the third conveying limiting member (specifically, the third conveying limiting plate 2124 ).

[0368] The right limiting wheel 2123 for consumable material extraction cooperates with the consumable material extraction positioning groove 2311 in the separated one or more consumable material insertion structures, and the consumable material extraction positioning groove 2311 is a structure of wide outside and narrow inside. When the right limiting wheel 2123 for consumable material extraction moves into the consumable material extraction positioning groove 2311, it cooperates with a pair of groove walls of the consumable material extraction positioning groove 2311 respectively, so as to increase the matching surface and enhance the control of the moving position of the separated one or more consumable material insertion structures along the direction in which they move when being transported by the third conveying assembly.

[0369] As an example of the right stopper for consumable material extraction, the right stopper wheel for consumable material extraction in a wheel-shaped structure hinged on the conveying support is made of elastic materials such as rubber. In this way, the right stopper wheel for consumable material extraction can comprehensively play the aforementioned role of reducing the impact force on the right stopper for consumable material extraction and delaying wear.

[0370] As an example of the right limiter for consumable material extraction, as shown in Figures 1, 2, 3, 4, 5, 7, and 9, the right limiter wheel 2123 for consumable material extraction, which is a wheel-shaped structure hinged on the conveying support, is arranged in an inclined manner from top to bottom, and cooperates with the intersection of the top of the separated one or more consumable material insertion structures and the right side thereof along the moving direction. This arrangement can apply two force components to the separated one or more consumable material insertion structures, one force component is in the direction of vertically perpendicular to the separated one or more consumable material insertion structures from top to bottom, and the one force component can be used to set resistance for the separated one or more consumable material insertion structures to move upward; the other force component is in the direction from right to left along the conveying direction on the separated one or more consumable material insertion structures, and the other force component can be used to set resistance when the separated one or more consumable material insertion structures move from left to right in the conveying direction.

[0371] As an example of the right limit member for consumable material extraction, it is not fixedly set on the conveying support member, but is set on a recovery opening and closing member in the recovery component (specifically, the recovery opening and closing plate 2119), that is, at this time, the right limit member for consumable material extraction is variably set relative to the separated one or more consumable material insertion structures.

[0372] In addition, when the shape of the consumable support body in the consumable insertion structure is "its cross-sectional area gradually increases from the top to the bottom", the front limit member for consumable extraction, the left limit member for consumable extraction, and the right limit member for consumable extraction in the limiting assembly for consumable extraction also have the effect of limiting the upward movement of the corresponding side of the consumable insertion structure that cooperates with it.

[0373] like Figure 1A , 1E , 1F, and 1G are another example of the consumable support body, in which the cross-sectional area gradually increases from the top to the bottom. The above arrangement lowers the center of gravity of the consumable support body and improves the stability of the consumable insertion structure in the stacking structure.

[0374] like Figure 1A , 1C As shown in FIGS. 1A to 1B, 1D, 1E, 1F and 1G, the cross-sectional area of ​​the consumable support seat 2301 increases from the top to the bottom, and each side portion extending in the up-down direction is inclined downward and outward.

[0375] The above is an introduction to multiple embodiments of the consumables management system. To realize at least partially the effect of automatic transportation in multiple embodiments of the consumables management system, it is necessary to develop a special computer program.

[0376] As an example of a method for describing the computer program flow to achieve the automatic delivery effect, Fig.10 As shown, it mainly includes the following steps:

[0377] S01: Sending a detection instruction to detect whether the stacking structure is installed in the first conveying area.

[0378] It should be noted that the above step S01 is a detection and judgment step before delivery, that is, it is to judge whether the conditions for starting delivery are met. Only when the conditions for starting delivery are met, the subsequent steps will be executed. The device that performs the detection task can be a sensor with corresponding functions (such as but not limited to infrared sensors, photosensitive sensors, etc.).

[0379] S02: When the stacking structure is detected, a movement instruction is sent to the first conveying component, and the first conveying component lifts all the stacking structures located in the first conveying area from bottom to top until a consumable insertion structure at the top of all the stacking structures, in which the consumables to be used are inserted, is separated to the third conveying component.

[0380] It should be noted that the above step S02 belongs to: sending instructions to the driver (such as a motor, etc.) in the first conveying component, so that the first conveying component starts to convey all the stacking structures therein from bottom to top, and then through the separation action of the separation component, the consumable insertion structure at the top of all the stacking structures with the same height is conveyed to the task of the third conveying component.

[0381] S03: Sending a movement instruction to the third conveying component, so that the third conveying component pushes the separated consumable material insertion structure to above the recycling component in the second conveying area.

[0382] It should be noted that the above step S03 belongs to: sending a command to a driver (such as a motor, etc.) in the third conveying component to execute the conveying of the separated consumable material insertion structure to the upper part of the separation component in the second conveying area, so that the external robot arm can extract the inserted consumables in the separated consumable material insertion structure to the preset consumable material extraction position. At this time, the recycling component is in a state of supporting the separated consumable material insertion structure above it.

[0383] S04: Sending a detection instruction to detect whether there is any remaining consumables to be used in the separated consumable insertion structure located in the second conveying area.

[0384] It should be noted that the above step S04 belongs to: performing a detection and judgment task, that is, detecting and judging whether the consumables inserted in the separated consumable insertion structure placed at the preset consumable extraction position have been extracted. The device performing the detection task can be a sensor with corresponding functions (such as but not limited to an infrared sensor, a photosensitive sensor, etc.).

[0385] S05: When no consumables are detected, a movement instruction is sent to the recycling component, the recycling component performs an opening operation, and the separated consumables insertion structure located above it falls toward the second conveying component.

[0386] It should be noted that the above step S05 belongs to: sending instructions to the driver (such as a motor, etc.) in the recycling component to change the state of the recycling component, which satisfies: the separated consumable insertion structure above it enters the second conveying component through the recycling component. After the separated consumable insertion structure above enters the second conveying group, the recycling component returns to the initial position to support the subsequent separated consumable insertion structure conveyed by the third conveying component.

[0387] S06: Sending a movement instruction to the second conveying assembly, the second conveying assembly lifting all the stacking structures and moving them from top to bottom until the separated consumable material insertion structure completely falls into the second conveying assembly.

[0388] It should be noted that the above step S06 is to send instructions to the driver (such as a motor, etc.) in the second conveying assembly to execute the task of moving from top to bottom so that the stacking structure from the first conveying assembly is finally loaded into the second conveying assembly.

[0389] The above steps are repeated until all the stacked structures lifted by the first conveying assembly enter the second conveying assembly.

[0390] It should be noted that the above steps can be executed one by one in the order shown above, or they can be executed separately according to specific circumstances, as long as there is no logical conflict between the steps executed separately, so as to improve the efficiency of transportation.

[0391] The present invention also proposes a computer device, including a memory and a processor, wherein the memory stores an embodiment of the above-mentioned computer program, and when the processor executes the embodiment of the above-mentioned computer program, it implements the steps of one or more embodiments of the consumables management system to achieve the effect of automatic delivery in at least a part of the delivery process.

[0392] The present invention also proposes a computer-readable storage medium on which an embodiment of the above-mentioned computer program is stored. When the embodiment of the computer program is executed by a processor, it implements the steps of one or more embodiments of the consumables management system to achieve the effect of automatic delivery in at least a part of the delivery process.

[0393] The present invention also proposes a computer program product, including an embodiment of the above-mentioned computer program, which, when executed by a processor, implements the steps of one or more embodiments of the consumables management system to achieve the effect of automatic delivery in at least a part of the delivery process.

[0394] In general, the computing systems and / or devices and / or equipment described may use any number of computer operating systems, including but not limited to versions and / or variations of: applications, application link / smart device link middleware, Microsoft operating systems, Unix operating systems, Linux operating systems, Mac OSX, iOS operating systems, Blackberry OS, Android operating systems, automotive platforms for infotainment provided by QNX Software Systems. Examples of computing devices include, but are not limited to, an onboard vehicle computer, a computer workstation, a server, a desktop, a laptop, a portable computer, or a handheld computer, or some other computing system and / or device.

[0395] A computing device typically includes computer-executable instructions, wherein the instructions can be executed by one or more computing devices such as those listed above. Computer-executable instructions can be compiled or interpreted from a computer program, which is established using a variety of programming languages ​​and / or technologies, including but not limited to JavaTM, C, C++, Visual Basic, Java Script, Perl, etc., alone or in combination. Some of these applications can be compiled and executed on a virtual machine, such as a Java virtual machine, a Dalvik virtual machine, etc. Typically, a processor (e.g., a microprocessor) receives instructions, such as from a memory, a computer-readable medium, etc., and executes these instructions, thereby executing one or more processes, including one or more processes described herein. Such instructions and other data can be stored and transmitted using a variety of computer-readable media.

[0396] Computer-readable storage media (also referred to as processor-readable media) include any non-transitory (e.g., tangible) media that participate in providing data (e.g., instructions) readable by a computer (e.g., by a processor of a computer). Such media can take many forms, including, but not limited to, non-volatile media and volatile media. Non-volatile media can include, for example, optical or magnetic disks and other persistent memory. Volatile media can include, for example, dynamic random access memory (DRAM), which typically constitutes main memory. Such instructions can be transmitted via one or more transmission media, including coaxial cables, copper wire, and optical fiber, including the lines comprising a system bus connected to a processor of a computer. Common forms of computer readable media include, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs (compact disk read-only memory), DVDs (digital versatile disks), any other optical media, punch cards, paper tapes, any other physical media with a pattern of holes, RAM (random access memory), PROMs (programmable read-only memory), EPROMs (electrically programmable read-only memory), FLASH-EEPROMs (flash electrically erasable programmable read-only memory), any other memory chip or memory cartridge, or any other computer readable medium.

[0397] A database, data repository, or other data storage described herein may include various types of mechanisms for storing, accessing, and retrieving a variety of data, including hierarchical databases, collections of files in a file system, application databases in a specialized format, relational database management systems (RDBMS), and the like. Each such data storage is typically included in a computing device using a computer operating system such as one of those mentioned above, and is accessed over a network in any one or more of a variety of ways. The file system may be accessed from the computer operating system and may include files stored in a variety of formats. RDBMSs typically use structured query languages ​​(SQL), such as the procedural SQL (PL / SQL) language mentioned above, in addition to using languages ​​for creating, storing, editing, and executing stored procedures.

[0398] In some examples, system elements may be implemented as computer-readable instructions (e.g., software) on one or more computing devices (e.g., servers, personal computers, etc.), stored on computer-readable media associated therewith (e.g., disks, memories, etc.). A computer program product may include such instructions stored on a computer-readable medium for performing the functions described herein.

[0399] In the claims, the word "comprising" does not exclude other units or steps; the word "one" or "an" does not exclude multiple. In the claims, the use of ordinal numbers such as "first" and "second" to modify the claim elements themselves does not mean that one claim element has a priority, order or time sequence of action execution over another claim element, but is only for the purpose of distinguishing one claim element from another claim element. Although certain specific technical features are recorded in different dependent claims, this does not mean that these specific technical features cannot be used in combination. Various aspects of the present invention may be used alone, in combination or in various arrangements not specifically discussed in the aforementioned embodiments, so that their application is not limited to the details and arrangements of the components described above or shown in the drawings. For example, multiple aspects described in one embodiment can be combined with multiple aspects described in other embodiments in any way. The steps, functions or features recorded in multiple modules or units can be performed or satisfied by one module or one unit. The steps of the method disclosed herein are not limited to being performed in any particular order, and it is possible to perform some or all of the steps in other orders. Any figure mark in the claims should not be interpreted as limiting the scope of the claims.

[0400] Although the present invention has been described by way of drawings and embodiments, such description and explanation should be considered as illustrative or exemplary rather than restrictive. It should be appreciated by those skilled in the art that various modifications, additions and substitutions are possible without departing from the scope and spirit of the present invention disclosed by the appended claims.

Claims

1. An automatic consumables conveying device, characterized in that: The consumables automatic conveying device is used to convey an external stacking structure, or to simultaneously convey multiple external stacking structures that are arranged in parallel and have substantially the same height. The stacking structure is formed by stacking multiple independently arranged consumables insertion structures with the same structure and size in the up and down direction. The consumables insertion structure is used for inserting multiple external consumables, and includes: a first conveying area and a second conveying area; conveying support; A first conveying assembly is located in the first conveying area, is disposed on the conveying support, and is arranged in the up-down direction, and is used to move one or more stacked structures arranged side by side and having substantially the same height from bottom to top in the first conveying area; A second conveying assembly is located in the second conveying area, is disposed on the conveying support, and is substantially parallel to the first conveying assembly, moves from top to bottom in the second conveying area, and is used to receive all the stacked structures conveyed by the first conveying assembly; A separation component, located above the first conveying component and disposed on the conveying support, is used to separate the consumable material insertion structure located at the top of each stacking structure conveyed by the first conveying component from the part below it; A third conveying assembly, located above the separation assembly and disposed on the conveying support, for conveying the separated one or more consumable material insertion structures from a relatively upper portion of the first conveying area to a relatively upper portion of the second conveying area; and A recovery component is disposed above the second conveying component, and is used to support the separated one or more consumable material insertion structures located thereon, or, after the support is removed, allow the separated one or more consumable material insertion structures located thereon to enter the second conveying component located thereunder by virtue of their own gravity; When the consumable material insertion structure exists in the second conveying component, all the consumable material insertion structures removed from the recycling component are stacked with the consumable material insertion structures that correspond to the adjacent consumable material insertion structures in the second conveying component.

2. The automatic consumables conveying device according to any one of claim 1, characterized in that: The first conveying assembly comprises: A first conveying driver is provided on the conveying support; A first conveying transmission member is arranged in the up-down direction and moves in the up-down direction under the driving of the first conveying driver; A first conveying lifting member is provided on the first conveying transmission member, moves in the up-down direction with the operation of the first conveying transmission member, and is used to lift all the stacking structures located in the first conveying area so that the stacking structures move from bottom to top under the lifting; The second conveying assembly comprises: A second conveying driver is provided on the conveying support; A second conveying transmission member is arranged in the up-down direction and moves in the up-down direction under the driving of the second conveying driver; A second conveying lifting member is provided on the second conveying transmission member, moves in the up-down direction with the operation of the second conveying transmission member, and is used to lift the part of all the stacked structures conveyed by the first conveying assembly that enters the second conveying assembly, so that the part moves from top to bottom under the lifting; The third conveying assembly comprises: A third conveying driver is provided on the conveying support; A third conveying transmission member is arranged from the first conveying area to the second conveying area, and is driven by the third conveying driver to run along the first conveying area to the second conveying area; The third conveying pushing member is arranged on the third conveying transmission member, and pushes the separated one or more consumable material insertion structures from the first conveying area to the second conveying area as the third conveying transmission member runs.

3. The automatic consumables conveying device according to claim 2, characterized in that: The first conveying assembly further comprises: A first conveying guide member, which is substantially parallel to the setting direction of the first conveying transmission member and is used for slidingly cooperating with the first conveying lifting member; The second conveying assembly also includes: A second conveying guide member is substantially parallel to the setting direction of the second conveying transmission member and is used for slidingly cooperating with the second conveying lifting member; The third conveying assembly further comprises: The third conveying guide member is substantially parallel to the setting direction of the third conveying transmission member, and is used for slidingly cooperating with the third conveying pushing member.

4. The automatic consumables conveying device according to any one of claims 1 to 3, characterized in that: The separation component comprises: At least one pair of separation plates, located above the first conveying assembly, are spaced apart and correspondingly hinged to the conveying support; Among them, the spacing between the pair of separation plates satisfies: when the pair of separation plates are located at their respective final rotation positions, they are each arranged to be inclined inward from bottom to top, so that one of the consumable insertion structures located at the top of each stacking structure conveyed by the first conveying component can simultaneously pass upward from between the pair of separation plates; when the pair of separation plates fall back to the initial rotation position under their own gravity, they are supported on the bottom of one or more of the separated consumable insertion structures.

5. The automatic consumables conveying device according to any one of claims 1 to 3, characterized in that: The separation component comprises: At least one pair of separation plates, located above the first conveying assembly, are fixedly mounted on the conveying support member at intervals and correspondingly, and the pair of separation plates are arranged in an inclined inward direction from bottom to top; Among them, the spacing between the pair of separation plates satisfies: the maximum dimension between the two sides of the corresponding pair of separation plates on the top of each of the stacking structures conveyed by the first conveying component is slightly smaller than the minimum spacing between the pair of separation plates, so that after the separated one or more consumable insertion structures pass through the pair of elastically deformed separation plates upward, the pair of separation plates return to their original state with the aid of elastic restoring force, and the top of the pair of separation plates restored to their original state is simultaneously supported on the bottom of the separated one or more consumable insertion structures.

6. The automatic consumables conveying device according to any one of claims 1 to 3, characterized in that: The recycling assembly comprises: A recovery driver is provided on the conveying support; A recovery transmission member, cooperating with the recovery driver; A pair of recovery opening and closing members, whose working surfaces are basically located on the same plane, are respectively arranged on a corresponding side of the recovery transmission member. As the recovery transmission member runs, the spacing between the pair of recovery opening and closing members increases or decreases. The spacing between the pair of recovery opening and closing members satisfies: when the spacing between the pair of recovery opening and closing members decreases, its size must be sufficient to support the bottom of one or more separated consumable material insertion structures; when the spacing becomes larger, its size must be sufficient to allow one or more separated consumable material insertion structures to use their own gravity to fall from the gap between the pair of recovery opening and closing members to the second conveying component below.

7. The automatic consumables conveying device according to claim 6, characterized in that: The recycling assembly also includes: The recovery guide member is substantially parallel to the setting direction of the recovery transmission member and is used for slidingly cooperating with the pair of recovery opening and closing members.

8. The automatic consumables conveying device according to claim 1, characterized in that: Also includes: A limiting component for consumable material extraction, located above the recovery component, is used to limit the displacement of one or more separated consumable material insertion structures in one or more directions in the circumferential direction; The consumable material extraction limiting component comprises: A front stopper for consumable material extraction is provided on the conveying support member, and when the separated one or more consumable material insertion structures are conveyed to the top of the recovery component by the third conveying component, the front stopper cooperates with the front side of the separated one or more consumable material insertion structures in the conveying direction to limit the displacement of the consumable material insertion structures in the conveying direction; The left limiter for consumable material extraction and the right limiter for consumable material extraction respectively cooperate with the two sides of the separated one or more consumable material insertion structures extending along the conveying direction to limit the left and right displacement of the separated one or more consumable material insertion structures in the conveying direction.

9. The automatic consumables conveying device according to claim 8, characterized in that: The left limiter for consumable material extraction and the right limiter for consumable material extraction are both wheel structures, which are rotatably connected to the conveying support respectively. In the process of the third conveying component conveying the separated one or more consumable material insertion structures to the top of the recycling component, the left limiter for consumable material extraction and the right limiter for consumable material extraction roll on the separated one or more consumable material insertion structures.

10. The automatic consumables conveying device according to claim 9, characterized in that: The left limit member for consumable material extraction or the right limit member for consumable material extraction is suspended above the separated one or more consumable material insertion structures, and is inclined from top to bottom to cooperate with the intersection of the top of the separated one or more consumable material insertion structures and one side thereof extending along the conveying direction of the third conveying component.

11. A method for operating an automatic consumables conveying device, characterized in that: The automatic consumables conveying device is the automatic consumables conveying device according to claim 1, and the operating method comprises: Sending a first detection instruction to detect and determine whether the stacking structure is installed in the first conveying area; When it is detected that the stacking structure is installed in the first conveying area, a first moving instruction is sent to the first conveying component to instruct the first conveying component to convey the stacking structure from bottom to top; When the consumables insertion structure with the consumables inserted at the top of the stacking structure is detached and transported to the third conveying component, a second movement instruction is sent to the third conveying component to instruct the third conveying component to transport the detached consumables insertion structure to above the sub-recovery component in the second conveying area; Sending a second detection instruction to detect whether all the consumables in the detached consumable insertion structure located above the sub-recovery component have been extracted; When it is detected that all the consumables in the detached consumable insertion structure have been extracted, a third movement instruction is sent to the recycling component, the recycling component performs an opening operation, and the detached consumable insertion structure moves toward the second conveying component; Sending a fourth movement instruction to the second conveying component to instruct the second conveying component to perform an operation of moving from top to bottom; Repeat the above steps until all the stacked structures lifted by the first conveying assembly enter the second conveying assembly.

12. A computer program product, characterized in that The invention comprises a computer program, which implements the method of claim 11 when being executed by a processor.

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