Ball mounting device and freeze-drying ball mounting equipment

Abstract

The invention provides a ball mounting device and freeze-drying ball mounting equipment. The ball mounting device comprises a controller, a ball storage plate assembly and a ball mounting plate assembly. The ball storage plate assembly is used for storing balls. The ball mounting plate assembly is arranged below the ball storage plate assembly, the ball mounting plate assembly comprises a ball mounting plate, a first baffle assembly and a first driving part, a ball mounting space is formed in the ball mounting plate, the ball mounting space is used for containing balls falling off through the ball storage plate assembly, and a ball mounting hole is formed in the ball mounting space; the first baffle assembly is used for opening or closing the ball mounting hole under the control of the controller, and the first driving piece is used for driving the ball mounting plate to move under the condition that the ball mounting hole is in a closed state, so that a ball in the ball mounting space slides into the ball mounting hole; the balls in the ball mounting space fall into the disc holes in the disc through the ball mounting holes in the open state. The automatic ball mounting operation is realized, the personnel cost and errors possibly generated during manual operation are reduced, the ball mounting efficiency is effectively improved, and the ball mounting success rate is effectively increased.

Description

Technical Field

[0001] The present invention relates to the technical field of in vitro diagnosis, and in particular to a bulb implantation device and freeze-dried bulb implantation equipment. Background Art

[0002] In the process of in vitro diagnosis, it is usually necessary to drop biological samples (such as blood, urine or tissue, etc.) into the microfluidic disc for testing to obtain diagnostic information. Before using the microfluidic disc for testing, the test reagent can be freeze-dried to make freeze-dried balls, and the freeze-dried balls can be implanted into the holes on the microfluidic disc. The freeze-dried test reagent can be stably stored at room temperature, which can not only extend the validity period of the test reagent and reduce the transportation and storage costs of the test reagent, but also directly add biological samples to the microfluidic disc when testing is needed, greatly simplifying the test operation process.

[0003] At present, the freeze-dried balls are implanted into the microfluidic disc by using a robot and a suction cup. Specifically, the freeze-dried balls can be adsorbed on the suction cup by vacuum adsorption, and the suction cup with the freeze-dried balls is moved to the top of the microfluidic disc by a robot, and then the suction cup releases the freeze-dried balls to complete the implantation of the freeze-dried balls. However, due to the irregular shape of the freeze-dried balls and the differences in size between individuals, it often takes multiple attempts to adsorb the freeze-dried balls on the suction cup, resulting in low efficiency of implantation of the freeze-dried balls and high failure rate of implantation. Summary of the invention

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present invention, there is provided a ball planting device, which is used for performing ball planting operations into the disk holes on the disk, and the ball planting device includes a controller, a ball storage plate assembly and a ball planting plate assembly. The ball storage plate assembly is used for storing balls. The ball planting plate assembly is arranged below the ball storage plate assembly, and the ball planting plate assembly includes a ball planting plate, a first baffle assembly and a first driving member. A ball planting space is formed on the ball planting plate, and the ball planting space is used for receiving balls dropped through the ball storage plate assembly. The ball planting space has a ball planting hole. The first baffle assembly is used for opening or closing the ball planting hole under the control of the controller. The first driving member is used for driving the ball planting plate to move when the ball planting hole is in a closed state, so that the ball in the ball planting space slides into the ball planting hole.

[0005] The disc is arranged below the ball planting plate assembly, and the disc hole on the disc corresponds to the ball planting hole, and the ball in the ball planting space falls into the disc hole on the disc through the ball planting hole in the open state.

[0006] The ball planting device of the present invention can add balls to the ball storage plate assembly when the ball planting device is used to plant balls into the holes on the disk. The balls can fall into the ball planting space on the ball planting plate under the action of gravity. The controller can control the first baffle assembly to close the ball planting hole, and control the first drive member to drive the ball planting plate to move so that the balls in the ball planting space slide into the ball planting hole. At this time, the controller can control the first baffle assembly to open so that the balls in the ball planting hole fall into the holes on the disk below it. In this way, the ball planting device can realize the automated operation of ball planting, reduce the personnel cost and the errors that may occur during manual operation, and effectively improve the ball planting efficiency and the success rate of ball planting.

[0007] Exemplarily, the ball planting device also includes a shooting component; the shooting component is arranged above the ball storage plate, and a through hole is formed on the ball storage plate; the ball planting space of the ball planting plate corresponds to the through hole; the shooting component is used for shooting in the direction of the ball planting plate; the controller is used to control the shooting component to capture a first image, the first image includes an image of the ball planting space collected through the through hole, and it is determined based on the first image whether the current ball planting hole meets the ball planting condition. When the current ball planting hole meets the ball planting condition, the current ball planting hole of the ball planting plate performs a ball planting operation toward the disk hole on the disk.

[0008] Exemplarily, the ball storage plate assembly includes a ball storage plate and a second baffle assembly, a ball storage space is formed on the ball storage plate, a ball replenishing channel is provided in the ball storage space, and the second baffle assembly is used to open or close the ball replenishing channel under control; when the controller controls the ball replenishing channel to be in an open state, the balls in the ball replenishing channel fall into the ball planting space.

[0009] Exemplarily, the ball storage plate assembly also includes a second driving member, and the controller is used to control the second driving member to drive the ball storage plate to move when the ball replenishing channel is in a closed state, so that the balls in the ball storage space slide into the ball replenishing channel.

[0010] Exemplarily, the ball planting plate assembly also includes a lifting assembly connected to the ball planting plate, the ball planting plate having a ball replenishing position height and a ball planting position height set from top to bottom, the lifting assembly is used to drive the ball planting plate to reciprocate between the ball replenishing position height and the ball planting position height, the ball planting plate receives the ball in the ball storage space when it is at the ball replenishing position height, and the ball falls into the disc hole when the ball planting plate is at the ball planting position height.

[0011] Exemplarily, the controller is also used to determine whether there is a ball in the ball planting space based on the first image. When there is no ball in the ball planting space, the controller controls the second driving member to drive the ball storage plate to move, so that the ball in the ball storage space moves into the ball replenishing channel, and when the ball planting plate is at the ball replenishing position height, the controller controls the second baffle assembly to open the ball replenishing channel, so that the ball in the ball replenishing channel moves into the ball planting space.

[0012] Exemplarily, the first image also includes a captured image of the ball storage space, and the controller is also used to determine whether there is a ball in the ball storage space based on the first image. When there is a ball in the ball storage space, the controller controls the second driving member to drive the ball storage plate to move, so that the balls in the ball storage space move to the ball replenishment channel, and / or generates a reminder message when there is no ball in the ball storage space.

[0013] Exemplarily, the controller is used to control the shooting component to shoot before and after the ball planting operation to obtain two adjacent first images, and determine whether the ball is blocked in the ball planting hole based on the two adjacent first images, and perform the ball suction operation when it is determined that the ball is blocked in the ball planting hole.

[0014] Exemplarily, the ball planting condition is that there is only one sphere in a preset area near the ball planting hole, and the sphere is located in the ball planting hole.

[0015] Exemplarily, the ball planting plate assembly includes a plurality of ball planting holes distributed in rows and columns, and a plurality of ball planting holes in the same column is called a column of ball planting hole groups; the ball planting plate assembly includes a plurality of columns of ball planting hole groups;

[0016] Multiple disks are arranged in rows and columns, and each column of disks is called a column of disk groups;

[0017] The plurality of ball planting holes of the ball planting hole group correspond one to one with the plurality of disks of the disk group;

[0018] The controller is also used to control the multiple ball planting holes in each ball planting hole group to open simultaneously, so as to perform ball planting operation on the disk holes at the same position of each disk in the disk group.

[0019] Exemplarily, there are a plurality of ball planting spaces, and at least two ball planting holes are arranged in the plurality of ball planting spaces along a row direction, and a plurality of ball planting holes in the same column constitute a ball planting hole group.

[0020] Exemplarily, the ball planting device further includes a position adjustment component, which is used to drive the ball planting plate and / or the carrier plate for carrying the disc to move, so that the ball planting holes of the ball planting hole group correspond to different disc hole positions on the disc of the disc group;

[0021] The controller is also used for controlling the ball planting hole group to perform a ball planting operation on the second disc hole on each disc in the disc group after controlling the ball planting hole group to perform a ball planting operation on the first disc hole on each disc in the disc group.

[0022] Exemplarily, the first baffle assembly includes multiple first baffles, which correspond one-to-one to multiple ball planting hole groups respectively. The controller is used to control the multiple first baffles to simultaneously open the ball planting holes in multiple columns of ball planting hole groups so as to simultaneously perform ball planting operations on the disk holes in multiple columns of disk groups.

[0023] Exemplarily, the controller is used to control the first driving member and / or the second driving member to move in a swinging manner when the ball planting plate is at the ball planting position height.

[0024] According to one aspect of the present invention, there is also provided a freeze-dried ball planting device, comprising a loading component, a packaging component and the ball planting device as described above, wherein the loading component is arranged upstream of the ball planting device to transport the disc to the ball planting device, and the packaging component is arranged downstream of the ball planting device to perform packaging operations on the disc after ball planting.

[0025] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other purposes, features and advantages of the present invention will become more apparent by describing the embodiments of the present invention in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0027] Figure 1 A first stereoscopic view of a ball implanting device according to an exemplary embodiment of the present invention (including a photographing assembly and a disk) is shown;

[0028] Figure 2 A second perspective view of a ball implanting device according to an exemplary embodiment of the present invention is shown;

[0029] Figure 3 A third perspective view of a ball implanting device according to an exemplary embodiment of the present invention is shown;

[0030] Figure 4 A fourth perspective view of a ball implanting device according to an exemplary embodiment of the present invention is shown;

[0031] Figure 5 A first perspective view of a ball planting plate according to an exemplary embodiment of the present invention is shown;

[0032] Figure 6 A second perspective view of a ball planting plate according to an exemplary embodiment of the present invention is shown.

[0033] Among them, the components represented by the reference numerals in the figures are:

[0034] 1. Ball storage plate assembly; 11. Ball storage plate; 111. Ball storage space; 112. Ball replenishment channel; 113. Through hole; 12. Second baffle assembly; 121. Baffle body; 122. Driver; 13. Second driver; 2. Ball planting plate assembly; 21. Ball planting plate; 211. Ball planting space; 212. Ball planting hole; 22. First baffle assembly; 221. Trigger unit; 23. First driver; 24. Lifting assembly; 3. Shooting assembly; 4. Abutment; 5. Fixed seat; 6. Slide rail; 7. First rotating shaft; 8. Second rotating shaft; 9. Carrier; 10. Disc; 101. Disc hole; 14. Anti-static device. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present invention more obvious, the exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments of the present invention, and it should be understood that the present invention is not limited to the exemplary embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative work should fall within the protection scope of the present invention.

[0036] In the following description, a large amount of details are provided so that the present invention can be thoroughly understood. However, it will be appreciated by those skilled in the art that the following description only exemplarily illustrates a preferred embodiment of the present invention, and the present invention can be implemented without one or more such details. In addition, in order to avoid confusion with the present invention, some technical features well known in the art are not described in detail.

[0037] In order to fully understand the embodiments of the present invention, detailed structures will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. The preferred embodiments of the present invention are described in detail below, but in addition to these detailed descriptions, the present invention may also have other embodiments.

[0038] In one embodiment of the present invention, a ball planting device is provided, which can realize the automatic operation of ball planting, reduce the personnel cost, and improve the ball planting efficiency and the success rate of ball planting.

[0039] like Figure 1As shown, the ball planting device is used to perform ball planting operations on the disk hole 101 on the disk 10, and the ball planting device includes a controller, a ball storage plate assembly 1 and a ball planting plate assembly 2. The ball storage plate assembly 1 is used to store balls. The ball planting plate assembly 2 is arranged below the ball storage plate assembly 1, and the ball planting plate assembly 2 includes a ball planting plate 21, a first baffle assembly 22 and a first driving member 23. A ball planting space 211 is formed on the ball planting plate 21, and the ball planting space 211 is used to receive the balls dropped through the ball storage plate assembly 1. The ball planting space 211 has a ball planting hole 212. The first baffle assembly 22 is used to open or close the ball planting hole 212 under the control of the controller. The first driving member 23 is used to drive the ball planting plate 21 to move when the ball planting hole 212 is in a closed state, so that the ball in the ball planting space 211 slides into the ball planting hole 212;

[0040] The disk 10 is disposed below the ball planting plate assembly 2 , and the disk hole 101 on the disk 10 corresponds to the ball planting hole 212 , and the ball in the ball planting space 211 falls into the disk hole 101 on the disk 10 through the ball planting hole 212 in the open state.

[0041] The above-mentioned disc 10 can be a microfluidic disc, the above-mentioned sphere can be a freeze-dried sphere, and a plurality of disc holes 101 can be formed on the microfluidic disc, and each disc hole 101 can be used to place a freeze-dried sphere. The plurality of disc holes 101 can be evenly distributed on the microfluidic disc, and can be arranged at intervals along the circumference of the microfluidic disc, which is not specifically limited in this application.

[0042] The controller can be built with electronic components such as digital logic circuits, or can be implemented using processor chips such as single-chip microcomputers, microprocessors, programmable logic controllers (PLCs), digital signal processors (DSPs), field programmable gate arrays (FPGAs), programmable logic arrays (PLA), application-specific integrated circuits (ASICs), and their peripheral circuits.

[0043] The ball storage plate assembly 1 can be used to store a large number of balls, so that after the ball planting plate assembly 2 performs a ball planting operation on the disk hole 101 on the disk 10 and there are no balls left in the ball planting space 211, the balls stored in the ball storage plate assembly 1 can be received for the next ball planting operation. Balls can be added to the ball storage plate assembly 1 manually or mechanically, and the present application does not specifically limit the method of adding balls to the ball storage plate assembly 1.

[0044] The shape of the ball planting space 211 can be a groove-shaped ball planting space 211. The groove-shaped ball planting space 211 can have a first accommodating cavity. The first accommodating cavity can have an open side facing the ball storage plate assembly 1. The bottom of the first accommodating cavity can be formed with a ball planting hole 212 that passes through the vertical direction. The balls stored in the ball storage plate assembly 1 can fall into the ball planting space 211 through the open side, and the controller controls the first driving member 23 to drive the ball planting plate 21 to move, so that the balls in the ball planting space 211 can slide into the ball planting hole 212.

[0045] The ball planting hole 212 can accommodate a ball, and the diameter of the ball planting hole 212 can be slightly larger than the diameter of the ball, thereby ensuring that only one ball can pass through the ball planting hole 212 smoothly each time the ball planting operation is performed, avoiding ball planting failure and ball waste due to dropping too many balls at one time, and effectively ensuring the success rate of ball planting.

[0046] The first baffle assembly 22 can be attached to the bottom of the ball planting plate 21, and the controller can control the first baffle assembly 22 to reciprocate in the horizontal direction. When the first baffle assembly 22 moves to block the ball planting hole 212, the ball planting hole 212 can be closed, and when the first baffle assembly 22 moves to be misaligned with the ball planting hole 212, the ball planting hole 212 can be opened.

[0047] When the ball planting device of the present invention is used to plant balls in the disk holes 101 on the disk 10, balls can be added to the ball storage plate assembly 1, and the balls can fall into the ball planting space 211 on the ball planting plate 21 under the action of gravity. The controller can control the first baffle assembly 22 to close the ball planting hole 212, and control the first driving member 23 to drive the ball planting plate 21 to move, so that the balls in the ball planting space 211 slide into the ball planting hole 212. At this time, the controller can control the first baffle assembly 22 to open, so that the balls in the ball planting hole 212 fall into the disk holes 101 on the disk 10 located below it. In this way, the ball planting device can realize the automatic operation of ball planting, reduce the personnel cost and the errors that may occur during manual operation, and effectively improve the ball planting efficiency and the success rate of ball planting.

[0048] In some embodiments, Figure 1 As shown, the ball planting device also includes a shooting component 3; the shooting component 3 is arranged above the ball storage plate component 1, and a through hole 113 is formed on the ball storage plate component 1; the ball planting space 211 of the ball planting plate 21 corresponds to the through hole 113; the shooting component 3 is used for shooting in the direction of the ball planting plate 21; the controller is used to control the shooting component 3 to capture a first image, the first image includes an image of the ball planting space 211 collected through the through hole 113, and it is determined according to the first image whether the current ball planting hole 212 meets the ball planting condition, when the current ball planting hole 212 meets the ball planting condition, the current ball planting hole 212 of the ball planting plate 21 performs a ball planting operation toward the disk hole 101 on the disk 10.

[0049] The shooting component 3 can specifically be a camera or a video camera, etc., any device that can be used to capture the first image can be used, and this application does not make any specific limitation.

[0050] The shooting component 3 can be arranged directly above the ball storage plate component 1, and shoot in the direction of the ball planting plate 21, so as to clearly capture the first image including the ball planting space 211. Of course, the shooting component 3 can also be arranged obliquely above the ball storage plate component 1, and any position where the first image can be captured is acceptable, and this application does not make any specific limitation on this.

[0051] The shooting component 3 can capture the first image including the ball planting space 211 through the through hole 113 on the ball storage plate component 1, effectively avoiding the blocking of the ball planting space 211 by the ball storage plate component 1, and improving the accuracy of the captured first image.

[0052] Based on the first image, it can be determined whether the ball planting hole 212 meets the ball planting condition. When the current ball planting hole 212 meets the ball planting condition, the controller can control the first baffle assembly 22 to open the current ball planting hole 212, so that the current ball planting hole 212 can perform a ball planting operation on the disk hole 101 on the disk 10. When the current ball planting hole 212 does not meet the ball planting condition, the controller can control the first baffle assembly 22 to keep the ball planting hole 212 closed, and control the first driving member 23 to drive the ball planting plate 21 to move until the ball planting hole 212 meets the ball planting condition.

[0053] The first image may include not only the image of the ball planting space 211 , but also the image of the ball storage space 111 . By taking an image once by the shooting component 3 , the image information of the ball planting device may be collected to the maximum extent, thereby ensuring the shooting efficiency of the shooting component 3 .

[0054] In the above embodiment, the shooting component 3 can capture a first image containing the ball planting space 211 before the ball planting operation, and the controller can accurately identify the position of the ball planting hole 212 and the condition of the ball in the ball planting hole 212 based on the first image. When the ball planting conditions are met, the controller can control the ball planting device to perform the ball planting operation. In this way, through the cooperation of the shooting component 3 and the controller, the first image can be automatically captured and identified, reducing the need for manual operation, and automatically judging the ball planting conditions, which can reduce the possibility of errors due to human operation, effectively improve the ball planting efficiency and automation level of the ball planting device, and ensure the accuracy and reliability of the ball planting operation.

[0055] In some embodiments, Figures 1 to 4As shown, the ball storage plate assembly 1 includes a ball storage plate 11 and a second baffle assembly 12. A ball storage space 111 is formed on the ball storage plate 11. A ball replenishing channel 112 is provided in the ball storage space 111. The second baffle assembly 12 is used to open or close the ball replenishing channel 112 under control. When the controller controls the ball replenishing channel 112 to be in an open state, the balls in the ball replenishing channel 112 fall into the ball planting space 211.

[0056] The shape of the ball storage space 111 can be a groove-shaped, and the groove-shaped ball storage space 111 can have a second accommodating cavity. The side of the second accommodating cavity away from the ball planting plate 21 can have an open side, and the bottom of the second accommodating cavity can be formed with a ball replenishing channel 112 that runs through the vertical direction. When the controller controls the second baffle assembly 12 to close the ball replenishing channel 112, balls can be added to the ball storage space 111. When the controller controls the second baffle assembly 12 to open the ball replenishing channel 112, balls can be added to the ball planting space 211 through the ball replenishing channel 112.

[0057] The ball replenishing channel 112 may have a larger size to ensure that a plurality of balls can pass through the ball replenishing channel 112 at the same time, so that a plurality of balls can be added to the ball planting space 211 at one time, effectively ensuring the ball replenishing efficiency of the ball storage plate assembly 1.

[0058] The second baffle assembly 12 may include a baffle body 121 and a driver 122 connected to the baffle body 121. The baffle body 121 may be attached to the bottom of the ball storage plate 11. The controller may be electrically connected to the driver 122 and drive the baffle body 121 to reciprocate in the horizontal direction through the driver 122. A first ball dropping hole adapted to the ball replenishing channel 112 may be provided on the baffle body 121. When the driver 122 drives the first ball dropping hole of the baffle body 121 to move to a position misaligned with the ball replenishing channel 112, the ball replenishing channel 112 may be closed. When the driver 122 drives the first ball dropping hole of the baffle body 121 to move to correspond to the ball replenishing channel 112, the ball replenishing channel 112 may be opened.

[0059] The baffle body 121 may also be provided with an observation hole corresponding to the through hole 113 , so that the shooting assembly 3 can collect the first image including the ball planting space 211 through the through hole 113 on the ball storage plate 11 and the observation hole on the baffle body 121 .

[0060] The baffle body 121 and the driver 122 may be detachably connected, and the detachable connection may include a plug connection or a snap connection, etc., to facilitate the disassembly and replacement of the baffle body 121. The present application does not specifically limit the connection method between the baffle body 121 and the driver 122. The driver 122 may be a cylinder, etc., which is not specifically limited in the present application.

[0061] In the above embodiment, the ball storage space 111 can store balls. When balls need to be added to the ball planting space 211 on the ball planting plate 21, the controller can control the second baffle assembly 12 to open the ball replenishment channel 112 in the ball storage space 111, and the balls can fall into the ball planting space 211 through the ball replenishment channel 112. By opening or closing the ball replenishment channel 112 of the second baffle assembly 12, the frequency and quantity of ball replenishment can be accurately controlled, thereby improving the automation of the ball planting process. In addition, the automated ball replenishment operation can reduce manual operations and improve the efficiency of the ball planting operation, especially in large-scale ball planting processes, which can significantly save time and labor.

[0062] In some embodiments, Figures 1 to 4 As shown, the ball storage plate assembly 1 also includes a second driving member 13. The controller is used to control the second driving member 13 to drive the ball storage plate 11 to move when the ball replenishing channel 112 is in a closed state, so that the balls in the ball storage space 111 slide into the ball replenishing channel 112.

[0063] The second driving member 13 can be connected to the ball storage plate 11 and drive the ball storage plate 11 to move. When the controller controls the second baffle assembly 12 to close the ball replenishing channel 112, the controller can also control the second driving member 13 to drive the ball storage plate 11 to move, so that the ball can roll in the ball storage space 111 and slide into the ball replenishing channel 112.

[0064] In the above embodiment, through the precise control of the controller and the second driving member 13, when it is necessary to add balls to the ball planting space 211, the balls can be quickly moved from the ball storage space 111 to the ball replenishing channel 112, which effectively improves the efficiency of the ball storage plate assembly 1 in replenishing balls to the ball planting space 211. In addition, the automated ball replenishing control can reduce or avoid the situation of ball jamming caused by improper manual operation, thereby ensuring that the balls can smoothly enter the ball replenishing channel 112.

[0065] In some embodiments, Figures 2 to 4 As shown, the ball planting plate assembly 2 also includes a lifting assembly 24 connected to the ball planting plate 21. The ball planting plate 21 has a ball replenishing position height and a ball planting position height set from top to bottom. The lifting assembly 24 is used to drive the ball planting plate 21 to reciprocate between the ball replenishing position height and the ball planting position height. When the ball planting plate 21 is at the ball replenishing position height, it receives the ball in the ball storage space 111, and the ball falls into the disc hole 101 when the ball planting plate 21 is at the ball planting position height.

[0066] like Figures 2 to 4As shown, the ball planting device can also include a fixed seat 5, and the ball storage plate 11 and the ball planting plate 21 can be fixed on the fixed seat 5 in the vertical direction. A slide rail 6 can be provided on the fixed seat 5 so that the lifting component 24 can reciprocate along the slide rail 6 between the height of the ball replenishing position and the height of the ball planting position. The slide rail 6 can effectively ensure the stability of the lifting component 24 when driving the ball planting plate 21 to move.

[0067] The height of the ball replenishment position and the height of the ball planting position can be set in the vertical direction, and the lifting component 24 can drive the ball planting plate 21 to reciprocate between the height of the ball replenishment position and the height of the ball planting position. When the ball planting plate 21 moves upward and is at the height of the ball replenishment position, the controller can control the second baffle assembly 12 to open the ball replenishment channel 112, so that the ball in the ball replenishment channel 112 can fall into the ball planting space 211 on the ball planting plate 21.

[0068] When the ball planting plate 21 is at the ball planting height, there may be a certain distance between the ball planting plate 21 and the ball storage plate 11 in the vertical direction. When the controller controls the first driving member 23 to drive the ball planting plate 21 to move and slide the ball into the ball planting hole 212, the ball planting plate 21 can be prevented from colliding with the ball storage plate 11 during movement. Of course, when the ball planting plate 21 is at the ball planting height, the controller controls the second baffle assembly 12 to close the ball replenishment channel 112 and controls the second driving member 13 to drive the ball storage plate 11 to move, so as to prevent the ball storage plate 11 from colliding with the ball planting plate 21 during movement.

[0069] In the above embodiment, the lifting assembly 24 can drive the ball planting plate 21 to move between the height of the ball replenishing position and the height of the ball planting position, thereby avoiding the collision between the ball planting plate 21 and the ball storage plate 11 during movement, and effectively improving the rationality of the layout of the ball planting device. In addition, the ball planting plate 21 can receive the ball in the ball storage space 111 at the height of the ball replenishing position, thereby reducing the distance between the ball planting plate 21 and the ball storage plate 11 when the ball falls. The ball can fall into the disk hole 101 when the ball planting plate 21 is at the height of the ball planting position, thereby reducing the distance between the ball planting plate 21 and the disk hole 101 when the ball falls, thereby effectively avoiding the situation where the ball is damaged due to excessive height when it falls, greatly improving the yield rate during the ball implantation process, and ensuring the ball implantation effect of the ball planting device.

[0070] In some embodiments, the controller is also used to determine whether there is a ball in the ball planting space 211 based on the first image. When there is no ball in the ball planting space 211, the controller controls the second driving member 13 to drive the ball storage plate 11 to move, so that the ball in the ball storage space 111 moves into the ball replenishing channel 112, and when the ball planting plate 21 is at the ball replenishing position height, controls the second baffle assembly 12 to open the ball replenishing channel 112, so that the ball in the ball replenishing channel 112 moves into the ball planting space 211.

[0071] When the controller determines that there is a ball in the ball planting space 211 according to the first image, the ball planting plate assembly 2 can be controlled to continue the next ball planting operation. When the controller determines that there is no ball in the ball planting space 211 according to the first image, the ball storage plate assembly 1 can be controlled to replenish the ball into the ball planting space 211.

[0072] In the above embodiment, the controller can determine whether there is a ball in the ball planting space 211 based on the first image. When there is no ball in the ball planting space 211, the controller can promptly control the ball storage plate assembly 1 to replenish the ball into the ball planting space 211, thereby ensuring the continuity of the ball planting process and avoiding affecting the ball planting speed of the ball planting device due to lack of balls, thereby effectively ensuring the ball planting efficiency and automation level of the ball planting device.

[0073] In some embodiments, the first image also includes a captured image of the ball storage space 111, and the controller is also used to determine whether there is a ball in the ball storage space 111 based on the first image. When there is a ball in the ball storage space 111, the controller controls the second driving member 13 to drive the ball storage plate 11 to move, so that the balls in the ball storage space 111 move to the ball replenishment channel 112, and / or generates a reminder message when there is no ball in the ball storage space 111.

[0074] The controller can also determine whether there are balls in the ball storage space 111 based on the first image. When the controller determines that there are balls in the ball storage space 111 based on the first image, it can control the ball storage plate assembly 1 to replenish balls into the ball planting space 211. When the controller determines that there are no balls in the ball storage space 111 based on the first image, it can generate a reminder message to encourage the operator to replenish balls into the ball storage space 111 in a timely manner.

[0075] The ball planting device can remind the operator through sound or light, and the ball planting device can also generate a reminder message and send it to the operator's mobile terminal, such as a mobile phone or computer, etc. This application does not make specific limitations on this.

[0076] In the above embodiment, the controller can monitor in real time whether there are balls in the ball storage space 111 based on the first image and respond quickly. When it is determined that there are balls in the ball storage space 111, balls can be added to the ball planting space 211. When it is determined that there are no balls in the ball storage space 111, a reminder message can be generated to remind the operator to replenish the balls. This not only reduces the need for manual inspection of the remaining balls in the ball storage space 111, but also ensures the continuity of the ball planting operation of the ball planting device, avoids delays or waste in ball planting due to lack of balls, and effectively improves the utilization rate of the ball planting device and the ball planting efficiency.

[0077] In some embodiments, the controller is used to control the shooting component 3 to shoot before and after the ball planting operation to obtain two adjacent first images, and judge whether the ball is blocked in the ball planting hole 212 based on the two adjacent first images, and perform the ball suction operation when it is determined that the ball is blocked in the ball planting hole 212.

[0078] The controller can control the shooting component 3 to shoot a first image before the ball planting operation. Through the first image, it can be determined that the current ball planting hole 212 meets the ball planting condition, that is, there is only one ball in the preset area near the current ball planting hole 212, and the ball is located in the ball planting hole 212. At this time, the first baffle component 22 can be controlled to open the ball planting hole 212 to perform the ball planting operation on the disk hole 101 on the disk 10. After the ball planting operation is completed, the controller can control the shooting component 3 to shoot a first image again, and determine whether there is still a ball in the current ball planting hole 212 based on the first image. If there is no ball, it can be indicated that the ball has fallen into the disk hole 101 of the disk 10. If there is a ball, it can be indicated that the ball planting hole 212 is blocked, and the ball is stuck in the ball planting hole 212 and does not fall smoothly.

[0079] When it is determined that the ball is stuck in the ball planting hole 212, the controller can control the ball suction device to perform a ball suction operation to remove the ball stuck in the ball planting hole 212. The ball suction device can suck out the ball by vacuum adsorption. Specifically, the suction tube of the ball suction device can move to abut against the outer wall of the ball, and adsorb the ball on the suction tube by sucking air, so that the ball is removed from the ball planting hole 212.

[0080] When the ball is blocked in the ball planting hole 212, the disc hole 101 on the disc 10 corresponding to the ball planting hole 212 cannot be implanted with the ball, so the disc 10 can be transported to the unloading device by a conveyor belt or a clamping claw or other equipment for recycling.

[0081] In the above embodiment, by automatically comparing and analyzing two adjacent first images, not only can the need for manual inspection be reduced, but also it can be accurately determined whether there is a ball stuck in the ball planting hole 212. When determining that the ball is blocked, the controller can perform a ball suction operation, thereby effectively reducing manual intervention and improving the convenience of ball blocking treatment. In addition, timely determination and removal of the blocked ball can avoid ball planting delays caused by ball blocking, effectively improving the ball planting efficiency of the ball planting device and the reliability and practicality of the ball planting operation.

[0082] In some embodiments, the ball planting condition is that there is only one ball in a predetermined area near the ball planting hole 212 , and the ball is located in the ball planting hole 212 .

[0083] The ball planting hole 212 may be disposed near one end of the ball planting space 211 , and the preset area may be represented as an area adjacent to the ball planting hole 212 .

[0084] When the ball planting device is used for the implantation of freeze-dried balls, the freeze-dried balls have extremely low water content due to the removal of water from the balls through freeze-drying technology during the manufacturing process, which can easily lead to the surface of the freeze-dried balls being charged, thus causing electrostatic adsorption. In addition, freeze-dried balls are usually stored and preserved in a dry environment, which can easily generate static electricity, leading to the accumulation of charges on the surface of the freeze-dried balls, and then causing adsorption and agglomeration. In this way, by limiting the ball planting conditions, it can be ensured that only one ball falls into the disc hole 101 of the disc 10 through the ball planting hole 212 in each ball planting operation.

[0085] The ball planting device may further include a static electricity removal device 14, which may be located above the ball storage plate 11 and the ball planting plate 21, respectively. The static electricity removal device 14 may neutralize the static electricity on the surface of the balls in the ball storage space 111 and the ball planting space 211, thereby reducing the mutual adsorption between multiple balls. The static electricity removal device 14 may be a static electricity removal air curtain, which is not specifically limited in this application.

[0086] When the shooting component 3 captures the first image, the controller determines that there is only one ball in the ball planting hole 212 and only the above-mentioned ball is in the vicinity of the ball planting hole 212 based on the first image, and then the first baffle component 22 can be controlled to open the ball planting hole 212, thereby completing the ball planting operation.

[0087] In the above embodiment, by limiting the ball planting condition to that there is only one ball in the preset area near the ball planting hole 212, and the ball is located in the ball planting hole 212, it can be ensured that only one ball falls through the ball planting hole 212 in each ball planting operation, thereby avoiding the situation where multiple balls are attracted to each other and fall through the ball planting hole 212 together. This not only ensures the success rate of ball planting by the ball planting device, but also reduces the waste and loss of balls.

[0088] In some embodiments, Figures 1 to 6 As shown, the ball planting plate assembly 2 includes a plurality of ball planting holes 212 distributed in rows and columns, and a plurality of ball planting holes 212 located in the same column is called a column of ball planting hole groups; the ball planting plate assembly 2 includes a plurality of columns of ball planting hole groups;

[0089] The plurality of disks 10 are arranged in rows and columns, and the disks 10 in each column are called a column of disk groups;

[0090] The plurality of ball planting holes 212 of the ball planting hole group correspond one-to-one to the plurality of disks 10 of the disk group;

[0091] The controller is also used to control the multiple ball planting holes 212 in each ball planting hole group to open simultaneously, so as to perform ball planting operation on the disk holes 101 at the same position of each disk 10 in the disk group.

[0092] The number of ball planting hole groups can correspond to the number of disk groups one by one. Of course, two rows of ball planting hole groups can also correspond to one row of disk groups, thereby improving the ball planting efficiency of the ball planting device.

[0093] Multiple ball planting holes 212 in a row of ball planting hole groups can respectively correspond to the disk holes 101 at the same position of each disk 10 in the disk group. When the controller controls multiple ball planting holes 212 to open simultaneously, the ball planting operation can be synchronously performed on the disk holes 101 at the same position of each disk 10 in the disk group, thereby completing batch ball planting operations.

[0094] Of course, the controller can also determine whether the ball planting hole group meets the ball planting conditions based on the first image. When the current ball planting hole group meets the ball planting conditions, the controller can control the first baffle assembly 22 to open the ball planting holes 212 in the current ball planting hole group, so that each ball planting hole 212 can respectively perform a ball planting operation on the disk hole 101 on the disk 10 corresponding to it. When the current ball planting hole group does not meet the ball planting conditions, the controller can control the first baffle assembly 22 to keep the ball planting hole group closed, and control the first driving member 23 to drive the ball planting plate 21 to move until the ball planting hole group meets the ball planting conditions.

[0095] There can be multiple ball planting devices, and the multiple ball planting devices can be arranged in parallel along the conveying direction of the conveyor belt. The ball planting hole groups of each ball planting device can respectively correspond to different positions of each disc 10 in the disc group. The conveyor belt can transport the disc group to the bottom of different ball planting devices, so that balls can be planted at different positions of each disc 10 in the disc group through multiple ball planting devices, thereby completing the batch ball planting operation of the discs 10.

[0096] In the above embodiment, the ball planting hole group can simultaneously perform ball planting operations on the disk holes 101 at the same position of each disk 10 in a disk group, thereby significantly improving the ball planting efficiency of the ball planting device and reducing the time required for the ball planting operation. In addition, the controller synchronously controls to ensure the consistency of the ball planting operation on the disk holes 101 of each disk 10, effectively improving the uniformity and consistency of ball planting.

[0097] In some embodiments, Figure 5 and Figure 6 As shown, there are multiple ball planting spaces 211, and at least two ball planting holes 212 are arranged in the multiple ball planting spaces 211 along the row direction. The multiple ball planting holes 212 located in the same column constitute a ball planting hole group.

[0098] Multiple ball planting spaces 211 can be distributed in rows and columns on the ball planting plate 21, and each ball planting space 211 is provided with at least two ball planting holes 212 along the row direction. Therefore, when the controller controls the movement of the ball planting plate 21, it can be ensured that at least one column of ball planting holes 212 has a ball sliding into it, thereby improving the ball planting rhythm of the ball planting device.

[0099] There can be multiple ball storage spaces 111, and the multiple ball storage spaces 111 can be distributed in rows and columns on the ball storage plate 11 and correspond one-to-one to the multiple ball planting spaces 211. The baffle body 121 can be provided with multiple first ball dropping holes, and the multiple first ball dropping holes can respectively correspond to the ball replenishing channels 112 of the multiple ball storage spaces 111. The driver 122 can drive the baffle body 121 to reciprocate in the horizontal direction, so as to quickly and simultaneously perform ball replenishing operations on the multiple ball planting spaces 211.

[0100] The number of through holes 113 on the ball storage plate 11 can correspond to the number of ball planting spaces 211. When the lifting component 24 drives the ball planting plate 21 to move from the ball planting position height to the ball replenishing position height, the lifting component 24 can also drive the ball planting plate 21 to move in the horizontal direction, so that each ball planting space 211 can be located below the through hole 113 corresponding to it, so that the shooting component 3 can capture the first image containing multiple ball planting spaces 211 through the through hole 113.

[0101] Of course, in some other embodiments, there may be only one ball storage space 111 , and one ball storage space 111 may be used to perform ball planting operations in multiple ball planting spaces 211 , and this application does not make any specific limitation on this.

[0102] In the above embodiment, at least two ball planting holes 212 along the row direction can be provided in the multiple ball planting spaces 211, and the multiple ball planting holes 212 located in the same column can constitute a ball planting hole group. In this way, when the controller controls the movement of the ball planting plate 21, it can ensure that the ball slides into the ball planting holes 212 in at least one column of the ball planting hole group, and the ball planting operation can be performed on the disk 10 in the disk group, further improving the ball planting efficiency of the ball planting device and shortening the ball planting cycle.

[0103] In some embodiments, the ball planting device further includes a position adjustment component (not shown in the figure), which is used to drive the ball planting plate 21 and / or the carrier plate 9 for carrying the disk 10 to move, so that the ball planting holes 212 of the ball planting hole group and the different disk holes 101 on the disk 10 of the disk group correspond to each other;

[0104] The controller is also used to control the ball planting hole group to perform a ball planting operation on the second disk hole 101 on each disk 10 in the disk group after controlling the ball planting hole group to perform a ball planting operation on the first disk hole 101 on each disk 10 in the disk group.

[0105] A plurality of disks 10 distributed in rows and columns can be placed on the carrier 9. The position adjustment component can be connected to the ball planting plate 21 and / or the carrier 9, and drive the ball planting plate 21 and / or the carrier 9 to move in the horizontal direction, so that the ball planting hole group on the ball planting plate 21 can correspond to the different disk holes 101 of each disk 10 in the disk group on the carrier 9.

[0106] In the above embodiment, the position adjustment component can accurately adjust the positional relationship between the ball planting group on the ball planting plate 21 and the disk group on the carrier plate 9, ensuring that the ball planting holes 212 of the ball planting hole group can correspond one-to-one to the disk holes 101 on each disk 10 in the disk group, so that the ball planting operation of multiple disk holes 101 on the disk 10 can be completed by using one ball planting device. This not only ensures the accuracy of the ball planting operation, but also reduces the number of ball planting devices, saving the manufacturing cost of the ball planting devices.

[0107] In some embodiments, the first baffle assembly 22 includes multiple first baffles, and the multiple first baffles correspond one by one to multiple ball planting hole groups, respectively. The controller is used to control the multiple first baffles to simultaneously open the ball planting holes 212 in multiple columns of ball planting hole groups, so as to simultaneously perform ball planting operations on the disk holes 101 on the disks 10 in multiple columns of disk groups.

[0108] like Figures 2 to 4 As shown, the ball planting device may further include an abutment 4, the first baffle may include a shielding plate and a trigger portion 221 arranged at one end close to the abutment 4, the shielding plate is used to simultaneously open or close the ball planting holes 212 in the ball planting hole group under control, the trigger portion 221 may abut against the abutment 4 and move the shielding plate, thereby simultaneously opening or closing multiple ball planting holes 212 in the ball planting hole group.

[0109] A plurality of second ball dropping holes matched with the ball planting holes 212 can be provided on the shielding plate, and the number of the second ball dropping holes can be matched with the number of the ball planting holes 212 in the ball planting group. Under the cooperation of the trigger part 221 and the abutment part 4, when the second ball dropping holes on the shielding plate move to be misaligned with the ball planting holes 212, the ball planting holes 212 can be closed, and when the second ball dropping holes on the shielding plate move to correspond to the ball planting holes 212, the ball planting holes 212 can be opened.

[0110] The position adjustment component can be connected to the first baffle component 22, and under the control of the controller, drive the first baffle component 22 to move in the horizontal direction, so that the triggering parts 221 of different first baffles can respectively act on the acting ends of the abutment 4. The abutment 4 can have at least two acting ends, and the shape of the acting ends can be needle-shaped. A concave cavity adapted to the acting end can be formed on the triggering part 221. When at least two acting ends are synchronously inserted into the corresponding concave cavities, one abutment 4 can be used to simultaneously open the ball planting holes 212 of different ball planting hole groups.

[0111] In the above embodiment, the controller can control multiple first baffles to simultaneously open the ball planting holes 212 in multiple columns of ball planting hole groups, thereby simultaneously performing ball planting operations on the disk holes 101 on the disks 10 of multiple columns of disk groups, further improving the ball planting efficiency of the ball planting device and shortening the ball planting cycle.

[0112] In some embodiments, the controller is used to control the first driving member 23 and / or the second driving member 13 to move in a swinging manner when the ball planting plate 21 is at the ball planting height.

[0113] The first driving member 23 is connected to one end of the ball planting plate 21 and drives the other end of the ball planting plate 21 to swing. Similarly, the second driving member 13 is connected to one end of the ball storage plate 11 and drives the other end of the ball storage plate 11 to swing.

[0114] Specifically, a first rotating shaft 7 may be provided below the ball planting plate 21, and one end of the ball planting plate 21 may be sleeved on the first rotating shaft 7. When the first driving member 23 drives the first rotating shaft 7 to rotate, the other end of the ball planting plate 21 may be driven to swing. Similarly, a second rotating shaft 8 may be provided above the ball storage plate 11, and one end of the ball storage plate 11 may be sleeved on the second rotating shaft 8. When the second driving member 13 drives the second rotating shaft 8 to rotate, the other end of the ball storage plate 11 may be driven to swing.

[0115] In the above embodiment, the controller can control the first driving member 23 and / or the second driving member 13 to move in a swinging manner, so that the ball located in the ball planting space 211 can be quickly slid into the ball planting hole 212, or the ball located in the ball storage space 111 can be quickly slid into the ball replenishing channel 112. This can simplify the operating steps of the first driving component and the second driving component, thereby further improving the ball planting speed of the ball planting device.

[0116] According to one aspect of the present invention, there is also provided a freeze-dried ball implanting device, comprising a loading component, a packaging component and the implanting device as described above, wherein the loading component is arranged upstream of the implanting device to transport the disc 10 to the implanting device, and the packaging component is arranged downstream of the implanting device to perform a packaging operation on the implanted disc 10.

[0117] The freeze-dried ball planting device may also include a conveyor, which can be used to transport the carrier 9. The carrier 9 can be transported to the loading assembly, the ball planting device and the packaging assembly in sequence under the drive of the conveyor. The conveyor can be a conveyor belt, which is not specifically limited in this application.

[0118] The loading assembly can be used to store the disc 10 and transport the disc 10 to the ball implanting device. The ball implanting device can implant the ball into the disc hole 101 on the disc 10. After implantation, it can be transported to the packaging assembly driven by the conveyor, and then the packaging assembly can package and store the disc 10.

[0119] The freeze-dried ball implanting equipment of the present invention includes the above-mentioned implanting device. Since the above-mentioned implanting device has the above-mentioned beneficial effects, the freeze-dried ball implanting equipment including the above-mentioned implanting device must also have the above-mentioned beneficial effects.

[0120] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present invention thereto. Various changes and modifications may be made therein by one of ordinary skill in the art without departing from the scope and spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as required by the appended claims.

[0121] For ease of description, the term "connection" may be used here to describe the relationship between one or more elements or features shown in the figures and other elements or features. It should be understood that "connection" may include direct connection or indirect connection via other elements or features, and this article is intended to include all of these situations.

[0122] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, parts, components and / or combinations thereof.

[0123] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0124] The present invention has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the scope of the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention. The protection scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A bulb planting device, characterized in that: Used to perform ball implantation operations on the disk holes, including: Controller; a ball storage plate assembly, the ball storage plate assembly being used to store balls; and A ball planting plate assembly, the ball planting plate assembly is arranged below the ball storage plate assembly, the ball planting plate assembly comprises a ball planting plate, a first baffle assembly and a first driving member, a ball planting space is formed on the ball planting plate, the ball planting space is used to receive the ball dropped through the ball storage plate assembly, the ball planting space has a ball planting hole, the first baffle assembly is used to open or close the ball planting hole under the control of the controller, and the first driving member is used to drive the ball planting plate to move when the ball planting hole is in a closed state, so that the ball in the ball planting space slides into the ball planting hole; The disc is arranged below the ball planting plate assembly, and the disc hole on the disc corresponds to the ball planting hole, and the ball in the ball planting space falls into the disc hole on the disc through the ball planting hole in the open state.

2. The ball implanting device according to claim 1, characterized in that: The ball planting device also includes a shooting component; The shooting assembly is arranged above the ball storage plate assembly, and a through hole is formed on the ball storage plate assembly; The ball planting space of the ball planting plate corresponds to the through hole; the shooting component is used for shooting in the direction of the ball planting plate; The controller is used to control the shooting component to capture a first image, wherein the first image includes an image of the ball planting space collected through the through hole, and determines whether the current ball planting hole meets the ball planting condition based on the first image. When the current ball planting hole meets the ball planting condition, the current ball planting hole of the ball planting plate performs a ball planting operation toward the disk hole on the disk.

3. The ball implanting device according to claim 2, characterized in that: The ball storage plate assembly comprises a ball storage plate and a second baffle assembly, a ball storage space is formed on the ball storage plate, a ball replenishment channel is provided in the ball storage space, and the second baffle assembly is used to open or close the ball replenishment channel under control; When the controller controls the ball replenishing channel to be in an open state, the balls in the ball replenishing channel fall into the ball planting space.

4. The ball implanting device according to claim 3, characterized in that: The ball storage plate assembly also includes a second driving member, and the controller is used to control the second driving member to drive the ball storage plate to move when the ball replenishing channel is in a closed state, so that the balls in the ball storage space slide into the ball replenishing channel.

5. The ball implanting device according to claim 4, characterized in that: The ball planting plate assembly also includes a lifting assembly connected to the ball planting plate, the ball planting plate having a ball replenishing position height and a ball planting position height arranged from top to bottom, the lifting assembly being used to drive the ball planting plate to reciprocate between the ball replenishing position height and the ball planting position height, the ball planting plate receiving the ball in the ball storage space when at the ball replenishing position height, the ball falling into the disc hole when the ball planting plate is at the ball planting position height.

6. The ball implanting device according to claim 5, characterized in that: The controller is also used to determine whether there is a ball in the ball planting space based on the first image. When there is no ball in the ball planting space, the controller controls the second driving member to drive the ball storage plate to move, so that the ball in the ball storage space moves into the ball replenishing channel, and when the ball planting plate is at the ball replenishing position height, controls the second baffle assembly to open the ball replenishing channel, so that the ball in the ball replenishing channel moves into the ball planting space.

7. The ball implanting device according to claim 4, characterized in that: The first image also includes a captured image of the ball storage space, and the controller is further used to determine whether there is a ball in the ball storage space based on the first image. When there is a ball in the ball storage space, the controller controls the second driving member to drive the ball storage plate to move so that the balls in the ball storage space move into the ball replenishment channel, and / or generates a reminder message when there is no ball in the ball storage space.

8. The ball implanting device according to claim 2, characterized in that: The controller is used to control the shooting component to shoot before and after the ball planting operation to obtain two adjacent first images, and judge whether the ball is blocked in the ball planting hole based on the two adjacent first images, and perform the ball suction operation when it is determined that the ball is blocked in the ball planting hole.

9. The ball implanting device according to claim 2, characterized in that: The ball planting condition is that there is only one ball in a preset area near the ball planting hole, and the ball is located in the ball planting hole.

10. The ball implanting device according to claim 1, characterized in that: The ball planting plate assembly includes a plurality of ball planting holes distributed in rows and columns, and a plurality of the ball planting holes in the same column is called a column of ball planting hole groups; the ball planting plate assembly includes a plurality of columns of ball planting hole groups; The plurality of disks are distributed in rows and columns, and the disks in each column are called a column of disk groups; The plurality of ball planting holes in the ball planting hole group correspond one-to-one to the plurality of disks in the disk group; The controller is also used to control the multiple ball planting holes in each ball planting hole group to open simultaneously, so as to perform ball planting operations on the disk holes at the same position of each disk in the disk group.

11. The ball implanting device according to claim 10, characterized in that: There are a plurality of ball planting spaces, and at least two ball planting holes are arranged in the plurality of ball planting spaces along a row direction. The plurality of ball planting holes in the same column constitute a ball planting hole group.

12. The ball implanting device according to claim 10, characterized in that: The ball planting device further comprises a position adjustment component, which is used to drive the ball planting plate and / or the carrier plate for carrying the disc to move, so that the ball planting holes of the ball planting hole group and different disc hole positions on the disc of the disc group correspond to each other; The controller is further configured to control the ball planting hole group to perform a ball planting operation on the second disk hole on each disk in the disk group after controlling the ball planting hole group to perform a ball planting operation on the first disk hole on each disk in the disk group.

13. The ball implanting device according to claim 10 or 12, characterized in that: The first baffle assembly includes a plurality of first baffles, and the plurality of first baffles correspond one by one to the plurality of ball planting hole groups respectively. The controller is used to control the plurality of first baffles to simultaneously open the ball planting holes in the plurality of columns of the ball planting hole groups so as to simultaneously perform ball planting operations on the disk holes on the disks in the plurality of columns of the disk groups.

14. The ball implanting device according to claim 5, characterized in that: The controller is used to control the first driving member and / or the second driving member to move in a swinging manner when the ball planting plate is at a ball planting position height.

15. A freeze-dried ball planting device, characterized in that: It comprises a loading component, a packaging component and a ball planting device as described in any one of claims 1 to 14, wherein the loading component is arranged upstream of the ball planting device to transport the disc to the ball planting device, and the packaging component is arranged downstream of the ball planting device to perform packaging operations on the disc after ball planting.

Images