Spherical material subpackaging device and subpackaging method

Abstract

The invention provides a spherical material sub-packaging device. The spherical material sub-packaging device comprises a rotating disc; the feeding station, the ball mounting station, the cover feeding station, the cover pressing station and the discharging station are arranged around the rotating disc, and a plurality of bearing positions are arranged on the peripheral side of the rotating disc and driven by the rotating disc to pass through all the stations; a multi-connected pipe feeding unit, a ball mounting unit, a cover supplying unit, a cover pressing unit and a discharging unit are respectively arranged at each station of the turntable; the multi-connected pipe feeding unit comprises a flat rotating platform. The material taking mechanism is arranged on the horizontal rotating platform; and the material supporting mechanism is arranged corresponding to the material taking mechanism, the material supporting mechanism is provided with a lifting assembly, the lifting assembly lifts the multi-connected pipe from bottom to top and supplies the multi-connected pipe to the material taking mechanism, and the multi-connected pipe located on the uppermost layer is picked up by the material taking mechanism. According to the technical scheme, automatic operation of the whole process is achieved, the stations are integrated on the peripheral side of the rotary disc through rotation of the rotary disc, space is reasonably utilized, effective proceeding of all procedures is guaranteed, and the working efficiency of the automatic operation is guaranteed.

Description

Technical Field

[0001] This invention generally relates to the field of material packaging, and specifically to a spherical material packaging device and packaging method. Background Technology

[0002] In fields such as biological detection and medical experiments, eight-tube packaging has become the core packaging carrier for spherical materials such as freeze-dried bulbs due to its advantages of batch processing and convenient simultaneous testing. The quality and efficiency of its packaging directly affect the accuracy of experiments and the speed of production flow. As a highly active and sensitive material, freeze-dried bulbs require strict control of environmental humidity during the packaging process to avoid moisture absorption and deterioration. Therefore, traditional freeze-dried bulb packaging operations rely on dedicated low-humidity sealed spaces.

[0003] In existing technologies, the dispensing of freeze-dried pellets into eight-tube packs is mostly done manually. Operators must remain in a low-humidity environment for extended periods, using clamps or simple jigs to pick up the freeze-dried pellets one by one and place them into the eight-tube pack. After dispensing, they manually perform capping, sorting, and packaging. This method has significant drawbacks: firstly, manual operation is inefficient, and problems such as material spillage, missed items, or misplacement are prone to occur during multi-step switching, making it difficult to meet the needs of mass production; secondly, prolonged exposure to low humidity can lead to health problems such as dry skin and respiratory discomfort, making it extremely unfriendly to operators. Furthermore, the cost of setting up and maintaining a low-humidity environment increases the operational burden on businesses.

[0004] Furthermore, traditional manual packaging methods lack effective real-time quality monitoring. Quality issues such as whether freeze-dried pellets are accurately inserted into the tubes and whether the eight-tube caps are properly tightened require manual verification, which not only further reduces production efficiency but also poses potential quality risks and fails to achieve full-process traceability of the packaging process. As the industry's requirements for batch testing efficiency and environmental friendliness continue to increase, there is an urgent need for a spherical material packaging device that integrates humidity control, has a high degree of automation, and can simultaneously perform quality testing, in order to solve many of the pain points of traditional manual packaging methods. Summary of the Invention

[0005] To address at least some of the problems existing in the prior art, the present invention provides a spherical material dispensing device, comprising: a turntable rotating around a central axis; and a feeding station, a ball-planting station, a ball-replenishing station, a capping station, a capping station, and a dispensing station arranged sequentially around the turntable. The outer periphery of the turntable is provided with multiple support positions for loading multi-unit tubes. Each support position passes sequentially through each of the stations under the drive of the turntable, completing the dispensing of spherical materials. Each station of the turntable is respectively provided with a multi-unit tube feeding unit, a ball-planting unit, a ball-replenishing unit, a capping unit, a capping unit, and a dispensing unit. The multi-unit tube feeding unit includes: a horizontal rotating platform loading at least one hopper assembly; a material-retrieving mechanism disposed above the horizontal rotating platform; and a material-supporting mechanism corresponding to the material-retrieving mechanism. The material-supporting mechanism has a lifting component that lifts multi-unit tubes stacked within a predetermined hopper assembly from bottom to top, supplying them to the material-retrieving mechanism, which picks up the uppermost multi-unit tube.

[0006] With the above-mentioned technical features, the entire process is automated. By rotating the turntable, the workstations are integrated around the turntable, which not only makes reasonable use of space and ensures the effective execution of each process, but also ensures the efficiency of automated operation.

[0007] In some embodiments, the system further includes a glove box and a humidity control unit, wherein the multi-tube feeding unit, the ball-planting unit, the top cover unit, the sealing unit, and the unloading unit are disposed within the glove box; the humidity control unit is disposed within the glove box.

[0008] Thus, each workstation is located inside the glove box, and the rotation of the turntable enables the effective execution of each process. This makes efficient use of the space inside the glove box, and while achieving automated operation, it also takes advantage of the glove box's ability to isolate the internal and external environments, ensuring the environmental requirements for the packaging of spherical materials.

[0009] In some embodiments, the humidity control unit includes an inflation mechanism and an exhaust mechanism. The inflation mechanism includes a main inflation pipe located below the glove box and multiple auxiliary inflation pipes branching from the main inflation pipe. Multiple inflation ports communicating with each of the auxiliary inflation pipes are provided on the bottom surface of the glove box. The exhaust mechanism includes a main exhaust pipe located above the glove box and multiple auxiliary exhaust pipes branching from the main exhaust pipe. Multiple exhaust ports communicating with each of the auxiliary exhaust pipes are provided on the top surface of the glove box. By supplying ambient air into the glove box through the inflation mechanism and exhausting air through the exhaust mechanism, the gas inside the glove box is replaced. Thus, intelligent control of the humidity inside the glove box is achieved through inflation and exhaust operations.

[0010] In some embodiments, a transition compartment unit is further included for isolating the internal space of the glove box from the external environment. The transition compartment unit includes: a transition compartment; an inner sealing door and an outer sealing door capable of sealing the inner and outer openings of the transition compartment, respectively; and a towing mechanism for transferring a material cart between the transition compartment and the internal space of the glove box, wherein the material cart transfers materials between the transition compartment and the internal space of the glove box. Thus, the material cart enables the transportation and transfer of materials between the internal and external environments of the glove box, and the towing mechanism automates the transfer of materials between the transition compartment and the internal environment of the glove box, thereby improving the material transfer efficiency.

[0011] In some embodiments, the material cart is equipped with a magnetic suction unit, and the dragging mechanism includes a horizontally arranged guide rail and a magnetic suction head that moves along the guide rail. The magnetic suction head engages with the magnetic suction unit to drag the material cart from the transition compartment into the interior space of the glove box. Thus, the mutual magnetic attraction between the magnetic suction head and the magnetic suction unit achieves the driving effect on the material cart. Moreover, the magnetic traction method results in a more compact structure and reduces the space occupied inside the glove box.

[0012] In some embodiments, the rotating platform includes: a rotary drive assembly; and a support plate driven to rotate by the rotary drive assembly. Multiple hopper support portions for supporting the hopper components are arranged around the periphery of the support plate. The rotary drive assembly drives the support plate to rotate, positioning the designated hopper components below the material handling mechanism. Thus, the support plate can support multiple hopper components and automatically switch workstations through its own rotation, ensuring a continuous supply of multi-pipe materials and guaranteeing the stability and continuity of the material loading operation.

[0013] In some embodiments, the hopper assembly has multiple vertically arranged limiting frames. A stacked multi-tube assembly can be loaded between adjacent limiting frames. The lower end of each limiting frame is fixedly installed on a base plate. A support plate is horizontally installed through each limiting frame to support the lower ends of each stacked multi-tube assembly. Multiple positioning pin holes and positioning pins are correspondingly provided on the lower surface of the base plate and the upper surface of the hopper support portion. Thus, the limiting frames limit the stacked multi-tubes, ensuring the stability of the stacked multi-tube arrangement. The upward movement of the support plate enables the upward transport of the multi-tubes, ensuring the continuous operation of the material handling mechanism. Furthermore, the positioning pin holes and positioning pins work together to position the hopper assembly, ensuring the tight coordination of the multiple mechanisms.

[0014] In some embodiments, a material distribution mechanism is further included to fix the multi-unit pipes supplied to the upper end of the hopper assembly. The material distribution mechanism fixes the second-layer multi-unit pipe downwards between the uppermost and second-layer multi-unit pipes. While the second-layer multi-unit pipe is fixed by the material distribution mechanism, the material picking mechanism picks up the uppermost multi-unit pipe. Thus, guided by the material support rail, the rotation of the material support screw drives the material support plate to move along the length of the unloading guide rail, further realizing control of the material support plate and further realizing the lifting effect of the material support plate.

[0015] In some embodiments, the ball-planting unit includes a ball-planting hopper, a ball-planting screen plate, and a baffle plate. The ball-planting hopper is used to supply spherical materials. The ball-planting screen plate is disposed below the ball-planting hopper to receive the spherical materials supplied by the hopper. The surface of the ball-planting screen plate has limiting holes for embedding the spherical materials. The baffle plate is disposed on the bottom surface of the ball-planting screen plate and is slidably connected to it, used to drop the spherical materials remaining in the limiting holes into the multi-connector pipe. Thus, the spherical materials are automatically dispersed into the limiting holes of the ball-planting screen plate. The opening and closing of the baffle plate enables communication between the spherical materials and the multi-connector pipe, and the spherical materials are accurately dropped into the multi-connector pipe, realizing the feeding operation of spherical materials.

[0016] In some embodiments, the limiting holes located at the edge of the ball-planting screen plate are disposed adjacent to the side wall of the ball-planting screen plate. This makes it easier for spherical materials dispersed to the side of the ball-planting screen plate to fall into the limiting holes on the side, improving the material discharge efficiency.

[0017] In some embodiments, the sidewall of the ball-planting sieve plate has a gap that extends into the space between adjacent limiting holes located at the edge of the ball-planting sieve plate, and the sidewall of the ball-planting sieve plate is formed with a recess corresponding to the limiting hole located at the edge of the ball-planting sieve plate. Thus, the recessed design guides the spherical material, making it easier for the spherical material moving to the edge of the ball-planting sieve plate to fall into the limiting hole on the side.

[0018] In some embodiments, the top cover unit includes a circular vibration supply mechanism and a vibration damping adjustment mechanism. The circular vibration supply mechanism is used to receive multi-tube covers and delivers them one by one through vibration. The vibration damping adjustment mechanism has a rectangular flexible vibrating disc that receives the multi-tube covers from the circular vibration supply mechanism and adjusts their posture using its own vibration. Thus, the circular vibration supply mechanism is used to convey piles of cover material through a vibrating screen, causing the cover material to be conveyed one by one towards the vibration damping adjustment mechanism, achieving the functions of material distribution and facilitating material pickup.

[0019] In some embodiments, a first image acquisition unit is disposed above the flexible vibrating plate, and a multi-pipe cap picking component is also provided. Based on the image from the first image acquisition unit, the multi-pipe cap picking component picks up a specified multi-pipe cap and places the picked-up cap onto the multi-pipe located at the capping station. Thus, the first image acquisition unit is used to acquire the position of the cap material on the flexible vibrating plate, so that the multi-pipe cap picking component can be used to grasp the cap material, improving the grasping efficiency.

[0020] In some embodiments, a second image acquisition unit is also provided. After the multi-unit pipe cap picking assembly picks up the cap for the multi-unit pipe, the second image acquisition unit identifies the posture of the picked-up cap. Based on the posture identified by the second image acquisition unit, the multi-unit pipe cap picking assembly places the picked-up cap onto the multi-unit pipe located at the capping station. Thus, the second image acquisition unit mainly identifies the posture of the picked-up cap material to adjust and correct its posture, making the cap material fit better with the capping area of ​​the multi-unit pipe.

[0021] In some embodiments, a capping mechanism is provided at the capping station. The capping mechanism includes a pressure roller, a translation component, a pressure component, and a leveling component. The pressure roller rotates freely around a central axis to press the cap covering the multi-unit pipe. The translation component drives the pressure roller to move horizontally. The pressure component is mounted on the translation component and applies a downward, predetermined pressure to the pressure roller. The leveling component is located between the pressure roller and the translation component to adjust the horizontal position of the pressure roller. Thus, the leveling component adjusts the pressure roller's plane, the pressure component applies downward pressure to the pressure roller, and the translation component drives the pressure roller to move horizontally, thereby achieving the roller pressing the cap and ultimately achieving a tight seal between the cap and the multi-unit pipe.

[0022] In some embodiments, a pre-pressing cap assembly is also included, which pre-presses the cap onto the multi-connector before the pressure rollers press the cap. This pre-pressing cap ensures the alignment of the cap material with the multi-connector, guaranteeing a better fit between the position of the cap pressed by the subsequent pressure rollers and the port position of the multi-connector.

[0023] A method for dispensing spherical materials, using a spherical material dispensing device, comprises the following steps: The process involves several steps: Loading: The multi-unit tubing is loaded to the loading station; Ball Placement: Spherical material is placed into the multi-unit tubing at the ball placement station; Covering: A cover is placed over the top of the multi-unit tubing; Sealing: The multi-unit tubing is pre-compressed and then pressed tightly with the cover; Discharging: The material from the multi-unit tubing with the sealed cover is discharged. These steps are completed continuously via a rotating turntable. Through these automated steps, multiple processes—loading, ball placement, ball replenishment, covering, sealing, and discharging—are achieved, ensuring the smooth operation of the entire spherical material packaging process and improving the efficiency of spherical material packaging.

[0024] It should be understood that the description in the Summary of the Invention is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0025] Figure 1 A schematic diagram of the overall mechanism of a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the humidity control unit of a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 3 This diagram illustrates the overall structure of a multi-pipe feeding unit of a spherical material dispensing device according to an embodiment of the present invention. Figure 4 A schematic diagram of the structure of a rotating platform of a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 5 A schematic diagram of the hopper assembly of a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 6 A schematic diagram of the material dispensing mechanism of a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 7 A schematic diagram of the structure of a ball-planting unit in a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 8 for Figure 7 Enlarged view of detail A in the middle; Figure 9 A schematic diagram of the ball-filling unit in a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 10 A schematic diagram of the base structure of a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 11 A schematic diagram of the replenishment hopper structure of a spherical material dispensing device according to an embodiment of the present invention is shown. Figure 12A schematic diagram of the structure of the upper cover unit in a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 13 A schematic diagram of the capping unit in a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 14 A schematic diagram of the transition chamber device in a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 15 A cross-sectional schematic diagram of the outer sealing door in a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 16 A schematic diagram of the inner sealing door in a spherical material dispensing device according to an embodiment of the present invention is shown; Figure 17 A cross-sectional view of an inflatable sealing ring in a spherical material dispensing device according to an embodiment of the present invention is shown.

[0026] Symbol Explanation 1. Glove box; 11. Turntable; 2. Humidity control unit; 21. Main inflation pipe; 22. Secondary inflation pipe; 23. Inflation valve; 24. Main exhaust pipe; 25. Secondary exhaust pipe; 26. Exhaust valve; 27. Exhaust fan; 3. Multi-pipe feeding unit; 31. Horizontal rotating platform; 311. Bearing plate; 312. Rotary drive assembly; 313. Positioning pin; 314. Positioning magnet; 315. Guide limit stop; 32. Material support mechanism; 33. Material picking mechanism; 34. Material distribution mechanism; 341. Material distribution gripper; 3411. Separation tank; 342. Material distribution cylinder; 343. Material distribution lifting cylinder; 344. Sensor; 35. Hopper assembly; 351. Hopper bottom plate; 352. Limit frame; 353. Support plate; 4. Ball planting unit; 41. Y-axis seat; 42. Z-axis seat; 43. Ball planting hopper; 44. Ball planting screen plate; 441. Limit hole; 45. Ball planting camera; 46. Recess; 47. Baffle plate; 5. Ball replenishment unit; 51. Ball replenishment hopper; 511. Base; 512. Base plate; 513. Material trough; 514. Actuating cylinder; 52. Ball receiving assembly; 521. Grating bin; 5211. Small hole; 522. Vibration. Unit; 5221, First Motor; 5222, Eccentric Wheel; 5223, Connecting Rod; 523, Ionizing Wind Bar; 53, Complementary Ball Light Source; 54, Fourth Image Acquisition Unit; 55, Pickup Unit; 56, Base; 57, First Slide Rail; 58, Tilt Unit; 581, Drive Motor; 582, Swing Arm; 583, Guide Plate; 5831, Guide Groove; 6, Top Cover Unit; 61, Circular Vibration Supply Mechanism; 62, Vibration Damping Adjustment Mechanism; 621, Flexible Vibrating Disc; 63, First Image Acquisition Unit; 64, Second Image Acquisition Unit; 65, Multi-Pipe Cover Pickup Components; 7. Cover unit; 71. Support frame; 72. Translation assembly; 73. Pressure assembly; 74. Pressure roller; 75. Leveling assembly; 8. Feeding unit; 91. Transition bin; 92. Outer sealing door; 922. Outer bin door sealing strip; 923. Viewing window; 924. Window sealing strip; 93. Inner sealing door; 931. Bin door drive assembly; 9311. Lifting guide rail; 9312. Bin door lifting motor; 9313. Synchronous belt; 94. Material cart; 95. Dragging mechanism; 96. Receiving groove; 97. Inflatable sealing ring; 971. Fixing part; 972. Deformation part. Detailed Implementation

[0027] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0028] Figure 1 A schematic diagram of the overall mechanism of a spherical material dispensing device according to an embodiment of the present invention is shown. (See reference) Figure 1As shown, the spherical material dispensing device provided in this embodiment includes a turntable 11 rotating around a central axis and a feeding station, a ball-planting station, a ball-replenishing station, a capping station, a capping station, and a dispensing station arranged sequentially around the turntable 11. Multiple bearing positions for loading multi-tubes are provided on the outer periphery of the turntable 11. Each bearing position passes through each station sequentially under the drive of the turntable 11, completing the dispensing of spherical materials. Specifically, each station is equipped with a multi-tube feeding unit 3, a ball-planting unit 4, a ball-replenishing unit 5, a capping unit 6, a capping unit 7, and a dispensing unit 8.

[0029] "Turntable 11" is the core transfer component of this device. With the central axis as the rotation reference, the rotation of the top support structure is achieved by controlling the motor. The function of turntable 11 is to carry the load-bearing position and multi-pipes between various workstations, providing continuous carrier transportation for multi-process operations.

[0030] The multi-pipe feeding unit 3 is the starting mechanism of this device. Its main purpose is to separate the stacked multi-pipe materials one by one and place the separated multi-pipe materials in the corresponding multi-pipe placement positions on the turntable 11 so that the multi-pipes can be transferred to each work station and cooperate with the work through the rotation of the turntable 11.

[0031] The ball-planting unit 4 is located next to the multi-pipe feeding unit 3. It is used to screen the spherical materials and fill the screened spherical materials into the multi-pipe, realizing the operation of automatically filling the spherical materials into the multi-pipe.

[0032] The ball replenishment unit 5 is located next to the ball planting unit 4. It works in conjunction with the ball planting unit 4 to replenish the ball in the multi-unit pipe that is not filled with spherical material after the ball planting unit 4 has been completed, so as to ensure that the multi-unit pipe is filled with spherical material.

[0033] The top cover unit 6, located next to the ball filling unit 5, is used to screen the cover material and move the screened cover material one by one to the multi-pipe port after filling the spherical material.

[0034] The capping unit 7, located next to the upper cover unit 6, is used to tightly seal the cover material with the multi-unit tube, thereby encapsulating the multi-unit tube.

[0035] The unloading unit 8, located next to the cover unit 6, is used to inspect the packaged multi-tube material to ensure that the cover material is tightly connected to the multi-tube covering area, and to transfer the qualified packaged multi-tube material to the unloading area.

[0036] Through the cooperation of the above-mentioned multiple units, the entire process of packaging spherical materials into the multi-tube is automated. Compared with the traditional manual packaging operation, it not only reduces space occupation, but also greatly improves the overall packaging efficiency.

[0037] The spherical material dispensing device also includes a glove box 1, inside which the aforementioned multi-pipe feeding unit 3, ball-planting unit 4, ball-replenishing unit 5, top cover unit 6, capping unit 7, and unloading unit 8 are all located. Using the glove box 1 as the working platform of this device, its constant temperature and humidity working environment is more suitable for the dispensing of spherical materials, thus avoiding interference from external environmental factors.

[0038] In some embodiments, the multi-pipe feeding unit 3, the ball planting unit 4, the ball replenishing unit 5, the top cover unit 6, the pressure cover unit 7, and the unloading unit 8 can also be set in a closed environment, and the temperature and humidity of the closed environment can be adjusted so that the closed environment meets the requirements for dispensing spherical materials.

[0039] In some embodiments, Figure 2 A schematic diagram of a humidity control unit for a spherical material dispensing device according to an embodiment of the present invention is shown. (Reference) Figure 2 As shown, a humidity control unit 2 is also provided on the glove box 1. The humidity control unit 2 includes an inflation mechanism and an exhaust mechanism. The inflation mechanism includes a main inflation pipe 21 located below the glove box 1 and multiple auxiliary inflation pipes 22 branching from the main inflation pipe 21. Multiple inflation ports communicating with each auxiliary inflation pipe 22 are provided on the bottom surface of the glove box 1. The exhaust mechanism includes a main exhaust pipe 24 located above the glove box 1 and multiple auxiliary exhaust pipes 25 branching from the main exhaust pipe 24. Multiple exhaust ports communicating with each auxiliary exhaust pipe 25 are provided on the top surface of the glove box 1. By supplying atmospheric gas into the glove box 1 from the inflation mechanism and exhausting gas from the exhaust mechanism, the gas inside the glove box 1 is replaced.

[0040] Specifically, the main inflation pipe 21 is connected to multiple auxiliary inflation pipes 22. The other ends of the auxiliary inflation pipes 22 are evenly distributed at the bottom of the glove box 1 and are in communication with the internal environment of the glove box 1. An inflation valve 23 is also provided on the main inflation pipe 21. The main exhaust pipe 24 is connected to multiple auxiliary exhaust pipes 25. The other ends of the auxiliary exhaust pipes 25 are evenly distributed at the top area of ​​the glove box 1 and are in communication with the internal environment of the glove box 1. An exhaust valve 26 and an exhaust fan 27 are provided at the end of the main exhaust pipe 24 to facilitate the exhaust of gas inside the glove box 1. A temperature and humidity sensor is also provided inside the glove box 1 to detect changes in humidity inside the glove box 1.

[0041] When adjusting humidity, the aforementioned ambient air can be dry air. The air filling pipe 21 supplies dry air into the glove box 1. The dry air is lightweight and enters from the bottom of the glove box 1. The dry air quickly disperses towards the top of the glove box 1, which not only accelerates the airflow efficiency inside the glove box 1, but also ensures that the incoming dry air fully contacts the original air inside the glove box 1, further improving the efficiency of humidity change inside the glove box 1.

[0042] In some embodiments, Figure 3 A schematic diagram of the overall structure of a multi-pipe feeding unit of a spherical material dispensing device according to an embodiment of the present invention is shown. (Reference) Figure 3 As shown, the multi-pipe loading unit 3 includes a rotating platform 31, a picking mechanism 33, and a supporting mechanism 32. The rotating platform 31 has a hopper loading station and is equipped with multiple hopper components 35. The rotating platform 31 can rotate to place designated hopper components 35 at the hopper loading station. The picking mechanism 33 is located above the hopper loading station and is used to pick up the uppermost multi-pipe from the designated hopper component 35. The supporting mechanism 32 is located beside the rotating platform 31 and has a lifting component. The lifting component lifts the multi-pipes stacked in the designated hopper component 35 from bottom to top to cooperate with the picking mechanism 33 in loading the pipes.

[0043] The rotating platform 31 is the core component of this device for material carrying and station switching. The designated material loading station on it is the designated working area where the multi-tube is picked up by the material handling mechanism 33. The material hopper assembly 35 is the storage unit for the multi-tube. In some embodiments, multiple material hopper assemblies 35 are arranged in a circular array or at preset intervals on the surface of the rotating platform 31. Through rotation around its own central axis, the material hopper assembly 35 to be loaded is moved to the loading station to complete the switching supply of different batches of multi-tube.

[0044] The material handling mechanism 33 is the actuator for gripping and transferring multi-tube components. It is located above the loading station, and the gripping end of the material handling mechanism 33 can perform gripping operations on the top multi-tube components. When the target hopper assembly 35 arrives at the loading station, the material handling mechanism 33 can cooperate with the material support mechanism 32 to pick up the top multi-tube component of the hopper assembly 35, thus conveying materials for subsequent processes.

[0045] The material support mechanism 32, as an auxiliary feeding component, is located beside the horizontal rotating platform 31. Its core component, the lifting assembly, can extend into the bottom of the hopper assembly 35 at the feeding station. Through a linear lifting action from bottom to top, it drives the multi-unit pipes inside the hopper assembly 35 to rise as a whole. After the uppermost multi-unit pipe is taken away by the picking mechanism 33, the lifting assembly can continue to lift the remaining multi-unit pipes, ensuring that the new uppermost multi-unit pipe is always within the grasping range of the picking mechanism 33. This, in conjunction with the picking mechanism 33, enables continuous and stable feeding operations. In one embodiment, the material support mechanism 32 can achieve the function of the lifting assembly through components such as lead screws, guide rails, and material support plates.

[0046] Specifically, through the collaborative design of the rotating platform 31, the material handling mechanism 33, and the material support mechanism 32, multi-dimensional technical improvements are achieved. On the one hand, the rotating platform 31 carries multiple hopper components 35 and switches between hopper loading stations by rotation. This eliminates the need for frequent manual replacement of hopper components 35, enabling continuous supply of different batches of multi-tubes. This significantly reduces manual intervention and greatly improves the automation level and overall efficiency of the loading operation. On the other hand, the lifting component of the material support mechanism 32 and the material handling mechanism 33 work in precise coordination. Through orderly lifting operations from bottom to top, the multi-tubes in the hopper components 35 are always kept at a height that the material handling mechanism 33 can grasp. This ensures the continuity of the material handling mechanism 33's grasping and further improves the accuracy of multi-tube loading, reduces material loss and operational errors, and adapts to large-scale, automated loading operations of spherical materials.

[0047] In some embodiments, Figure 4 A schematic diagram of the structure of a rotating platform of a spherical material dispensing device according to an embodiment of the present invention is shown. (Refer to...) Figure 4 As shown, the rotating platform 31 includes a rotary drive assembly 312 and a support plate 311 driven by the rotary drive assembly 312 to rotate. Multiple support parts for supporting the hopper assembly 35 are provided around the support plate 311. The rotary drive assembly 312 drives the support plate 311 to rotate and set the specified hopper assembly 35 at the hopper loading station.

[0048] The aforementioned rotary drive assembly 312 is the core power component that enables the rotation of the horizontal rotating platform 31. Its core function is to output stable rotational power. It is typically composed of a rotary cylinder or a combination of a motor, reducer, and transmission components, providing precise and controllable driving force for the rotation of the support plate 311. The support plate 311 is the main load-bearing structure of the horizontal rotating platform. It is horizontally positioned to ensure that the hopper assembly 35 is stably placed on the surface of the support plate 311. As the load-bearing foundation for the hopper assembly 35, the material of the support plate 311 needs to have sufficient structural strength to support the weight of multiple hopper assemblies 35 and the internal multi-pipe assembly. The shape of the support plate 311 can be designed as a circle to locate the rotation center, or it can be designed as a polygonal structure that cooperates with the hopper assembly 35 to reduce the space occupied by the support plate 311.

[0049] Specifically, the rotary drive assembly 312 provides precise and controllable power, which, together with the stable rotation of the support plate 311, can accurately transfer the supported hopper assembly 35 to the loading station, improving the switching efficiency of the hopper assembly 35 station; the support plate 311 is equipped with multiple support parts, eliminating the need for frequent manual material changes and extending the continuous operation time.

[0050] In some embodiments, Figure 5A schematic diagram of the hopper assembly of a spherical material dispensing device according to an embodiment of the present invention is shown. (Refer to...) Figure 4 and Figure 5 As shown, the hopper assembly 35 includes a limiting frame 352, a base plate 351, and a support plate 353. Multiple limiting frames 352 are vertically arranged, and a stacked multi-tube assembly is mounted between adjacent limiting frames 352. The base plate 351 is located at the bottom of the limiting frames 352, and both ends of the limiting frames 352 are fixed to the base plate 351. The support plate 353 horizontally penetrates each limiting frame 352 and is used to support the lower ends of each stacked multi-tube assembly. The lower surface of the base plate 351 and the upper surface of the supporting portion are correspondingly provided with multiple positioning pin holes and positioning pins 313.

[0051] The aforementioned hopper assembly 35 is the main load-bearing component of the multi-unit pipe system. Through the interconnection of multiple limiting frames 352 and the base plate 351, it forms an overall frame, providing space for multiple stacked multi-unit pipes. The limiting frames 352 are the limiting components for the multi-unit pipes; their vertical arrangement divides the interior of the hopper assembly 35 into multiple independent accommodating spaces, allowing each stacked multi-unit pipe to be placed independently, preventing mutual compression or displacement between different sets of multi-unit pipes. Simultaneously, it constrains the circumferential direction of each set of multi-unit pipes, ensuring the stability of the stacked state. The base plate 351 serves as the load-bearing foundation for the hopper assembly 35, providing fixed support points for the limiting frames 352, keeping them vertical, and also achieving the positioning and installation of the hopper assembly 35 through its cooperation with the load-bearing components. The support plate 353 is the core component for supporting the multi-unit pipes. Its horizontal design, running through all the limiting frames 352, allows it to simultaneously support multiple sets of multi-unit pipes, providing stable bottom support for the multi-unit pipes. The positioning pin 313 and the positioning pin hole are a set of matching positioning structures, which are respectively set on the upper surface of the bearing plate 311 and the lower surface of the base plate 351. The precise matching of the two can realize the rapid positioning of the hopper assembly 35 on the bearing part, avoid the horizontal displacement of the hopper assembly 35 during the rotation of the flat rotating platform 31, and improve the installation accuracy and operational stability.

[0052] In some embodiments, reference Figure 4 and Figure 5 As shown, the periphery of the bearing plate 311 is provided with a guide limiting stop 315 that cooperates with the lower end of the hopper assembly 35.

[0053] The guide limit stop 315 is a functional structural component disposed around the support plate 311. In one embodiment, it can be a flange structure that extends vertically upward along the edge of the support plate 311. The material is usually the same as that of the support plate 311. It can be fixed to the support plate 311 by integral molding, welding or bolt fastening. Specifically, it is disposed around the support part and is adapted to the outline size of the bottom plate 351 of the hopper assembly 35.

[0054] Specifically, the guide and limiting stop 315 guides the hopper assembly 35 to quickly embed into the bearing, significantly shortening the installation and positioning time of the hopper assembly 35, reducing the difficulty of manual operation, and improving the efficiency of material preparation. The dual constraint formed by the limiting function and the positioning pin structure further restricts the offset of the hopper assembly 35. Even if the horizontal rotating platform 31 rotates at high speed or the equipment vibrates during operation, the hopper assembly 35 can still maintain a stable posture, avoiding the displacement of the lifting component's working position due to positional deviation.

[0055] In some embodiments, a plurality of positioning magnets 314 are embedded on the support plate 311 for engaging with the lower end of the hopper assembly 35.

[0056] The positioning magnet 314 is a functional structural component disposed on the surface of the support plate 311. If the base plate 351 is made entirely of a metal material that can magnetically attract the positioning magnet 314, the mutual magnetic attraction between the positioning magnet 314 and the base plate 351 increases the stability of the hopper assembly 35 and the support plate 311 in their fixed position. This prevents slippage between the base plate 351 and the support plate 311 when the support plate 311 rotates. If the base plate 351 is only made of a magnetic material at the corresponding position of the positioning magnet 314, the magnetic attraction effect of the positioning magnet 314 can increase the positioning efficiency of the hopper assembly 35 and the support plate 311 when they are aligned.

[0057] In some embodiments, the two ends of the tray 353 protrude beyond the outer side of the base plate 351.

[0058] The pallet 353 is the main load-bearing component that drives the synchronous lifting of multiple sets of multi-pipes. The pallet 353 is located above the base plate 351 and inside the limiting frame 352, forming the main load-bearing structure of the hopper assembly 35 by the base plate 351, while the pallet 353 is the main support structure of the multi-pipes. The two ends of the pallet 353 protrude from the outside of the base plate 351, specifically, the length of the pallet 353 is greater than the length of the base plate 351. When the pallet 353 horizontally passes through each limiting frame 352, the two ends of the pallet 353 will extend beyond the edge of the base plate 351, forming an outward protruding structure to reserve space for cooperation with the lifting assembly of the material support mechanism 32.

[0059] Specifically, the protruding configuration of the pallet 353 provides a clear and convenient point of force application for the lifting assembly. The lifting assembly does not need to avoid other structures such as the base plate 351 and the hopper assembly 35; it can directly contact the protruding part of the pallet 353 from the outside of the base plate 351 and apply an upward driving force, simplifying the layout design and operating logic of the lifting assembly. Furthermore, it makes the force on the pallet 353 more balanced, resulting in more stable displacement of the pallet 353.

[0060] In some embodiments, Figure 6A schematic diagram of the material dispensing mechanism of a spherical material dispensing device according to an embodiment of the present invention is shown. (Reference) Figure 6 As shown, the multi-pipe feeding device also includes a distributing mechanism 34, which limits the second layer of multi-pipes supplied to the upper end of the hopper assembly 35. With the distributing mechanism 34 fixing the second layer of multi-pipes, the picking mechanism 33 picks up the uppermost multi-pipe. The distributing mechanism 34 includes a distributing gripper 341, a distributing cylinder 342, and a distributing lifting cylinder 343. The distributing cylinder 342 drives the distributing gripper 341 to open and close, and the distributing lifting cylinder 343 drives the distributing gripper 341 to rise and fall. The distributing gripper 341 has a separation groove 3411 corresponding to each group of multi-pipes supplied by the hopper assembly 35, which fixes the second layer of multi-pipes.

[0061] Specifically, the material dispensing lifting cylinder 343 is vertically arranged, and its output end is fixed to the main body of the material dispensing cylinder 342. The material dispensing cylinder 342 is horizontally arranged, and its output end is fixed to the material dispensing gripper 341. Driven by the material dispensing cylinder 342, the material dispensing gripper 341 clamps the end of the multi-pipe in the separation groove 3411, thereby realizing the fixing function of the material dispensing gripper 341 on the second layer of multi-pipe in the top area of ​​the hopper assembly 351.

[0062] With the cooperation of the material distribution lifting cylinder 343, the material distribution cylinder 342, and the material distribution gripper 341, the multi-tube protruding from the second layer of the hopper assembly 35 can be clamped and fixed, which provides assistance to the material picking mechanism 33. This enables the material picking mechanism 33 to accurately pick up and transfer the first layer of multi-tubes on top of the fixed second layer, greatly improving the stability and accuracy of the material picking mechanism 33 in grasping the multi-tubes.

[0063] In some embodiments, a sensor 344 is provided at the upper end of the hopper assembly 35 for detecting whether a multi-pipe is supplied between each adjacent limit frame 352.

[0064] The aforementioned sensor 344 can typically be a light sensor 344. Multiple sensors 344 can be provided and point to the discharge area of ​​each stack of multi-tubes in the hopper assembly 35. When the multi-tubes are discharged upwards from the adjacent limit frame 352, the sensor 344 is triggered and drives the material support mechanism 32 to stop. The material distribution gripper 341 clamps on both sides of the multi-tubes in the second layer so that the material picking mechanism 33 can pick up the multi-tubes at the top.

[0065] The sensor 344 enables the material distribution mechanism 34 to more accurately obtain the discharge status of each stack of multi-tubes and accurately cooperate with the material support mechanism 32 to stop, so that the material distribution gripper 341 accurately clamps the second layer of multi-tubes into the separation groove 3411, and accurately realizes the clamping and fixing of the second layer of multi-tubes.

[0066] In some embodiments, the sensor 344 is fixed to the dispensing gripper 341, and the sensor 344 is respectively disposed between each adjacent separation groove 3411.

[0067] Therefore, the sensor 344 can also be directly fixed to the dispensing gripper 341, which not only reduces the space occupied by the sensor 344 on the top of the hopper assembly 35 when the sensor 344 is fixed alone, but also improves the gripping accuracy of the dispensing gripper 341.

[0068]

Ball Planting Unit 4

[0069] The "ball-planting hopper 43" is a container structure used to store and quantitatively supply spherical materials. Its bottom is provided with a moving structure that moves towards the ball-planting screen plate 44. The bottom of the ball-planting hopper 43 is also provided with a discharge structure that allows the spherical materials in the ball-planting hopper 43 to fall onto the ball-planting screen plate 44 through the discharge structure.

[0070] The ball-planting screen plate 44 is a key component for achieving precise positioning of spherical materials. Its bottom is a flat plane to facilitate the shaking and dispersion of the spherical materials. The limiting holes 441 are designed to position the spherical materials. By shaking the ball-planting screen plate 44, the spherical materials are embedded, ultimately ensuring that one hole corresponds precisely to one ball during ball planting.

[0071] By supplying spherical materials to the ball-forming hopper 43 and shaking and screening the spherical materials by the ball-forming screen plate 44, the spherical materials are evenly dispersed into each limiting hole 441, so as to ensure that the loading operation of the multi-pipe is automatically realized when the spherical materials fall from the ball-forming screen plate 44.

[0072] In one embodiment, the ball-planting unit 4 further includes a horizontally arranged Y-axis seat 41, and a Z-axis seat 42 is arranged above the Y-axis seat 41. The Z-axis seat 42 is connected to the Y-axis seat 41 and slides along the length direction of the Y-axis seat 41. The ball-planting hopper 43 is arranged above the Z-axis seat 42 to receive spherical materials. The ball-planting screen plate 44 is arranged on one side of the Z-axis seat 42. The Z-axis seat 42 can drive the ball-planting screen plate 44 to move upward to approach the discharge side of the ball-planting hopper 43 and receive the spherical materials from the ball-planting hopper 43. The Z-axis seat 42 can also drive the ball-planting screen plate 44 to move downward to the ball-planting station, so that the multi-pipe placement station on the turntable 11 rotates to the ball-planting station to receive the spherical materials falling from the ball-planting screen plate 44.

[0073] refer to Figure 8 As shown, multiple limiting holes 441 are arrayed on the ball-planting screen plate 44, so that the positions of the limiting holes 441 correspond to the positions of the multi-pipe holes at the ball-planting station. The baffle plate 47 is disposed below the ball-planting screen plate 44, and the baffle plate 47 is slidably connected to the ball-planting screen plate 44 and driven by the baffle cylinder fixed to the ball-planting screen plate 44, thereby controlling the ball-planting of spherical materials falling into the limiting holes 441.

[0074] refer to Figure 7 As shown, a ball-planting camera 45 is also installed above the ball-planting screen plate 44. The ball-planting camera 45 can acquire the distribution of spherical materials on the ball-planting screen plate 44 and whether spherical materials fall into each limiting hole 441. It can find the position of the limiting hole 441 where no material has fallen, and then transmit the position information to the ball-replenishing unit 5 to perform a replenishment operation at the empty position of the multi-pipe.

[0075] In some embodiments, reference Figure 7 and Figure 8 As shown, the limiting hole 441 located at the edge of the ball-planting screen plate 44 is set close to the side wall of the ball-planting screen plate 44. This makes it easier for the spherical material to fall into the adjacent limiting hole 441 while the Z-axis seat 42 moves back and forth on the Y-axis seat 41, as the spherical material is limited by the side wall of the ball-planting screen plate 44, thereby improving the efficiency of the spherical material entering the limiting hole 441.

[0076] In some embodiments, reference Figure 8 As shown, the sidewall of the ball-planting sieve plate 44 has a gap that penetrates into the adjacent limiting holes 441 located at the edge of the ball-planting sieve plate 44, and the sidewall of the ball-planting sieve plate 44 has a recess 46 corresponding to the limiting holes 441 located at the edge of the ball-planting sieve plate 44.

[0077] The recess 46 is a semi-circular groove formed on the side wall of the ball-planting screen plate 44. It is coaxially arranged with the limiting hole 441 at the bottom. When the ball-planting screen plate 44 shakes, the spherical material abuts against the side of the ball-planting screen plate 44, which restricts the large-scale movement of the spherical material. The setting of the recess 46 increases the contact efficiency with the spherical material and increases the probability that the spherical material falls into the limiting hole 441 coaxial with the recess 46.

[0078]

Replacement Ball Unit 5

[0079] The ball replenishing hopper 51 is the core supply component for spherical materials. The spherical materials are mainly replenished into the ball replenishing hopper 51 manually. When ball replenishment is required, the ball replenishing hopper 51 can be moved towards the ball receiving assembly 52 or tilted to pour the spherical materials into the ball receiving assembly 52.

[0080] The ball receiving assembly 52 is a load-bearing transition structure connecting the ball replenishment hopper 51 and the pickup unit 55. It is located on one side of the ball replenishment hopper 51. Through its adaptation design with the discharge end of the ball replenishment hopper 51, it stably receives the spherical materials transferred from the ball replenishment hopper 51 and provides a regular load-bearing space for the spherical materials.

[0081] The fourth image acquisition unit 54, as the core of the mechanism's visual inspection, is fixedly installed directly above the ball receiving assembly 52. ​​Through an imaging system composed of an industrial camera, lens, and light source, it acquires the distribution status of the spherical material inside the ball receiving assembly 52 in real time, including key information such as the quantity, position coordinates, and posture of the material. It then converts this information into electrical signals and transmits them to the control unit, providing accurate data support for the actions of the picking unit 55.

[0082] The picking unit 55 is the core execution component for performing material picking actions. It integrates a drive mechanism and a picking end. Under the command of the control unit, based on the material distribution information fed back by the fourth image acquisition unit 54, it can accurately locate the target spherical material and complete the picking, realizing the material transfer from the ball receiving component 52 to the target workstation.

[0083] Through the cooperation of the above functional structures, the ball replenishment mechanism is freed from the limitations of traditional manual ball replenishment or mechanical blind picking. The visual positioning function of the fourth image acquisition unit 54 can identify the material distribution status in real time, avoiding problems such as "empty picking" and "wrong picking" by the picking unit 55, and greatly improving the targeting and accuracy of the picking action. At the same time, the orderly feeding design of the ball replenishment bin 51 and the ball receiving component 52, together with the automated action of the picking unit 55, not only replaces manual intervention and reduces labor costs and operational errors, but also allows for flexible adjustment of the operation rhythm according to the actual ball replenishment needs.

[0084] Figure 10 A schematic diagram of the base structure of a spherical material dispensing device according to an embodiment of the present invention is shown. (Reference) Figure 10 As shown, the ball replenishment mechanism includes a horizontally arranged base 56, and the ball replenishment hopper 51 and the ball receiving assembly 52 are both disposed on the base 56.

[0085] In some embodiments, the ball receiving assembly 52 includes a grid chamber 521 and a vibration unit 522. The grid chamber is mounted on the base 56 via a first slide rail 57, and the vibration unit 522 drives the grid chamber to reciprocate along the first slide rail 57.

[0086] After the vibration unit 522 is activated, it causes the spherical material in the grid bin 521 to be evenly dispersed, so as to improve the grasping accuracy of the picking unit 55. Moreover, the first slide rail 57 is used as a connecting carrier to realize the reciprocating motion of the grid bin 521, which further improves the stability of the spherical material in the grid bin 521 and makes it less likely to detach from the inside of the grid bin 521.

[0087] In some embodiments, the inner bottom surface of the grid bin 521 is provided with a plurality of small holes 5211, the diameter of which is smaller than that of a single spherical material. On the one hand, the setting of the small holes 5211 increases the resistance to the sliding of the spherical material in the grid bin 521, limiting the large-scale movement of the spherical material in the grid bin 521; on the other hand, the small holes 5211 play a limiting role for the spherical material, so that when multiple spherical materials are evenly distributed, the spherical material is less likely to slide at the bottom of the grid bin 521 when the picking unit 55 acts on a single spherical material, which greatly improves the stability of the picking unit 55 in grasping the spherical material.

[0088] In some embodiments, the grid compartment includes a dark-colored coating layer formed on the inner surface of a metal substrate. Specifically, the grid compartment 521 may be made of aluminum alloy plate with a transparent polyurethane or silane coupling agent protective coating on its surface, having a surface resistivity ≤10. 6 Ω・cm can effectively conduct the static electricity generated by freeze-dried spheres, making it less likely for spherical materials to attract each other electrostatically.

[0089] In some embodiments, the inner wall surface of the grid compartment is coated with a modified polytetrafluoroethylene (PTFE) coating. Specifically, the modified PTFE coating is modified by doping with conductive fillers such as carbon powder and metal oxides, and the surface resistivity can be adjusted to 10 Ω·cm. 4 -10 8 Ω・cm, which can quickly dissipate static electricity and prevent the freeze-dried balls from adsorbing.

[0090] In some embodiments, replay Figure 9 As shown, an ionizing air bar 523 is also installed above the periphery of the grid bin 521. The ionizing air bar 523 is an anti-static device that eliminates static electricity on the surface of objects by generating positive and negative ions. It is fixed above the periphery of the grid bin 521 by a bracket, with the installation height and angle designed to ensure the ionizing air can fully cover the spherical materials within the grid bin 521. The ionizing air bar 523 eliminates static electricity generated on the surface of the spherical materials, making it less likely for the spherical materials to electrostatically attract each other, which is beneficial for the gripping or picking up by the picking unit 554.

[0091] In some embodiments, reference Figure 10 As shown, the vibration unit 522 includes a first motor 5221, an eccentric wheel 5222, and a connecting rod 5223. The first motor 5221 is fixed to the base 56, the eccentric wheel 5222 is mounted on the output shaft of the first motor 5221, and the two ends of the connecting rod 5223 are respectively hinged to the grid bin and the eccentric wheel 5222.

[0092] After the first motor 5221 starts, it drives the output shaft to rotate, which in turn drives the eccentric wheel 5222 to make a circular motion around the motor output shaft. Since there is an eccentricity between the geometric center of the eccentric wheel 5222 and the axis of rotation, it will apply periodic pulling and pushing forces to the grid bin 521 through the connecting rod 5223 during the rotation process. Combined with the sliding cooperation between the grid bin 521 and the first slide rail 57, the rotational motion of the first motor 5221 is finally converted into the reciprocating swaying of the grid bin 521 along the first slide rail 57.

[0093] The vibration unit 522 has a simple structure and is easy to assemble. By replacing the eccentric wheel 5222 with different eccentricities or adjusting the speed of the first motor 5221, the swaying amplitude and frequency of the grid bin 521 can be quickly changed to adapt to the dispersion requirements of spherical materials of different sizes and weights.

[0094] In some embodiments, Figure 11 A schematic diagram of the replenishment hopper structure of a spherical material dispensing device according to an embodiment of the present invention is shown. (Reference) Figure 13 As shown, the ball replenishing hopper 51 includes a base 511, a bottom plate 512, a material trough 513, and an actuating cylinder 514. The bottom plate 512 is horizontally fixed inside the base 511. The bottom surface of the material trough 513 is sealed by the bottom plate 512. The actuating cylinder 514 drives the material trough 513 to slide relative to the bottom plate 512, so that the bottom surface of the material trough 513 is partially open to supply spherical materials.

[0095] Under normal conditions, the bottom surface of the material trough 513 is completely sealed by the base plate 512, and spherical materials are stored in the material trough 513. When it is necessary to supply materials to the ball receiving assembly 52, the control unit sends a command to activate the actuating cylinder 514. The piston rod drives the material trough 513 to slide away from the actuating cylinder 514 along the base plate 512. As the material trough 513 moves, its bottom surface and the fixed base plate 512 are relatively displaced. The part of the material trough 513 that was originally sealed by the base plate 512 is gradually exposed, forming a discharge port corresponding to the feeding end of the ball receiving assembly 52. ​​The spherical materials fall from the discharge port into the ball receiving assembly 52 under the action of gravity. When the supply reaches the preset amount, the actuating cylinder 514 drives the material trough 513 to slide back and reset. The discharge port is resealed by the base plate 512, and the feeding action stops.

[0096] The aforementioned ball-filling hopper 51 can adjust the open area and open time of the bottom surface of the material trough 513 by precisely controlling the extension and retraction stroke of the actuating cylinder 514, avoiding the problems of material jamming or oversupply caused by material accumulation in traditional gravity feeding, and ensuring that the amount of material supplied to the ball-receiving assembly 52 is compatible with the uniform dispersion of subsequent spherical materials.

[0097] In some embodiments, a tilting unit 58 is also provided below the base plate 512 to drive the ball replenishing hopper 51 to tilt. When the ball replenishing hopper 51 supplies spherical material, the tilting unit 58 drives the ball replenishing hopper 51 so that the height of the open end of the bottom surface of the trough 513 is lower than that of the other end.

[0098] Specifically, the tilting unit 58 includes a drive motor 581 fixed to the bottom of the base plate 512. A swing arm 582 is fixed on the output shaft of the drive motor 581. A guide plate 583 is vertically arranged on the base 511. The guide plate 583 has a guide groove 5831 for accommodating the swing arm 582. After the drive motor 581 drives the swing arm 582 to rotate, the swing arm 582 slides in the guide groove 5831, thereby tilting the base plate 512 on the base 511, so as to help the spherical material in the trough 513 fall into the grid bin 521.

[0099] With the support of the tilting unit 58 and the operation of the cylinder 514 to control the material trough 513, the control of the spherical material in the material trough 513 is more precise, and the distribution of the spherical material is more concentrated at the discharge end of the material trough 513, which improves the stability of the spherical material falling.

[0100]

Top Cover Unit 6

[0101] The "Circular Vibration Feeding Mechanism 61" is a cover feeding component designed based on the principle of vibration feeding. It mainly consists of a circular hopper, a vibrating base, and a spiral feeding track. The circular hopper is used to store the covers. The electromagnetic oscillator in the vibrating base generates high-frequency micro-vibrations, which drive the hopper and the covers inside to move. Under the combined action of centrifugal force and track guidance, the covers gradually rise along the spiral feeding track and are sent out one by one from the discharge port. Its core function is to realize the batch storage and orderly, continuous supply of covers.

[0102] The “shock-damping adjustment mechanism 62” is a functional component used to correct the posture of the cover. It uses flexible vibration to replace rigid impact, and avoids damage to the cover while adjusting its position. Its core function is to adjust the disordered covers sent by the circular vibration supply mechanism 61 into a uniform posture so as to facilitate accurate picking of the covers.

[0103] With the cooperation of the circular vibration supply mechanism 61 and the damping adjustment mechanism 62, the material of the cover is supplied one by one and its posture is adjusted. This increases the alignment efficiency between the cover material and the multi-pipe after the cover is picked up, which helps to seal and press the multi-pipe and the cover material together.

[0104] In some embodiments, a first image acquisition unit 63 is provided above the flexible vibrating plate 621, and a multi-pipe cap picking component 65 is also provided. The multi-pipe cap picking component 65 picks up the specified multi-pipe cap based on the image of the first image acquisition unit 63, and places the obtained multi-pipe cap on the multi-pipe located at the capping station.

[0105] The “first image acquisition unit 63” is the core component for realizing visual positioning of the cover. It is usually composed of an industrial camera, a light source and an image processing module. The “first image acquisition unit 63” has a built-in image recognition algorithm that can quickly analyze parameters such as the position coordinates and opening direction of the cover in the image and transmit the data to the control system of the pickup component 65.

[0106] The multi-compartment cap picking assembly 65 is an automated execution component for picking up and placing caps. It mainly consists of a robotic arm, a picking head, and a drive control module. The robotic arm provides multi-degree-of-freedom or precise linear motion, enabling the picking head to move rapidly between the flexible vibrating plate 621 and the capping station. The picking head typically adopts a vacuum suction cup or pneumatic gripper structure, and the appropriate picking method can be selected according to the cap material to ensure firm picking without damaging the cap. The drive control module receives signals from the first image acquisition unit 63 and controls the timing and positional accuracy of the robotic arm and the picking head.

[0107] With the cooperation of the first image acquisition unit and the multi-compartment cap picking component, accurate picking of the cap material is achieved, improving the picking efficiency of the cap material.

[0108] In some embodiments, a second image acquisition unit 64 is also provided. After the multi-pipe cap picking assembly 65 picks up the cap for the multi-pipe, the second image acquisition unit 64 identifies the posture of the picked-up multi-pipe cap. Based on the posture identified by the second image acquisition unit 64, the multi-pipe cap picking assembly 65 places the picked-up multi-pipe cap on the multi-pipe located at the capping station.

[0109] The "second image acquisition unit 64" is a vision component that performs secondary posture verification after the cover is picked up. It is installed on the movement path of the picking component between the flexible vibrating plate 621 and the cover pressing station. Its core feature is that it has dynamic capture capability, which can clearly capture the posture details of the cover during the movement. The image processing submodule is linked with the module of the first image acquisition unit 63 to share the standard posture parameters of the cover and ensure that the verification standard is consistent.

[0110] The second image acquisition unit 64 helps to eliminate posture deviations during the picking process, thereby ultimately improving the accuracy of placing the cover at the upper cover station.

[0111]

Cover Unit 7

[0112] Specifically, the pressure roller 74 is the final actuating component of this mechanism. Its shape is adapted to the arrangement contour of the multi-unit pressure cap section, and it adopts a structural design that allows it to rotate freely around its own central axis. The roller material has a certain degree of hardness and wear resistance, preventing the pressure roller 74 from causing deformation or damage to the multi-unit pipe or pressure cap during the rolling process. The translation component 72 is an important driving component, which drives the pressure roller 74 to move laterally, so that the pressure roller 74 applies pressure to the upper surface of the pressure cap. The pressure component 73 is the force-applying component, which can be composed of a cylinder, a spring, and a pressure sensor. It is used to output and precisely control the downward specified pressure to ensure the consistency of the pressure cap clamping effect.

[0113] The aforementioned pressure component 73 can accurately output a downward specified pressure. In conjunction with the structure of the pressure roller 74 rotating around its own central axis, when the translation component 72 drives the pressure roller 74 to move along the upper surface of the cover, a continuous and uniform rolling pressure is formed. Compared with the traditional point pressing or stamping method, it can avoid deformation and damage caused by excessive local stress on the cover, while ensuring the tightness of the cover and the multi-pipe fit.

[0114] In some embodiments, the multi-tube capping mechanism further includes a leveling component 75, which is disposed between the pressure roller 74 and the translation component 72, for adjusting the position of the pressure roller 74 so that the pressure roller 74 is disposed along the upper surface of the cap portion parallel to the multi-tube. The leveling component 75 can be adjusted by changing its installation position relative to the arc-shaped elongated hole.

[0115] In some embodiments, a pre-capping assembly is also included, which is located before the pressure roller 74 presses the cap. Specifically, the pre-capping assembly includes structures such as a linear module, a cylinder, and a pressure block, and the pre-capping operation is achieved by the action of the cylinder.

[0116] [Material Feeding Unit] The unloading unit includes an unloading pickup component and a detection mechanism. The unloading pickup component picks up the multi-unit tubing material that has undergone capping at the unloading station. The detection mechanism includes a single color source base plate and a third image acquisition unit. Based on the image from the third image acquisition unit, the unloading pickup component releases non-compliant multi-unit tubing material into the waste area.

[0117] Through the synergy of the above functional structures, efficient quality inspection of multi-tube materials is achieved, further improving the stability of the overall packaging quality.

[0118]

Filter Chamber Device

[0119] Specifically, the transition chamber 91 is the main load-bearing structure of the device. It is fixedly installed on one side of the glove box 1, and its internal space is connected to the internal environment of the glove box 1, undertaking the basic function of isolating the internal space of the glove box 1 from the external environment.

[0120] The inner sealing door 93 and the outer sealing door 92 are special sealing components, which are respectively installed at the inner opening of the transition chamber 91 that connects to the glove box 1 and the outer opening that connects to the external environment. The independence of the internal environment of the transition chamber 91 is ensured by sealing and closing the doors.

[0121] Material cart 94 is a dedicated material carrying component. Its overall structure is compatible with the cavity of transition chamber 91 and can be placed stably inside the transition chamber 91 for the orderly carrying of transferred materials.

[0122] The towing mechanism 95 is a power actuation component that can drive the material cart 94 to move between the transition bin 91 and the glove box 1 through mechanical traction, thereby completing the precise transfer of materials.

[0123] Through the coordinated operation of the transition chamber 91, the transfer of materials from the external environment to the internal space of the glove box 1 is automated. By controlling the sealing of the inner sealing door 93 and the outer sealing door 92, the interference of the external environment on the internal humidity environment of the glove box 1 is reduced, so as to ensure the normal dispensing operation of spherical materials in the glove box 1.

[0124] In some embodiments, in order to facilitate humidity adjustment of the internal space of the transition chamber 91, the transition chamber 91 is provided with an air inlet for introducing dry air and an exhaust port for discharging gas, and a temperature and humidity sensor and a pressure gauge are provided in the filter chamber 2.

[0125] Under the joint monitoring of temperature and humidity sensors and pressure gauges, dry air is introduced into the transition chamber 91 to keep the humidity environment inside the transition chamber 91 consistent with the humidity environment inside the glove box 1. This ensures that the material cart 94 will not interfere with the internal environment of the glove box 1 when transferring materials, thus guaranteeing the normal operation of the packaging of spherical materials inside the glove box 1.

[0126] In some embodiments, in order to improve the humidity control efficiency of the transition chamber 91, the air inlet is located at the bottom of the transition chamber 91 and the exhaust outlet is located at the top of the transition chamber 91.

[0127] When dry air is introduced, the dry air is light in mass and is introduced from the bottom of the transition chamber 91. The dry air will flow from the bottom to the top of the transition chamber 91, which greatly increases the contact effect between the dry air and the original air inside the transition chamber 91, and also improves the air flow efficiency inside the transition chamber 91. This further improves the air mixing efficiency in the filter chamber, thereby improving the humidity change efficiency inside the transition chamber 91.

[0128] In some embodiments, Figure 15 A cross-sectional schematic diagram of the outer sealing door in a spherical material dispensing device according to an embodiment of the present invention is shown. (See reference) Figure 15 As shown, an outer door sealing strip 922 is embedded in the area where the outer sealing door 92 and the transition chamber 91 fit together. This ensures that after the outer sealing door 92 and the transition chamber 91 are closed together, the outer sealing door 92 and the transition chamber 91 fit together more tightly, and the sealing effect is more reliable.

[0129] In some embodiments, the outer sealing door 92 is provided with a viewing window 923, and annular window sealing strips 924 are provided on both sides of the viewing window 923. The viewing window 923 helps the staff to monitor the operating status of the material cart 94 inside the transition warehouse 91, so as to intervene and maintain it in a timely manner when problems occur in the operation of the material cart 94.

[0130] In some embodiments, Figure 16 A schematic diagram of the inner sealing door in a spherical material dispensing device according to an embodiment of the present invention is shown. (Refer to...) Figure 16 As shown, the inner sealing door 93 is vertically slidably connected to the inner wall of the glove box 1; on both sides of the inner sealing door 93, there are door drive assemblies 931 that drive the inner sealing door 93 to move back and forth vertically, so as to cover / open the inner opening of the transition compartment 91.

[0131] The door drive assembly 931 is an integrated component that provides power to the inner sealing door 93 and controls its movement trajectory. Its core function is to realize the automated and stable lifting of the inner sealing door 93. Specifically, it includes: lifting guide rail 9311, door lifting motor 9312, and synchronous belt 9313. The lifting guide rail 9311 is vertically set on both sides of the inner opening of the transition compartment 91. The inner sealing door 93 moves along the lifting guide rail 9311 under the drive of the door lifting motor 9312 and the synchronous belt 9313.

[0132] Specifically, the door lifting motor 9312 is the power source of the door drive assembly 931. It provides power for the lifting and lowering of the inner sealing door 93 by outputting a stable torque. It can achieve forward and reverse rotation according to the control signal, thereby controlling the rise and fall of the inner sealing door 93. The synchronous belt 9313 is a power transmission component that connects the output end of the door lifting motor 9312 to the inner sealing door 93. It can convert the rotational motion of the door lifting motor 9312 into the linear lifting motion of the inner sealing door 93. It has the characteristics of smooth transmission and high synchronization, ensuring that the force on both sides of the inner sealing door 93 is balanced.

[0133] The door drive assembly 931 is set to automatically control the lifting and lowering of the inner sealing door 93, so that after the outer sealing door 92 of the transition chamber 91 is sealed and closed, the automatic control of the inner sealing door 93 enables the dragging mechanism 95 to drive the material cart 94 into the glove box 1, ensuring the normal transportation of materials.

[0134] In some embodiments, to further enhance the sealing performance of the inner sealing door 93 and the inner opening of the transition chamber 91, and to prevent environmental media from penetrating through the gap between the door and the opening, the transition chamber 91 has a specially designed sealing structure for the inner opening. A receiving groove 96 is provided at the edge of the inner opening of the transition chamber 91, and an inflatable sealing ring 97 is embedded in the receiving groove 96. The inflatable sealing ring 97 is connected to an external air supply. After the inner sealing door 93 is closed, air is supplied to the inflatable sealing ring 97, causing it to expand and abut against the surface of the inner sealing door 93, thus sealing the inner opening of the transition chamber 91.

[0135] Figure 17 A cross-sectional view of an inflatable sealing ring in a spherical material dispensing device according to an embodiment of the present invention is shown. (Refer to...) Figure 17 As shown, the cross-section of the inflatable sealing ring 97 has a retaining portion 971 and a deformable portion 972. The retaining portion 971 abuts against the inner wall of the receiving groove 96, and the deformable portion 972 is located on the side of the retaining portion 971 facing the opening of the receiving groove 96. When the inflatable sealing ring 97 is not inflated, the deformable portion 972 is recessed into the receiving groove 96 by 46. When the inflatable sealing ring 97 is inflated, the deformable portion 972 elastically deforms and expands out of the receiving groove 96.

[0136] The receiving groove 96 is a groove structure opened along the opening contour on the inner edge of the transition chamber 91. Its size is precisely matched with the fixing part 971 of the inflatable sealing ring 97. Its core function is to provide an installation and positioning base for the inflatable sealing ring 97 and prevent the inflatable sealing ring 97 from shifting or falling off during inflation and door opening and closing.

[0137] The inflatable sealing ring 97 is a hollow sealing component with elastic deformation capability. It is made of an elastic material that is resistant to aging and certain air pressure. It achieves sealing by expanding with air and fitting with the inner sealing door 93. The fixed part 971 of its cross section is a relatively rigid structural area used to cooperate and position with the receiving groove 96. It is fixed by interference fit or snap connection with the inner wall of the receiving groove 96. The deformable part 972 is a highly elastic area and is the core functional area for achieving sealing contact after inflation.

[0138] Compared to traditional static sealing rings, the inflatable sealing ring 97 forms a dynamic seal through inflation and expansion. Its deformable part 972 can closely fit the tiny bumps and depressions on the surface of the inner sealing door 93, filling the gap between the door and the opening. The sealing contact area is larger and the pressure is more uniform, which can effectively block the gas exchange between the special environment inside the glove box 1 and the environment inside the transition chamber 91. It is especially suitable for scenarios with high cleanliness and high sealing requirements, and greatly improves the sealing effect between the transition chamber 91 and the inner sealing door 93.

[0139] In some embodiments, the material cart 94 is provided with a magnetic suction part, and the dragging mechanism 95 includes a linear guide rail and a magnetic suction head. The linear guide rail is horizontally arranged, and the magnetic suction head is arranged on the linear guide rail and slides along the direction of the linear guide rail. The magnetic suction head is combined with the magnetic suction part to drag the material cart 94 into the internal space of the glove box 1 or to feed the material cart 94 into the transition chamber 91.

[0140] The magnetic suction part is a magnetically mating component fixed to the end of the material cart 94. Its material can be a permanent magnet or a magnetically conductive metal. Its core function is to form a stable connection with the magnetic suction head through magnetic force, providing a force point for the dragging mechanism 95. At the same time, its surface is flat and smooth to ensure the fit with the magnetic suction head. In this embodiment, the magnetic suction part is specifically a magnetic suction plate.

[0141] The magnetic suction head is the power execution and connection component of the dragging mechanism 95. It integrates an electromagnetic coil or permanent magnet structure and can control the on and off of the magnetism through electronic or mechanical means. It slides in cooperation with the linear guide rail, and can both move along the linear guide rail to output dragging power and quickly connect or separate from the magnetic suction part of the material cart 94 through magnetic force. In this embodiment, the magnetic suction head is specifically an electromagnet.

[0142] The material cart 94 is connected to the towing mechanism 95 by magnetic attraction, eliminating the need for manual alignment and insertion. The magnetic head can be moved near the magnetic part and automatically adhered by magnetic force, which greatly simplifies the connection process between the towing mechanism 95 and the material cart 94. It is especially suitable for automated operation in confined spaces and greatly improves the efficiency of docking between the towing mechanism 95 and the material cart 94.

[0143] In some embodiments, a transition platform for receiving material carts is provided at the port of the transition compartment 91 inside the glove box 1. After the material cart is magnetically pulled into the glove box 1, it is supported in the transition platform. The transition platform restricts the movement space of the material cart. Multiple limiting magnets are embedded on the side of the transition platform near the magnetic suction plate to magnetically attract and retain the material cart to one side of the magnetic suction plate, thus restricting the free movement of the material cart within the transition platform.

[0144] A method for packaging spherical materials comprises the following steps: Loading: Load the multi-unit pipe to the loading station; The worker places the hopper assembly 35 onto the support portion of the support plate 311 through the glove box 1. The rotation drive assembly 312 drives the support plate 311 to rotate, causing the hopper assembly 35 on the support portion to rotate to the hopper loading station. The pallet 353 is lifted by the material support mechanism 32, so that the stacked multi-pipes protrude from the top of the hopper assembly 35. The second layer of multi-pipes is fixed by the material distribution mechanism 34, and the material picking mechanism 33 acts on the top multi-pipes and transfers the multi-pipes to the turntable 11.

[0145] Ball placement: At the ball placement station, ball-shaped materials are placed into the multi-pipe; Workers put spherical materials into the ball-planting hopper 43. During ball planting, the ball-planting hopper 43 feeds materials to the ball-planting screen plate 44. Through the shaking of the ball-planting screen plate 44, the spherical materials fall evenly into the limiting hole 441 of the ball-planting screen plate 44. Through the mutual sliding between the baffle plate 47 and the ball-planting screen plate 44, the spherical materials in the limiting hole 441 fall into the multi-pipe on the turntable 11.

[0146] Ball replenishment: At the ball replenishment station, spherical material is added into the empty multi-pipe. Workers place spherical materials into the ball replenishment hopper 51. During replenishment, the ball replenishment hopper 51 supplies the grid hopper 521 to the ball receiving assembly 52. ​​The shaking of the grid hopper 521 makes the spherical materials evenly distributed. The distribution information of the spherical materials is picked up by the fourth image acquisition unit 54. The ball replenishment robotic arm 551 picks up the spherical materials and puts them into the multi-pipe of the ball replenishment station on the turntable 11.

[0147] Top cover, a cover for the multi-unit pipe to cover the upper end of the multi-unit pipe; The circular vibration supply mechanism 61 feeds the multi-pipe caps one by one into the vibration damping adjustment mechanism 62, so that the multi-pipe caps are evenly distributed in the flexible vibrating plate 621. The first image acquisition unit 63 acquires the distribution of the multi-pipe caps in the flexible vibrating plate 621, and picks up the multi-pipe caps through the multi-pipe cap picking component 65. The second image acquisition unit 64 adjusts the posture of the multi-pipe caps and finally places the multi-pipe caps stably at the multi-pipe port of the upper cover station of the turntable 11.

[0148] The cap is used to press the multi-connector pipe tightly against the multi-connector pipe. First, the pressure block of the pre-pressed cap assembly acts on the top of the multi-pipe cap, causing the cap material to be fastened onto the multi-pipe. Then, the pressure roller 74 slides back and forth, tightly adhering the cap material to the multi-pipe.

[0149] Unloading: Unload the multi-unit pipe material that has been compressed into the multi-unit pipe cover. The robotic arm picks up the multi-tube that has been filled with spherical material and moves it to the detection area of ​​the third image acquisition unit 822. It checks whether the material on the cover and the port of the multi-tube are tightly connected. If they are tightly connected, the material in the multi-tube is qualified. If they are not tightly connected, the material in the multi-tube is placed in the waste area.

[0150] The above steps are completed continuously by rotating turntable 11.

[0151] In the description of this specification, the terms "connection," "installation," and "fixing," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0152] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A spherical material dispensing device, characterized in that, The device comprises: a rotating disc (11) rotating around a central axis; and a feeding station, a ball implanting station, a ball supplementing station, a cover placing station, a cover pressing station and a discharging station arranged in sequence around the rotating disc (11), and a plurality of bearing positions for loading multi-pipes are arranged on the outer periphery of the rotating disc (11), any bearing position passes through each station in sequence under the driving of the rotating disc (11) to complete the sub-packaging of the spherical materials; wherein, a multi-pipe feeding unit (3), a ball implanting unit (4), a ball supplementing unit (5), a cover placing unit (6), a cover pressing unit (7) and a discharging unit (8) are arranged at each station respectively; the multi-pipe feeding unit (3) comprises: a flat rotating platform (31) loaded with at least one bin assembly (35); a material taking mechanism (33) arranged above the flat rotating platform (31); and a material supporting mechanism (32) corresponding to the material taking mechanism (33), the material supporting mechanism (32) has a lifting assembly, the lifting assembly lifts the multi-pipes stacked and placed in the specified bin assembly (35) from bottom to top, and supplies the multi-pipes to the material taking mechanism (33), and the material taking mechanism (33) picks up the multi-pipe located at the uppermost layer.

2. The sub-packaging device for spherical materials according to claim 1, further comprising a glove box (1) and a humidity control unit (2), wherein the multi-pipe feeding unit (3), the ball implanting unit (4), the ball supplementing unit (5), the cover placing unit (6), the cover pressing unit (7) and the discharging unit (8) are arranged in the glove box (1), and the humidity control unit (2) is arranged in the glove box (1).

3. The sub-packaging device for spherical materials according to claim 2, wherein the humidity control unit (2) comprises an air charging mechanism and an air discharging mechanism, the air charging mechanism comprises an air charging main pipe (21) arranged below the glove box (1) and a plurality of air charging branch pipes (22) branched from the air charging main pipe (21), a plurality of air charging ports are arranged on the bottom surface of the glove box (1) and communicate with the air charging branch pipes (22), the air discharging mechanism comprises an air discharging main pipe (24) arranged above the glove box (1) and a plurality of air discharging branch pipes (25) branched from the air discharging main pipe (24), a plurality of air discharging ports are arranged on the top surface of the glove box (1) and communicate with the air discharging branch pipes (25), and the atmosphere in the glove box (1) is replaced by supplying the atmosphere into the glove box (1) from the air charging mechanism and discharging the atmosphere from the air discharging mechanism.

4. The sub-packaging device for spherical materials according to claim 2, further comprising a transition bin unit for isolating the internal space of the glove box (1) from the external environment, the transition bin unit comprises: a transition bin (91); an inner sealing door (93) and an outer sealing door (92) capable of sealing the inner side opening and the outer side opening of the transition bin (91) respectively; and a dragging mechanism (95) for transferring a material cart (94) between the transition bin (91) and the internal space of the glove box (1). ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ The transition bin (91) and the glove box (1) interior space pass materials through the material vehicle (94).

5. The ball material dispensing device according to claim 4, wherein, A magnetic attraction part is arranged on the material vehicle (94), The dragging mechanism (95) comprises a horizontal linear guide rail and a magnetic head moving along the linear guide rail, The magnetic head is combined with the magnetic attraction part to drag the material vehicle (94) from the transition bin (91) to the glove box (1) interior space.

6. The ball material dispensing device according to claim 1, wherein, The flat rotating platform (31) comprises a rotating driving assembly (312) and a bearing plate (311) rotating driven by the rotating driving assembly (312), A plurality of bearing parts for bearing the bin assembly (35) are arranged on the periphery of the bearing plate (311), The rotating driving assembly (312) drives the bearing plate (311) to rotate to arrange a specified bin assembly (35) below the material taking mechanism (33).

7. The ball material dispensing device according to claim 6, wherein, The bin assembly (35) has a plurality of vertical limiting frames (352), and a group of stacked multi-pipes can be loaded between adjacent limiting frames (352), and the lower end of each limiting frame (352) is fixedly installed on a bottom plate (351), A supporting plate (353) is arranged horizontally through each limiting frame (352), and the supporting plate (353) is used for supporting the lower end of each group of stacked multi-pipes, A plurality of positioning pin holes and positioning pins (313) are arranged on the upper surface of the bearing part and the lower surface of the bottom plate (351), respectively.

8. The ball material dispensing device according to claim 6, wherein, It further has a material dispensing mechanism (34) for fixing the multi-pipes supplied to the upper end of the bin assembly (35), The material dispensing mechanism (34) fixes the second layer of multi-pipes downward between the uppermost layer of multi-pipes and the second layer of multi-pipes, In the state that the material dispensing mechanism (34) fixes the second layer of multi-pipes, the material taking mechanism (33) picks up the uppermost layer of multi-pipes.

9. The ball material dispensing device according to claim 1 or 2, wherein, The ball planting unit (4) comprises a ball planting bin (43), a ball planting sieve plate (44) and a material blocking plate (47), The ball planting bin (43) is used for supplying ball materials, The ball planting sieve plate (44) is arranged below the ball planting bin (43) and is used for receiving the ball materials supplied by the ball planting bin (43), The ball planting sieve plate (44) has limiting holes (441) for embedding ball materials on the surface, The material blocking plate (47) is arranged on the bottom surface of the ball planting sieve plate (44) and is slidingly connected with the ball planting sieve plate (44), and is used for dropping the ball materials remaining in the limiting holes (441) into the multi-pipes.

10. The ball material dispensing device according to claim 9, wherein, The limiting holes (441) located at the edges of the ball planting sieve plate (44) are arranged next to the side walls of the ball planting sieve plate (44).

11. The ball material dispensing device according to claim 10, wherein, The side walls of the ball planting sieve plate (44) have gaps intruding between the adjacent limiting holes (441) located at the edges of the ball planting sieve plate (44), and the side walls of the ball planting sieve plate (44) are formed with recesses (46) corresponding to the limiting holes (441) located at the edges of the ball planting sieve plate (44).

12. The ball material dispensing device according to claim 1 or 2, wherein, The upper cover unit (6) comprises a circular vibration feeding mechanism (61) and a cushioning adjustment mechanism (62), wherein, The circular vibration feeding mechanism (61) is used to accommodate the multi-union cover bodies and send them out one by one through vibration, The cushioning adjustment mechanism (62) has a flexible vibration disc in a rectangular shape, which receives the multi-union cover bodies from the circular vibration feeding mechanism (61) and adjusts the posture of the multi-union cover bodies by using its own vibration.

13. The ball material dispensing device according to claim 12, wherein, A first image acquisition unit (63) is arranged above the flexible vibration disc, Further comprising a multi-union cover picking assembly (65) which picks a specified multi-union cover body based on the image of the first image acquisition unit (63) and places the picked multi-union cover body on the multi-union located at the cover pressing station.

14. The ball material dispensing device according to claim 13, wherein, Further comprising a second image acquisition unit (64), After the multi-union cover picking assembly (65) picks a multi-union cover body, the posture of the picked multi-union cover body is identified by the second image acquisition unit (64), and the multi-union cover picking assembly (65) places the picked multi-union cover body on the multi-union located at the cover pressing station based on the posture identified by the second image acquisition unit (64).

15. The ball material dispensing device according to claim 1 or 2, wherein, At the cover pressing station, a cover pressing mechanism is arranged, The cover pressing mechanism comprises a pressing roller (74), a translation assembly (72), a pressure assembly (73) and a leveling assembly (75), wherein, The pressing roller (74) is freely rotatable around a central axis and is used to press the cover on the multi-union, The translation assembly (72) drives the pressing roller (74) to move in the horizontal direction, The pressure assembly (73) is installed on the translation assembly (72) and applies a downward specified pressure to the pressing roller (74), The leveling assembly (75) is arranged between the pressing roller (74) and the translation assembly (72) and is used to adjust the horizontal arrangement of the pressing roller (74).

16. The ball material dispensing device according to claim 15, wherein, Further comprising a pre-cover pressing assembly, Before the pressing roller (74) presses the cover, the pre-cover pressing assembly pre-presses the cover on the multi-union.

17. A method for dispensing spherical materials, using the spherical material dispensing device according to any one of claims 1-16, comprising the following steps: loading, loading the multi-pipe into the loading station; ball planting, planting the spherical material into the multi-pipe at the ball planting station; covering, covering the upper end of the multi-pipe with the cover; pre-pressing, pre-pressing the multi-pipe with the cover; unloading, unloading the multi-pipe with the cover, completing the above steps continuously by rotating the rotating disc (11).

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