Ball mounting device and freeze-drying ball mounting equipment

Abstract

The invention provides a ball mounting device and freeze-drying ball mounting equipment. The reballing device is used for reballing disc holes in a plurality of discs at the same time and comprises a reballing plate and a controller. The ball mounting plate is located above the multiple discs, a ball mounting space is formed in the ball mounting plate, ball mounting holes are formed in the ball mounting space, and the ball mounting holes correspond to disc holes in the discs located below the ball mounting holes. Wherein at least part of the plurality of discs form a disc group. The controller is used for controlling the ball mounting holes corresponding to the disc sets to be opened or closed at the same time. Therefore, batch ball mounting operation is realized, the time required by the ball mounting operation is effectively shortened, and the ball mounting efficiency of the ball mounting device is improved.

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] However, currently, multiple holes on a microfluidic disk need to be filled with freeze-dried balls in sequence before the freeze-dried balls can be placed on the next microfluidic disk. This results in a long implantation cycle for the freeze-dried balls and a low implantation efficiency. 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, a ball planting device is provided. The ball planting device is used to plant balls into the holes on multiple disks at the same time, and the ball planting device includes a ball planting plate and a controller. The ball planting plate is located above the multiple disks, and a ball planting space is formed on the ball planting plate. The ball planting space has ball planting holes, and the ball planting holes correspond to the holes on the disks located below it. Among them, at least some of the multiple disks form a disk group. The controller is used to control the simultaneous opening or closing of the ball planting holes corresponding to each disk group.

[0005] The ball planting device of the present invention can first divide a plurality of disks placed under the ball planting plate into disk groups, and then add balls to the ball planting space on the ball planting plate. The balls can slide into the ball planting holes, and the ball planting holes corresponding to the disk groups can be opened or closed simultaneously by a controller, so that ball planting operations can be performed on a plurality of disks at the same time. In this way, batch ball planting operations are realized, the time required for ball planting operations is effectively reduced, and the ball planting efficiency of the ball planting device is improved.

[0006] Exemplarily, multiple disks are arranged in rows and columns, and each column of disks is called a column of disk group; there are multiple ball planting holes, and the multiple ball planting holes are arranged in rows and columns, and each column of ball planting holes is called a column of ball planting hole group; the multiple ball planting holes in the ball planting hole group correspond one-to-one to the multiple disks in the disk group; the controller is also used to control the multiple ball planting holes in the ball planting hole group to open at the same time, so as to perform ball planting operations on the disk holes at the same position of each disk in the disk group.

[0007] Exemplarily, the ball planting device also includes a position adjustment component, which is used to drive the ball planting plate and / or the carrier plate for supporting the disk to move so that the ball planting holes of the ball planting hole group correspond to different disk hole positions on the disks of the disk group; the controller is also used 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.

[0008] Exemplarily, the ball planting device also includes a first baffle assembly and multiple columns of ball planting hole groups, the first baffle assembly includes multiple first baffles, and the multiple first baffles correspond one by one to the multiple columns of ball planting hole groups respectively; the controller is used to control the multiple first baffles to simultaneously open the ball planting holes in the multiple columns of ball planting hole groups, so as to simultaneously perform ball planting operations on the disk holes on the disks in the multiple columns of disk groups.

[0009] Exemplarily, the ball planting device also includes a shooting component; 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 shoot and obtain a first image, the first image includes an image of the ball planting space, and based on the first image, it is determined whether all the ball planting holes in the current column of the ball planting hole group meet the ball planting conditions, and when all the ball planting conditions are met, the current column of the ball planting hole group of the ball planting plate performs a ball planting operation on the disk holes on the disk; if any of the ball planting holes in the current column of the ball planting hole group does not meet the conditions, then the other columns of the ball planting hole group are updated as the current column of the ball planting hole group.

[0010] Exemplarily, the plurality of ball planting spaces are distributed in rows and columns, each ball planting space is provided with at least two adjacent ball planting holes along the row direction, and the plurality of ball planting holes in the same column constitute a ball planting hole group.

[0011] Exemplarily, the ball planting device also 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.

[0012] Exemplarily, the ball planting device also includes a first driving member and / or a second driving member, and the controller is used to control the first driving member 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; and, when the ball replenishing channel is in a closed state, control the second driving member to drive the ball storage plate to move, so that the ball in the ball storage space slides into the ball replenishing channel.

[0013] Exemplarily, the ball planting device also includes a lifting component 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 component 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 balls in the ball storage plate when it is at the ball replenishing position height, and the balls fall into the disc holes when the ball planting plate is at the ball planting position height.

[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 device further 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 and the ball storage plate;

[0016] The controller is also used to control the shooting component to shoot and obtain a first image, and determine whether there is a ball in the ball planting space according to 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 to 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 to the ball planting space; and\or,

[0017] The first image also includes an image of the ball storage space collected, and the controller is further used to determine whether there is a ball in the ball storage space according to the first image, and when there is a ball in the ball storage space, control the second driving member to drive the ball storage plate to move so that the ball in the ball storage space moves to the ball replenishment channel, and generate a reminder message when there is no ball in the ball storage space; and\or,

[0018] The controller is also 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.

[0019] 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.

[0020] According to another aspect of the present invention, a freeze-dried ball planting device is also provided, including 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.

[0021] 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

[0022] 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.

[0023] 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;

[0024] Figure 2 A second perspective view of a ball implanting device according to an exemplary embodiment of the present invention is shown;

[0025] Figure 3 A third perspective view of a ball implanting device according to an exemplary embodiment of the present invention is shown;

[0026] Figure 4 A fourth perspective view of a ball implanting device according to an exemplary embodiment of the present invention is shown;

[0027] Figure 5 A first perspective view of a ball planting plate according to an exemplary embodiment of the present invention is shown;

[0028] Figure 6 A second perspective view of a ball planting plate according to an exemplary embodiment of the present invention is shown.

[0029] Among them, the components represented by the reference numerals in the figures are:

[0030] 1. Ball planting plate; 11. Ball planting space; 111. Ball planting hole; 2. First baffle assembly; 21. Trigger unit; 3. Shooting assembly; 4. Ball storage plate; 41. Ball storage space; 411. Ball replenishment channel; 42. Through hole; 5. Second baffle assembly; 51. Baffle body; 52. Driver; 61. First driving member; 62. Second driving member; 7. Lifting assembly; 81. First rotating shaft; 82. Second rotating shaft; 9. Fixed seat; 10. Slide rail; 101. Abutment member; 102. Anti-static device; 103. Carrier; 104. Disk; 105. Disk hole. DETAILED DESCRIPTION

[0031] 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.

[0032] 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.

[0033] 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.

[0034] In one embodiment of the present invention, a ball planting device is provided, which can realize batch ball planting operations, effectively reduce the time required for ball planting operations, and improve the ball planting efficiency of the ball planting device. A ball planting device according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0035] like Figure 1 As shown, the ball planting device is used to plant balls into the disk holes 105 on multiple disks 104 at the same time, and the ball planting device includes a ball planting plate 1 and a controller. The ball planting plate 1 is located above the multiple disks 104, and a ball planting space 11 is formed on the ball planting plate 1. The ball planting space 11 has a ball planting hole 111, and the ball planting hole 111 corresponds to the disk hole 105 on the disk 104 located below it. Among them, at least some of the multiple disks 104 form a disk group. The controller is used to control the simultaneous opening or closing of the ball planting hole 111 corresponding to each disk group.

[0036] The above-mentioned disc 104 can be a microfluidic disc, and the above-mentioned sphere can be a freeze-dried sphere. The microfluidic disc can be formed with a plurality of disc holes 105, and each disc hole 105 can be used to place a freeze-dried sphere. The plurality of disc holes 105 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.

[0037] 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.

[0038] The shape of the ball planting space 11 can be a groove-shaped ball planting space 11, and the groove-shaped ball planting space 11 can have a first accommodating cavity. The side of the first accommodating cavity away from the disk 104 can have an open side, and the bottom of the first accommodating cavity can be formed with a ball planting hole 111 that passes through the vertical direction. The controller can control the ball planting hole 111 to open or close, so that the ball can fall through the ball planting hole 111 into the disk hole 105 of the disk 104.

[0039] The ball planting hole 111 can accommodate a ball, and the diameter of the ball planting hole 111 can be slightly larger than the diameter of the ball, thereby ensuring that only one ball can pass through the ball planting hole 111 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.

[0040] The ball planting device of the present invention can first divide the multiple disks 104 placed under the ball planting plate 1 into disk groups, and then add balls to the ball planting space 11 on the ball planting plate 1. The balls can slide into the ball planting holes 111, and the ball planting holes 111 corresponding to the disk groups can be opened or closed at the same time by the controller, so that the ball planting operation can be performed on multiple disks 104 at the same time. In this way, batch ball planting operations are realized, the time required for ball planting operations is effectively reduced, and the ball planting efficiency of the ball planting device is improved.

[0041] In some embodiments, the plurality of disks 104 are arranged in rows and columns, and each column of disks 104 is referred to as a column of disk groups;

[0042] There are multiple ball planting holes 111, and the multiple ball planting holes 111 are distributed in rows and columns, and each column of ball planting holes 111 is called a column of ball planting hole group;

[0043] The plurality of ball planting holes 111 of the ball planting hole group correspond one to one with the plurality of disks 104 of the disk group;

[0044] The controller is also used to control the multiple ball planting holes 111 in the ball planting hole group to open simultaneously, so as to perform ball planting operation on the disk holes 105 at the same position of each disk 104 in the disk group.

[0045] 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.

[0046] The multiple ball planting holes 111 in a row of ball planting hole groups can respectively correspond to the disk holes 105 at the same position of each disk 104 in the disk group. When the controller controls the multiple ball planting holes 111 to open at the same time, the ball planting operation can be synchronously performed on the disk holes 105 at the same position of each disk 104 in the disk group, thereby completing batch ball planting operations.

[0047] 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 104 in the disc group. The conveyor belt can transport the disc group to the bottom of different ball planting devices, so as to plant balls at different positions of each disc 104 in the disc group through multiple ball planting devices, thereby completing the batch ball planting operation of the discs 104.

[0048] In the above embodiment, the ball planting hole group can simultaneously perform ball planting operations on the disk holes 105 at the same position of each disk 104 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 105 of each disk 104, effectively improving the uniformity and consistency of ball planting.

[0049] 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 1 and / or the carrier plate 103 for carrying the disk 104 to move, so that the ball planting holes 111 of the ball planting hole group and the different disk holes 105 on the disk 104 of the disk group correspond to each other;

[0050] The controller is also used to control the ball planting hole group to perform a ball planting operation on the second disk hole 105 on each disk 104 in the disk group after controlling the ball planting hole group to perform a ball planting operation on the first disk hole 105 on each disk 104 in the disk group.

[0051] A plurality of disks 104 distributed in rows and columns may be placed on the carrier 103, and the position adjustment component may be connected to the ball planting plate 1 and / or the carrier 103, and drive the ball planting plate 1 and / or the carrier 103 to move in a horizontal direction, so that the ball planting hole group on the ball planting plate 1 may correspond to different disk holes 105 of each disk 104 in the disk group on the carrier 103.

[0052] In the above embodiment, the position adjustment component can accurately adjust the positional relationship between the ball planting group on the ball planting plate 1 and the disk group on the carrier 103, ensuring that the ball planting holes 111 of the ball planting hole group can correspond one-to-one to the disk holes 105 on each disk 104 in the disk group, so that the ball planting operation of multiple disk holes 105 on the disk 104 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.

[0053] In some embodiments, Figures 1 to 4 As shown, the ball planting device further includes a first baffle assembly 2 and a plurality of rows of ball planting hole groups. The first baffle assembly 2 includes a plurality of first baffles, and the plurality of first baffles correspond to the plurality of rows of ball planting hole groups one by one.

[0054] The controller is used to control the plurality of first baffles to simultaneously open the ball planting holes 111 in the plurality of rows of ball planting hole groups, so as to simultaneously perform ball planting operations on the disk holes 105 on the disks 104 in the plurality of rows of disk groups.

[0055] like Figures 2 to 4 As shown, the ball planting device may further include an abutment 101, and the first baffle may include a shielding plate and a triggering portion 21 arranged at one end close to the abutment 101, the shielding plate is used to simultaneously open or close the ball planting holes 111 in the ball planting hole group under control, and the triggering portion 21 may abut against the abutment 101 and move the shielding plate, thereby simultaneously opening or closing multiple ball planting holes 111 in the ball planting hole group.

[0056] A plurality of first ball dropping holes matched with the ball planting hole 111 may be provided on the shielding plate, and the number of the first ball dropping holes may be matched with the number of the ball planting holes 111 in the ball planting group. Under the cooperation of the trigger part 21 and the abutment 101, when the first ball dropping hole on the shielding plate moves to be misaligned with the ball planting hole 111, the ball planting hole 111 may be closed, and when the first ball dropping hole on the shielding plate moves to correspond to the ball planting hole 111, the ball planting hole 111 may be opened.

[0057] The position adjustment component can be connected to the first baffle component 2, and under the control of the controller, drive the first baffle component 2 to move in the horizontal direction, so that the triggering parts 21 of different first baffles can respectively act on the acting ends of the abutment 101. The abutment 101 can have at least two acting ends, and the shape of the acting ends can be needle-like. A concave cavity adapted to the acting end can be formed on the triggering part 21. When at least two acting ends are synchronously inserted into the corresponding concave cavities, one abutment 101 can be used to simultaneously open the ball planting holes 111 of different ball planting hole groups.

[0058] In the above embodiment, the controller can control multiple first baffles to simultaneously open the ball planting holes 111 in multiple columns of ball planting hole groups, so as to simultaneously perform ball planting operations on the disk holes 105 on the disks 104 in multiple columns of disk groups, further improving the ball planting efficiency of the ball planting device and shortening the ball planting cycle.

[0059] In some embodiments, Figure 1 As shown, the ball planting device also includes a shooting component 3;

[0060] The shooting component 3 is used for shooting in the direction of the ball planting board 1;

[0061] 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 11, and based on the first image, it is determined whether all the ball planting holes 111 in the current column of the ball planting hole group meet the ball planting conditions. When all the ball planting conditions are met, the current column of the ball planting hole group of the ball planting plate 1 performs a ball planting operation on the disk hole 105 on the disk 104; if any one of the ball planting holes 111 in the current column of the ball planting hole group does not meet the conditions, then the other columns of the ball planting hole group are updated as the current column of the ball planting hole group.

[0062] 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.

[0063] The shooting component 3 can be arranged directly above the ball planting board 1, and shoot in the direction of the ball planting board 1 to clearly capture the first image containing the ball planting space 11. Of course, the shooting component 3 can also be arranged obliquely above the ball planting board 1, and any position where the first image can be captured is acceptable, and this application does not make any specific limitation on this.

[0064] Based on the first image, it can be determined whether the ball planting hole 111 in the ball planting hole group meets the ball planting condition. When the ball planting hole 111 in the current ball planting hole group meets the ball planting condition, the controller can control the first baffle assembly 2 to open the ball planting hole 111 so that the ball planting hole 111 can perform a ball planting operation on the disk hole 105 on the disk 104. When any ball planting hole 111 in the current ball planting hole group does not meet the ball planting condition, the controller can select other columns of ball planting hole groups that meet the ball planting condition to perform a ball planting operation, thereby ensuring the ball planting speed of the ball planting device.

[0065] The first image may include not only an image of the ball planting space 11 , but also an image of the ball storage space 41 . By taking an image once by the shooting component 3 , image information of the ball planting device may be collected to the maximum extent, thereby ensuring the shooting efficiency of the shooting component 3 .

[0066] In the above embodiment, the shooting component 3 can capture the first image containing the ball planting space 11 before the ball planting operation, and the controller can accurately identify the position of each ball planting hole 111 in the ball planting hole group and the condition of the ball in each ball planting hole 111 based on the first image. When the ball planting conditions are met, the controller can control each ball planting hole 111 in the ball planting hole group to perform the ball planting operation on the corresponding disk hole 105. When any ball planting hole 111 in the ball planting hole group does not meet the ball planting conditions, the controller can determine other columns of ball planting hole groups that meet the ball planting conditions 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 the ball planting conditions can be automatically determined, which can reduce the possibility of errors due to manual operation. When it is determined that any ball planting hole 111 in the current column of ball planting hole groups does not meet the conditions, the ball planting hole groups in other columns can be updated as the current column of ball planting hole groups, so that the ball planting operation can be performed in time, which effectively improves the ball planting efficiency and automation level of the ball planting device, and ensures the accuracy and reliability of the ball planting operation.

[0067] In some embodiments, Figures 1 to 6 As shown, a plurality of ball planting spaces 11 are distributed in rows and columns, each ball planting space 11 is provided with at least two adjacent ball planting holes 111 along the row direction, and a plurality of ball planting holes 111 in the same column constitute a ball planting hole group.

[0068] A plurality of ball planting spaces 11 can be distributed in rows and columns on the ball planting plate 1. Each ball planting space 11 is provided with at least two ball planting holes 111 along the row direction, which can ensure that there are balls in at least one column of ball planting holes 111, thereby improving the ball planting rhythm of the ball planting device.

[0069] 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 2 to open the ball planting holes 111 in the current ball planting hole group, so that each ball planting hole 111 can respectively perform a ball planting operation on the disk hole 105 on the disk 104 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 2 to keep the ball planting hole group closed, and control the first driving member 61 to drive the ball planting plate 1 to move until the ball planting hole group meets the ball planting conditions.

[0070] In the above embodiment, at least two ball planting holes 111 along the row direction can be provided in the multiple ball planting spaces 11, and the multiple ball planting holes 111 located in the same column can constitute a ball planting hole group. In this way, it can be ensured that there are balls in the ball planting holes 111 in at least one column of the ball planting hole group, and the ball planting operation can be performed on the disk 104 in the disk group, thereby further improving the ball planting efficiency of the ball planting device and shortening the ball planting cycle.

[0071] In some embodiments, Figures 1 to 4 As shown, the ball planting device also includes a ball storage plate 4 and a second baffle assembly 5. The ball storage plate 4 is formed with a ball storage space 41. The ball storage space 41 has a ball replenishing channel 411. The second baffle assembly 5 is used to open or close the ball replenishing channel 411 under control.

[0072] When the controller controls the ball replenishing channel 411 to be in an open state, the balls in the ball replenishing channel 411 fall into the ball planting space 11 .

[0073] The shape of the ball storage space 41 can be a groove-shaped ball storage space 41. The groove-shaped ball storage space 41 can have a second accommodating cavity. The second accommodating cavity can have an open side on the side away from the ball planting plate 1. The bottom of the second accommodating cavity can be formed with a ball replenishing channel 411 that runs through the vertical direction. When the controller controls the second baffle assembly 5 to close the ball replenishing channel 411, balls can be added to the ball storage space 41. When the controller controls the second baffle assembly 5 to open the ball replenishing channel 411, balls can be added to the ball planting space 11 through the ball replenishing channel 411.

[0074] The ball storage space 41 can be used to store a large number of balls, so that after the ball planting plate 1 performs a ball planting operation on the disk hole 105 on the disk 104 and there are no balls left in the ball planting space 11, the balls stored in the ball storage space 41 can be received for the next ball planting operation. Balls can be added to the ball storage space 41 manually or mechanically, and the present application does not specifically limit the method of adding balls to the ball storage space 41.

[0075] The ball replenishing channel 411 may have a larger size to ensure that a plurality of balls can pass through the ball replenishing channel 411 at the same time, so that a plurality of balls can be added to the ball planting space 11 at one time, effectively ensuring the ball replenishing efficiency of the ball storage plate 4.

[0076] The second baffle assembly 5 may include a baffle body 51 and a driver 52 connected to the baffle body 51. The baffle body 51 may be attached to the bottom of the ball storage plate 4. The controller may be electrically connected to the driver 52 and drive the baffle body 51 to reciprocate in the horizontal direction through the driver 52. A second ball dropping hole adapted to the ball replenishing channel 411 may be provided on the baffle body 51. When the driver 52 drives the second ball dropping hole of the baffle body 51 to move to a position misaligned with the ball replenishing channel 411, the ball replenishing channel 411 may be closed. When the driver 52 drives the second ball dropping hole of the baffle body 51 to move to correspond to the ball replenishing channel 411, the ball replenishing channel 411 may be opened.

[0077] A through hole 42 may be provided on the ball storage plate 4, and an observation hole corresponding to the through hole 42 may also be provided on the baffle body 51. When the shooting component 3 is arranged above the ball storage plate 4, the first image containing the ball planting space 11 can be collected through the through hole 42 on the ball storage plate 4 and the observation hole on the baffle body 51.

[0078] The baffle body 51 and the driver 52 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 51. The present application does not specifically limit the connection method between the baffle body 51 and the driver 52. The driver 52 may be a cylinder, etc., which is not specifically limited in the present application.

[0079] There can be multiple ball storage spaces 41, and the multiple ball storage spaces 41 can be distributed in rows and columns on the ball storage plate 4 and correspond one-to-one to the multiple ball planting spaces 11. The baffle body 51 can be provided with multiple second ball dropping holes, and the multiple second ball dropping holes can respectively correspond to the ball replenishing channels 411 of the multiple ball storage spaces 41. The driver 52 can drive the baffle body 51 to reciprocate in the horizontal direction, so as to quickly and simultaneously perform ball replenishing operations on the multiple ball planting spaces 11.

[0080] The number of through holes 42 on the ball storage plate 4 can correspond to the number of ball planting spaces 11, so that each ball planting space 11 can be located below the corresponding through hole 42, and the shooting component 3 can capture the first image containing multiple ball planting spaces 11 through the through hole 42.

[0081] Of course, in some other embodiments, there may be only one ball storage space 41, and one ball storage space 41 may be used to perform ball planting operations in multiple ball planting spaces 11, and the present application does not make any specific limitation on this.

[0082] In the above embodiment, the ball storage space 41 can store balls. When balls need to be added to the ball planting space 11 on the ball planting plate 1, the controller can control the second baffle assembly 5 to open the ball replenishment channel 411 in the ball storage space 41, and the balls can fall into the ball planting space 11 through the ball replenishment channel 411. By opening or closing the ball replenishment channel 411 of the second baffle assembly 5, 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.

[0083] In some embodiments, Figures 1 to 4As shown, the ball planting device also includes a first driving member 61 and / or a second driving member 62, and the controller is used to control the first driving member 61 to drive the ball planting plate 1 to move when the ball planting hole 111 is in a closed state, so that the ball in the ball planting space 11 slides into the ball planting hole 111; and, when the ball replenishing channel 411 is in a closed state, control the second driving member 62 to drive the ball storage plate 4 to move, so that the ball in the ball storage space 41 slides into the ball replenishing channel 411.

[0084] The first driving member 61 can be connected to the ball planting plate 1 and drive the ball planting plate 1 to move. When the controller controls the first baffle assembly 2 to close the ball planting hole 111, the controller can also control the first driving member 61 to drive the ball planting plate 1 to move, so that the ball can roll in the ball planting space 11 and slide into the ball planting hole 111.

[0085] The second driving member 62 can be connected to the ball storage plate 4 and drive the ball storage plate 4 to move. When the controller controls the second baffle assembly 5 to close the ball replenishing channel 411, the controller can also control the second driving member 62 to drive the ball storage plate 4 to move, so that the ball can roll in the ball storage space 41 and slide into the ball replenishing channel 411.

[0086] In the above embodiment, through the precise control of the controller and the first driving member 61 and the second driving member 62, when it is necessary to plant a ball in the disk hole 105 of the disk 104, the ball can be quickly moved from the ball planting space 11 to the ball planting hole 111. When it is necessary to replenish the ball in the ball planting space 11, the ball can be quickly moved from the ball storage space 41 to the ball replenishment channel 411, which effectively improves the ball planting efficiency of the ball planting plate 1 and the efficiency of the ball storage plate 4 replenishing the ball in the ball planting space 11. In addition, the automated ball replenishment control can reduce or avoid the situation of ball jamming caused by improper manual operation, thereby ensuring that the ball can smoothly enter the ball planting hole 111 and the ball replenishment channel 411.

[0087] In some embodiments, Figures 2 to 4 As shown, the ball planting device also includes a lifting component 7 connected to the ball planting plate 1. The ball planting plate 1 has a ball replenishing position height and a ball planting position height set from top to bottom. The lifting component 7 is used to drive the ball planting plate 1 to reciprocate between the ball replenishing position height and the ball planting position height. When the ball planting plate 1 is at the ball replenishing position height, it receives the ball in the ball storage plate 4, and the ball falls into the disc hole 105 when the ball planting plate 1 is at the ball planting position height.

[0088] like Figures 1 to 4 As shown, the ball planting device can also include a fixed seat 9, and the ball storage plate 4 and the ball planting plate 1 can be fixed on the fixed seat 9 in the vertical direction. A slide rail 10 can be provided on the fixed seat 9, so that the lifting component 7 can reciprocate along the slide rail 10 between the height of the ball replenishing position and the height of the ball planting position. The slide rail 10 can effectively ensure the stability of the lifting component 7 when driving the ball planting plate 1 to move.

[0089] 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 7 can drive the ball planting plate 1 to reciprocate between the height of the ball replenishment position and the height of the ball planting position. When the ball planting plate 1 moves upward and is at the height of the ball replenishment position, the controller can control the second baffle assembly 5 to open the ball replenishment channel 411, so that the ball in the ball replenishment channel 411 can fall into the ball planting space 11 on the ball planting plate 1.

[0090] When the ball planting plate 1 is at the ball planting height, there can be a certain distance between the ball planting plate 1 and the ball storage plate 4 in the vertical direction. When the controller controls the first driving member 61 to drive the ball planting plate 1 to move and slide the ball into the ball planting hole 111, it can avoid the ball planting plate 1 from colliding with the ball storage plate 4 during movement. Of course, when the ball planting plate 1 is at the ball planting height, the controller controls the second baffle assembly 5 to close the ball replenishment channel 411 and controls the second driving member 62 to drive the ball storage plate 4 to move, so that the ball storage plate 4 can avoid colliding with the ball planting plate 1 during movement.

[0091] In the above embodiment, the lifting assembly 7 can drive the ball planting plate 1 to move between the height of the ball replenishing position and the height of the ball planting position, thereby avoiding collisions between the ball planting plate 1 and the ball storage plate 4 during movement, and effectively improving the rationality of the layout of the ball planting device. In addition, the ball planting plate 1 can receive the balls in the ball storage space 41 at the height of the ball replenishing position, thereby reducing the distance between the ball planting plate 1 and the ball storage plate 4 when the balls fall. The balls can fall into the disk holes 105 when the ball planting plate 1 is at the height of the ball planting position, thereby reducing the distance between the ball planting plate 1 and the disk holes 105 when the balls fall, thereby effectively avoiding damage to the balls due to excessive height when they fall, greatly improving the yield rate during the ball implantation process, and ensuring the ball implantation effect of the ball planting device.

[0092] In some embodiments, the ball planting condition is that there is only one ball in a preset area near the ball planting hole 111 , and the ball is located in the ball planting hole 111 .

[0093] The ball planting hole 111 may be disposed near one end of the ball planting space 11 , and the preset area may be represented as an area adjacent to the ball planting hole 111 .

[0094] 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 cause the surface of the freeze-dried balls to be 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 through the ball planting hole 111 into the disk hole 105 of the disk 104 in each ball planting operation.

[0095] like Figures 2 to 4 As shown, the ball planting device may further include a static electricity removal device 102, which may be located above the ball storage plate 4 and the ball planting plate 1, respectively. The static electricity removal device 102 may neutralize the static electricity on the surface of the balls in the ball storage space 41 and the ball planting space 11, thereby reducing the occurrence of mutual adsorption between multiple balls. The static electricity removal device 102 may specifically be a static electricity removal air curtain, which is not specifically limited in this application.

[0096] When the shooting component 3 captures the first image, the controller determines that there is only one ball in the ball planting hole 111 and only the above-mentioned ball is in the vicinity of the ball planting hole 111 based on the first image, and then the first baffle component 2 can be controlled to open the ball planting hole 111, thereby completing the ball planting operation.

[0097] 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 111, and the ball is located in the ball planting hole 111, it can be ensured that only one ball falls through the ball planting hole 111 in each ball planting operation, thereby avoiding the situation where multiple balls are attracted to each other and fall through the ball planting hole 111 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.

[0098] In some embodiments, Figure 1 As shown, the ball planting device further includes a shooting assembly 3; the shooting assembly 3 is arranged above the ball storage plate 4, and a through hole 42 is formed on the ball storage plate 4;

[0099] The ball planting space 11 of the ball planting plate 1 corresponds to the through hole 42; the shooting component 3 is used for shooting in the direction of the ball planting plate 1 and the ball storage plate 4;

[0100] The controller is also used to control the shooting component 3 to shoot and obtain a first image, and determine whether there is a ball in the ball planting space 11 according to the first image. When there is no ball in the ball planting space 11, the controller controls the second driving member 62 to drive the ball storage plate 4 to move, so that the ball in the ball storage space 41 moves to the ball replenishing channel 411, and when the ball planting plate 1 is at the ball replenishing position height, controls the second baffle assembly 5 to open the ball replenishing channel 411, so that the ball in the ball replenishing channel 411 moves to the ball planting space 11; and\or,

[0101] The first image also includes the collected image of the ball storage space 41, and the controller is further used to determine whether there is a ball in the ball storage space 41 according to the first image, and when there is a ball in the ball storage space 41, control the second driving member 62 to drive the ball storage plate 4 to move so that the ball in the ball storage space 41 moves to the ball replenishment channel 411, and generate a reminder message when there is no ball in the ball storage space 41; and\or,

[0102] The controller is also 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 111 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 111.

[0103] 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.

[0104] The shooting component 3 can be arranged directly above the ball storage plate 4, and shoot in the direction of the ball planting plate 1, so as to clearly capture the first image including the ball planting space 11. Of course, the shooting component 3 can also be arranged obliquely above the ball storage plate 4, and any position where the first image can be captured is acceptable, and this application does not make any specific limitation on this.

[0105] The lifting component 7 can drive the ball planting plate 1 to move in the horizontal direction so that the ball planting space 11 on the ball planting plate 1 can be located below the through hole 42 on the ball storage plate 4. The shooting component 3 can capture the first image containing the ball planting space 11 through the through hole 42 on the ball storage plate 4, effectively avoiding the obstruction of the ball planting space 11 by the ball storage plate 4, thereby improving the accuracy of the captured first image.

[0106] When the controller determines that there is a ball in the ball planting space 11 according to the first image, the ball planting plate 1 can be controlled to continue the next ball planting operation. When the controller determines that there is no ball in the ball planting space 11 according to the first image, the ball storage plate 4 can be controlled to add balls to the ball planting space 11. In this way, the controller can determine whether there is a ball in the ball planting space 11 according to the first image. When there is no ball in the ball planting space 11, the controller can control the ball storage plate 4 to add balls to the ball planting space 11 in time, thereby ensuring the continuity of the ball planting process, avoiding affecting the ball planting speed of the ball planting device due to the lack of balls, and effectively ensuring the ball planting efficiency and automation level of the ball planting device.

[0107] The controller can also determine whether there are balls in the ball storage space 41 based on the first image. When the controller determines that there are balls in the ball storage space 41 based on the first image, it can control the ball storage plate 4 to replenish balls into the ball planting space 11. When the controller determines that there are no balls in the ball storage space 41 based on the first image, it can generate a reminder message to encourage the operator to replenish balls into the ball storage space 41 in a timely manner.

[0108] 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., which is not specifically limited in this application. In this way, the controller can monitor whether there are balls in the ball storage space 41 in real time based on the first image and respond quickly. When it is determined that there are balls in the ball storage space 41, balls can be added to the ball planting space 11. When it is determined that there are no balls in the ball storage space 41, a reminder message can be generated to remind the operator to add balls. This can not only reduce the need for manual inspection of the remaining balls in the ball storage space 41, but also ensure the continuity of the ball planting operation of the ball planting device, avoid delays or waste in ball planting due to lack of balls, and effectively improve the utilization rate and ball planting efficiency of the ball planting device.

[0109] The controller can also 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 111 meets the ball planting condition, that is, there is only one ball in the preset area near the current ball planting hole 111, and the ball is located in the ball planting hole 111. At this time, the first baffle component 2 can be controlled to open the ball planting hole 111 to perform the ball planting operation on the disk hole 105 on the disk 104. 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 111 based on the first image. If there is no ball, it can be indicated that the ball has fallen into the disk hole 105 of the disk 104. If there is a ball, it can be indicated that the ball is blocked in the ball planting hole 111, and the ball is stuck in the ball planting hole 111 and does not fall smoothly.

[0110] When it is determined that the ball is stuck in the ball planting hole 111, the controller can control the ball suction device to perform a ball suction operation to remove the ball stuck in the ball planting hole 111. 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 111.

[0111] When the ball is blocked in the ball planting hole 111, the disc hole 105 on the disc 104 corresponding to the ball planting hole 111 cannot be implanted with the ball, so the disc 104 can be transported to the unloading device by a conveyor belt or a clamping claw or other equipment for recycling. At this time, when it is necessary to perform a ball planting operation on the disc 104 in the next disc group, the ball planting operation can be performed using other ball planting hole groups, thereby ensuring the continuity of the ball planting operation.

[0112] In this way, 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 the ball is blocked in the ball planting hole 111. 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.

[0113] In the above embodiment, the controller can control the shooting component 3 to shoot and collect the first image, and can control the ball storage plate 4 and the ball planting plate 1 to complete the ball replenishment operation and the ball planting operation according to the first image. And the controller can also perform the ball suction operation when it is determined that the ball is blocked in the ball planting hole 111 according to the first image, so that the manual intervention of the ball planting device in the ball planting process is reduced, and the automation level and ball planting efficiency of the ball planting device are effectively improved.

[0114] In some embodiments, the controller is used to control the first driving member 61 and / or the second driving member 62 to move in a swinging manner when the ball planting plate 1 is at the ball planting height.

[0115] The first driving member 61 can be connected to one end of the ball planting plate 1 and drive the other end of the ball planting plate 1 to swing. Similarly, the second driving member 62 can be connected to one end of the ball storage plate 4 and drive the other end of the ball storage plate 4 to swing.

[0116] Specifically, Figures 1 to 4 As shown, a first rotating shaft 81 may be provided below the ball planting plate 1, and one end of the ball planting plate 1 may be sleeved on the first rotating shaft 81. When the first driving member 61 drives the first rotating shaft 81 to rotate, the other end of the ball planting plate 1 may be driven to swing. Similarly, a second rotating shaft 82 may be provided above the ball storage plate 4, and one end of the ball storage plate 4 may be sleeved on the second rotating shaft 82. When the second driving member 62 drives the second rotating shaft 82 to rotate, the other end of the ball storage plate 4 may be driven to swing.

[0117] In the above embodiment, the controller can control the first driving member 61 and / or the second driving member 62 to move in a swinging manner, so that the ball located in the ball planting space 11 can be quickly slid into the ball planting hole 111, or the ball located in the ball storage space 41 can be quickly slid into the ball replenishing channel 411. 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.

[0118] According to another aspect of the present invention, a freeze-dried ball planting device is also provided, including 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 104 to the ball planting device, and the packaging component is arranged downstream of the ball planting device to perform packaging operations on the disc 104 after ball planting.

[0119] The freeze-dried ball implanting device may further include a conveyor, which may be used to transport the carrier 103. The carrier 103 may be transported to the loading assembly, the implanting device and the packaging assembly in sequence under the drive of the conveyor. The conveyor may be a conveyor belt, which is not specifically limited in this application.

[0120] The loading assembly can be used to store the disc 104 and transport the disc 104 to the ball implanting device. The ball implanting device can implant the ball into the disc hole 105 on the disc 104. 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 104.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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.

[0126] 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 simultaneously implant balls into holes on multiple disks, the ball implanting device comprises: A ball planting plate, the ball planting plate is located above the plurality of disks, a ball planting space is formed on the ball planting plate, the ball planting space has ball planting holes, and the ball planting holes correspond to the disk holes on the disks located therebelow; and Controller; Wherein, at least some of the plurality of disks form a disk group; The controller is used to control the simultaneous opening or closing of the ball implanting holes corresponding to each of the disk groups.

2. The ball implanting device according to claim 1, characterized in that: The plurality of disks are distributed in rows and columns, and the disks in each column are called a column of disk groups; There are a plurality of ball planting holes, and the plurality of ball planting holes are distributed in rows and columns, and each column of the ball planting holes is called a column of ball planting hole group; 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 the 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.

3. The ball implanting device according to claim 2, 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.

4. The ball implanting device according to claim 2 or 3, characterized in that: The ball planting device further comprises a first baffle assembly and a plurality of rows of ball planting hole groups, wherein the first baffle assembly comprises a plurality of first baffles, and the plurality of first baffles correspond to the plurality of rows of ball planting hole groups one by one; 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 group.

5. The ball implanting device according to claim 4, characterized in that: The ball planting device also includes a shooting component; The shooting component is used for shooting in the direction of the ball planting board; 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, and based on the first image, determine whether all the ball planting holes in the ball planting hole group in the current column meet the ball planting conditions. When all the ball planting conditions are met, the ball planting hole group in the current column of the ball planting plate performs a ball planting operation on the disk holes on the disk; if any ball planting hole in the ball planting hole group in the current column does not meet the conditions, the ball planting hole groups in other columns are updated as the ball planting hole groups in the current column.

6. The ball implanting device according to claim 2, characterized in that: The plurality of ball planting spaces are distributed in rows and columns, each of the ball planting spaces is provided with at least two adjacent ball planting holes along the row direction, and the plurality of ball planting holes in the same column constitute the ball planting hole group.

7. The ball implanting device according to claim 1, characterized in that: The ball planting device further comprises a ball storage plate and a second baffle assembly, wherein a ball storage space is formed on the ball storage plate, wherein 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.

8. The ball implanting device according to claim 7, characterized in that: The ball planting device also includes a first driving member and / or a second driving member, and the controller is used to control the first driving member 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; and 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 ball in the ball storage space slides into the ball replenishing channel.

9. The ball implanting device according to claim 8, characterized in that: The ball planting device also includes a lifting component connected to the ball planting plate, the ball planting plate has a ball replenishing position height and a ball planting position height arranged from top to bottom, the lifting component 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 balls in the ball storage plate when the ball planting plate is at the ball replenishing position height, and the balls fall into the disc holes when the ball planting plate is at the ball planting position height.

10. The ball implanting device according to claim 5, 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.

11. The ball implanting device according to claim 8, characterized in that: The ball planting device further includes a shooting assembly; the shooting assembly 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 and the ball storage plate; The controller is also used to control the shooting component to capture a first image, and 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 to 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 to the ball planting space; and\or, 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 according to the first image, and when there is a ball in the ball storage space, control the second driving member to drive the ball storage plate to move so that the ball in the ball storage space moves to the ball replenishment channel, and generate a reminder message when there is no ball in the ball storage space; and\or, The controller is also 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.

12. The ball implanting device according to claim 9, 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.

13. A freeze-dried ball planting device, characterized in that: It includes a loading component, a packaging component and a ball planting device as described in claim 1, 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