Freeze-dried microsphere dispensing apparatus and control method thereof

Abstract

The application relates to the technical field of pharmaceutical manufacturing equipment, in particular to a lyophilized microsphere dispensing device and a control method thereof. The rotating disc unit comprises a rotating disc, a first material dropping hole group is arranged on the bottom plate of the rotating disc, the first material dropping hole group comprises a plurality of first material dropping holes which are uniformly distributed along the circumference of the rotating disc, the driving unit is in transmission cooperation with the rotating disc unit to drive the rotating disc to rotate, the ball arranging unit comprises a ball arranging pipe connected with the air source, the ball arranging pipe is used for blowing air into the rotating disc, the discharging unit is used for sending each material ball in the first material dropping hole group at the discharging unit out of the rotating disc, the detection unit is in communication connection with the controller, and the detection unit is used for detecting the state of each first material dropping hole in the first material dropping hole group at the discharging unit and the state of each material ball. The application relates to the technical field of pharmaceutical manufacturing equipment, in particular to a lyophilized microsphere dispensing device and a control method thereof.

Description

Technical Field

[0001] This application relates to the field of pharmaceutical manufacturing equipment technology, and more specifically, to a freeze-dried microsphere dispensing device and its control method. Background Technology

[0002] In the fields of biomedicine and in vitro diagnostics, low-temperature freeze-drying technology is commonly used to prepare lyophilized microspheres to facilitate the storage, transport, and use of bioactive substances such as microorganisms and enzymes. Lyophilized microspheres are characterized by their light weight, brittle texture, and fragility. How to efficiently, reliably, and non-destructively dispense large quantities of lyophilized microspheres into various small dispensing containers such as reaction tanks or eight-tube arrays is a significant technical challenge faced by relevant manufacturers.

[0003] Currently, the basic principle of the packaging equipment for freeze-dried microspheres is largely based on the manual ball-separating method. That is, by setting up a ball-separating module with a first drop hole of fixed diameter and depth, the microspheres fall naturally into the hole, and then the separation and release of individual microspheres are achieved by mechanical limiting devices such as pull plates and rotating shafts.

[0004] However, in existing technical solutions, freeze-dried microspheres are prone to agglomeration due to electrostatic adsorption or surface adhesion during storage or transportation, which prevents the microspheres from smoothly entering the first discharge hole, or causes multiple microspheres to enter the first discharge hole at the same time, resulting in problems such as missing or excessive microspheres during packaging. Summary of the Invention

[0005] The purpose of this application is to provide a freeze-dried microsphere dispensing device and its control method in response to at least one of the technical problems mentioned in the background art.

[0006] To achieve the above objectives, this application adopts the following technical solution: One aspect of this application provides a freeze-dried microsphere packaging device, including an air source, a drive unit, a turntable unit, a microsphere handling unit, a feeding unit, a detection unit, and a controller. The turntable unit includes a turntable, and a first set of material discharge holes is provided on the base plate of the turntable. The first set of material discharge holes includes a plurality of first material discharge holes evenly distributed along the circumference of the turntable. The drive unit is in transmission cooperation with the turntable unit to drive the turntable to rotate. The ball-sorting unit includes a ball-sorting pipe connected to the air source, the ball-sorting pipe being used to blow air into the turntable. The feeding unit is used to feed each ball from the first set of feeding holes at the feeding unit out of the turntable. The detection unit is communicatively connected to the controller, and the detection unit is used to detect the status of each first material drop hole in the first material drop hole group at the material feeding unit and the status of each corresponding material ball.

[0007] Optionally, the turntable unit further includes a tray assembly, which is installed below the turntable and rotates synchronously with it. The tray assembly includes a tray, a return spring, and a bracket. The bracket is installed on the turntable, and the tray is arranged parallel to the bottom plate of the turntable. The tray and the bracket slide in a radial direction on the turntable. The tray is provided with a plurality of second discharge holes. Both the bracket and the tray are connected to the return spring. The feeding unit is used to push the tray to squeeze the return spring, thereby making each of the second discharge holes correspond one-to-one with each of the first discharge holes in the first discharge hole group.

[0008] Optionally, a plurality of first material discharge hole groups are provided on the base plate of the turntable, and each first material discharge hole group is evenly distributed on the base plate of the turntable. The turntable unit includes a plurality of tray assemblies, and the position of each tray assembly corresponds one-to-one with the position of each first material discharge hole group.

[0009] Optionally, the freeze-dried microsphere dispensing device provided in this application further includes a waste unit, which includes a pusher plate assembly and an air blowing pipe assembly connected to the air source. The pusher plate assembly includes a cylinder bracket and a pusher plate cylinder mounted on the cylinder bracket. The pusher plate cylinder is used to radially push the tray on the turntable. The air blowing pipe assembly is located below the turntable and includes multiple air blowing pipes. Each air blowing pipe is used to blow air into each of the second discharge holes at the pusher plate cylinder in a corresponding manner.

[0010] Optionally, the waste unit further includes a collection bend, which includes a straight section and a bend. The bottom end of the straight section extends into the turntable. In the vertical direction, the bottom end of the straight section is positioned directly opposite each of the first discharge holes at the air blowing pipe assembly. The top end of the straight section communicates with the bottom end of the bend. The bend bends from the straight section in a direction away from the turntable.

[0011] Optionally, the ball sorting unit, the detection unit, the feeding unit, and the waste unit are arranged sequentially in the rotation direction of the turntable, with the detection unit positioned above the feeding unit.

[0012] Optionally, the freeze-dried microsphere dispensing device provided in this application further includes a consumable unit. The feeding unit includes a feeding cylinder and a funnel. The feeding cylinder is used to push the tray in the radial direction of the turntable. The funnel is disposed below the turntable. The top end of the funnel is positioned to correspond to the position of each of the second discharge holes, and the bottom end of the funnel is positioned to correspond to the position of the consumable unit.

[0013] Optionally, multiple microsphere channels are provided inside the funnel. Each microsphere channel is arranged in a straight line in a direction parallel to the bottom plate of the turntable. The top port of each microsphere channel is an elliptical opening. The length direction of the top port is parallel to the radial direction of the turntable. Each top port is configured to correspond one-to-one with each of the second discharge holes. The position of the bottom port of each microsphere channel is configured to correspond to the position of the consumable unit.

[0014] Optionally, the consumable unit includes a tray assembly, a track assembly, and a transmission assembly. The tray assembly includes a tray. One end of the track assembly along its length is a receiving position, which corresponds to the position of the bottom port of each microsphere channel. The other end of the track assembly is a tray replacement position. Both the tray assembly and the transmission assembly are mounted on the track assembly. The transmission assembly is used to drive the tray assembly to move between the receiving position and the tray replacement position along the length of the track assembly.

[0015] Another aspect of this application provides a control method for a freeze-dried microsphere filling device, implemented using the freeze-dried microsphere filling device provided in this application, the control method comprising: The drive unit is controlled to drive the turntable to rotate intermittently, so that each of the first material dropping holes on the turntable passes sequentially through the ball sorting unit, the detection unit, the material feeding unit and the waste unit; At the ball sorting unit, the ball sorting tube is controlled to blow air into the turntable to disperse the clustered freeze-dried microspheres, so that individual freeze-dried microspheres fall into the first discharge hole. When the first set of discharge holes rotates to the detection unit, the detection unit is controlled to detect the first set of discharge holes, obtain a detection signal indicating whether freeze-dried microspheres are present in each of the first discharge holes, and send the detection signal to the controller. The controller determines whether the first discharge hole group is a qualified hole group based on the received detection signal: if all the first discharge holes contain freeze-dried microspheres, it is determined to be a qualified hole group; if at least one first discharge hole does not contain freeze-dried microspheres, it is determined to be an unqualified hole group. When a group of holes is determined to be defective, the drive unit is controlled to drive the turntable to continue rotating, so that the next first discharge hole group rotates to the detection unit for detection; if six consecutive first discharge hole groups are determined to be defective, it is determined to be a ball shortage state, and a ball shortage prompt signal is output. When the first discharge hole group, which is determined to be a qualified hole group, rotates to the feeding unit, the transmission component in the consumable unit is controlled to drive the tray assembly to move along the track assembly, so that the dispensing container on the tray assembly is aligned with the discharge port of the feeding unit, and the feeding cylinder in the feeding unit is controlled to push the pallet to send each freeze-dried microsphere in the first discharge hole group out of the turntable, so that the freeze-dried microspheres fall into the dispensing container through the feeding unit; After the feeding cylinder returns to its original position, the detection unit is controlled to detect the first feeding hole group again: if there are no freeze-dried microspheres in each of the first feeding holes, the feeding is determined to be completed; if there are still freeze-dried microspheres in any of the first feeding holes, the feeding is determined to be stuck, and the first feeding hole group is marked as a stuck hole group and transferred to the waste processing process. When the material discharge hole group rotates to the waste disposal unit, the waste disposal unit is controlled to remove the freeze-dried microspheres from the turntable in the first material discharge hole group. After the waste is removed, the detection unit is controlled to detect the first material discharge hole group again: if there are no freeze-dried microspheres in any of the first material discharge holes, the waste removal is considered complete; if there are still freeze-dried microspheres in any of the first material discharge holes, it is considered a second material jamming state, and the first material discharge hole group is rotated back into the waste disposal process for a second waste removal. After the second waste removal, the detection unit is controlled to detect the first material discharge hole group again: if there are no freeze-dried microspheres in any of the first material discharge holes, the waste removal is considered complete; if there are still freeze-dried microspheres in any of the first material discharge holes, it is considered a third material jamming state, and a material jamming warning signal is output. After completing one feeding cycle, the transmission component is controlled to move the tray assembly one station along the track assembly, so that the next row of dispensing containers on the tray assembly is aligned with the discharge port of the feeding unit, ready for the next feeding cycle. Once all the dispensing containers on the tray assembly have finished receiving materials, the transmission assembly is controlled to move the tray assembly to the tray replacement position on the track assembly.

[0016] The technical solution provided in this application can achieve at least one of the following beneficial effects: The freeze-dried microsphere dispensing device and control method provided in this application blow airflow into the turntable through the ball-collecting tube, which can disperse the freeze-dried microspheres that are clustered due to electrostatic adsorption or surface adhesion, keeping the freeze-dried microspheres in a loose state within the turntable. This facilitates the smooth falling of individual freeze-dried microspheres into the first discharge hole. Compared with the existing structure that relies solely on gravity for natural discharge, this design can reduce the occurrence of multiple freeze-dried microspheres or empty holes entering the first discharge hole simultaneously, thus improving the uniformity of discharge. Furthermore, the detection unit detects the first discharge hole group at the feeding unit, obtaining information on whether freeze-dried microspheres are present in each first discharge hole and whether the state of the freeze-dried microspheres is intact. This information allows the controller to control the dispensing process, thereby achieving quality control of the finally collected freeze-dried microspheres.

[0017] The additional technical features and advantages of this application will become more apparent from the following description or from practical application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the specific embodiments of this application, the accompanying drawings used in the description of the specific embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 A schematic diagram of one embodiment of the freeze-dried microsphere dispensing device provided in this application; Figure 2 A partial structural schematic diagram of one embodiment of the freeze-dried microsphere dispensing device provided in this application; Figure 3 A schematic diagram of one embodiment of the pallet assembly provided in this application; Figure 4 This is a schematic diagram of one embodiment of the tray provided in this application. Figure 5 A schematic diagram of one embodiment of the consumable unit provided in this application; Figure 6 This is a schematic diagram of one embodiment of the material tray provided in this application. Figure 7 A partial structural schematic diagram of one embodiment of the freeze-dried microsphere dispensing device provided in this application; Figure 8 A partial structural schematic diagram of one embodiment of the freeze-dried microsphere dispensing device provided in this application; Figure 9 This is a schematic diagram of one embodiment of the funnel provided in this application. Figure 10 A schematic diagram of the gas path structure of one embodiment of the freeze-dried microsphere dispensing device provided in this application; Figure 11 A flowchart illustrating one embodiment of the control method for the freeze-dried microsphere dispensing device provided in this application. Figure 12 A schematic diagram of the operation interface logic and corresponding interface prompts of the freeze-dried microsphere dispensing device provided in the embodiments of this application; Figure 13 This is a schematic diagram of the main operating logic of the freeze-dried microsphere dispensing device provided in the embodiments of this application.

[0020] Figure label: 01. Detection unit; 02. Material feeding unit; 03. Turntable unit; 04. Ball handling unit; 05. Drive unit; 06. Frame; 07. Consumables Unit; 08. Controller; 09. First material discharge hole; 10. Waste unit; 11. First synchronous pulley; 12. First synchronous belt; 13. Drive motor; 14. Pallet assembly; 15. Support plate; 16. Return spring; 17. Support bracket; 18. Second material drop hole; 19. Sensor sensor element; 20. Turntable; 22. Slider; 23. Origin sensor; 24. Second synchronous belt; 25. Track assembly; 26. Material tray assembly; 27. Consumable motor; 28. Position sensor; 29. ​​Slide rail; 30. Material tray; 31. Support hole; 32. Cylinder bracket; 33. Push plate cylinder; 34. Straight pipe section; 35. Bend pipe section; 36. Collection of bent pipes; 37. Base plate; 38. Air blowing pipe assembly; 39. Material feeding cylinder; 40. Support frame; 41. Funnel; 42. Top port; 44. Bottom port. Detailed Implementation

[0021] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] like Figures 1 to 10 As shown, one aspect of this application provides a freeze-dried microsphere dispensing device, including an air source, a drive unit 05, a turntable unit 03, a microsphere sorting unit 04, a feeding unit 02, a detection unit 01, and a controller 08. The turntable unit 03 includes a turntable 20. A first set of material discharge holes is provided on the base plate 37 of the turntable 20. The first set of material discharge holes includes a plurality of first material discharge holes 09 evenly distributed along the circumference of the turntable 20. The drive unit 05 is in transmission cooperation with the turntable unit 03 to drive the turntable 20 to rotate. The ball-sorting unit 04 includes a ball-sorting pipe connected to the air source, the ball-sorting pipe being used to blow air into the turntable 20. The feeding unit 02 is used to feed each material ball from the first feeding hole group at the feeding unit 02 out of the turntable 20. The detection unit 01 is communicatively connected to the controller 08. The detection unit 01 is used to detect the status of each first material drop hole 09 in the first material drop hole group at the material feeding unit 02 and the status of each corresponding material ball.

[0025] The pellets described in this embodiment are freeze-dried microspheres; the gas source can also be called the main gas source; the drive unit 05 includes a drive motor 13, a first synchronous belt 12, and a first synchronous pulley 11. The drive motor 13 is a stepper motor or a servo motor, and the drive motor 13 communicates with the controller 08; the pellet tube blows air or ion wind into the turntable 20. Preferably, the detection unit 01 includes a camera, a light source, and a communication interface. The camera can be replaced by laser beam detection or reflective photoelectric detection.

[0026] The freeze-dried microsphere dispensing device provided in this application blows airflow into the turntable 20 through the ball-collecting tube, which can disperse the freeze-dried microspheres that are clustered due to electrostatic adsorption or surface adhesion, keeping the freeze-dried microspheres in a loose state within the turntable 20. This facilitates the smooth falling of individual freeze-dried microspheres into the first discharge hole 09. Compared with the existing structure that relies solely on gravity for natural discharge, this design can reduce the occurrence of multiple freeze-dried microspheres or empty holes entering the first discharge hole 09 at the same time, improving the uniformity of discharge. Furthermore, the detection unit 01 detects the first discharge hole group at the feeding unit 02, obtaining information on whether freeze-dried microspheres exist in each first discharge hole 09 and whether the state of the freeze-dried microspheres is intact. This information allows the controller 08 to control the dispensing process, thereby achieving quality control of the finally collected freeze-dried microspheres.

[0027] Optionally, the turntable unit 03 further includes a support plate assembly 14, which is installed below the turntable 20 and rotates synchronously with the turntable 20. The support plate assembly 14 includes a support plate 15, a return spring 16, and a bracket 17. The bracket 17 is installed on the turntable 20, and the support plate 15 is arranged parallel to the turntable 20. The support plate 15 and the bracket 17 are slidably engaged in the radial direction of the turntable 20. The support plate 15 is provided with a plurality of second discharge holes 18. Both the bracket 17 and the support plate 15 are connected to the return spring 16. The feeding unit 02 is used to push the support plate 15 to squeeze the return spring 16, thereby making each of the second discharge holes 18 corresponding to and communicating with each of the first discharge holes 09 in the first discharge hole group. Preferably, sliders 22 are provided on both sides of the support plate 15, and two sliding grooves are provided on the inner side of the bracket. The two sliders 22 are slidably engaged with the two sliding grooves. During the rotation of the turntable 20, there is no relative movement between the tray 15 and the turntable 20. The freeze-dried microspheres that have fallen into the first discharge hole 09 do not rub or compress against the tray 15, reducing mechanical contact during transport and protecting the fragile microspheres. Simultaneously, during discharge, external force pushes the tray 15 to slide, aligning the second discharge hole 18 with the first discharge hole 09. The freeze-dried microspheres fall naturally under gravity. After discharge, the return spring 16 resets the tray 15, causing the holes to misalign, and the tray 15 re-seals the first discharge hole 09. This avoids the shearing damage to the microspheres caused by the pull-out plate moving laterally before the microspheres have completely detached from the discharge hole, as is common in existing technologies. Preferably, both the turntable 20 and the tray assembly 14 are detachable; a sensor plate 19 is installed on the tray.

[0028] Optionally, a plurality of first material discharge hole groups are provided on the base plate 37 of the turntable 20, and each first material discharge hole group is evenly distributed on the base plate 37 of the turntable 20. The turntable unit 03 includes a plurality of the first material discharge plate assemblies 14, and the position of each first material discharge plate assembly 14 corresponds one-to-one with the position of each first material discharge hole group. In this embodiment, preferably, six sets of first material discharge hole groups and six sets of first material discharge plate assemblies 14 are provided. In this way, one set of first material discharge hole groups can reach the material discharge position every time the turntable 20 rotates one station. Each first material discharge hole group alternates to perform the material discharge process, increasing the number of dispensing operations completed per unit time and improving the dispensing efficiency. The position of each first material discharge plate assembly 14 corresponds one-to-one with each first material discharge hole group. Each set of first material discharge plate assemblies 14 independently controls the material discharge action of the corresponding first material discharge hole group. When a certain first material discharge hole group is dispensing, the microspheres in other first material discharge hole groups are still blocked by the first material discharge plate 15 and can continue to be transferred with the turntable 20, thereby allowing other processes to proceed in parallel.

[0029] Optionally, the freeze-dried microsphere dispensing device provided in this application embodiment further includes a waste unit. The waste unit 10 includes a pusher plate assembly and an air blowing pipe assembly 38 connected to the air source. The pusher plate assembly includes a cylinder bracket 32 ​​and a pusher plate cylinder 33 installed on the cylinder bracket 32. The pusher plate cylinder 33 is used to radially push the tray 15 on the turntable 20. The air blowing pipe assembly 38 is located below the turntable 20. The air blowing pipe assembly 38 includes a plurality of air blowing pipes, each of which is used to blow air into each of the second discharge holes 18 at the pusher plate cylinder 33 in a corresponding manner. When the detection unit 01 identifies a defective microsphere, the turntable 20 rotates the hole group to the waste unit 10. The push plate cylinder 33 pushes the support plate 15 radially upward on the turntable 20, aligning the second discharge hole 18 with the first discharge hole 09, thus establishing a channel for subsequent air blowing. Compressed air supplied by the air source blows air through the air blowing pipe assembly 38 into the aligned second discharge hole 18, blowing out the stuck or abnormally sized defective microspheres from the first discharge hole 09, causing them to detach from the turntable 20.

[0030] Optionally, the waste unit 10 further includes a collection bend 36, which includes a straight section 34 and a bend 35. The bottom end of the straight section 34 extends into the turntable 20. In the vertical direction, the bottom end of the straight section 34 is positioned directly opposite each of the first discharge holes 09 at the air blowing pipe assembly 38. The top end of the straight section 34 communicates with the bottom end of the bend 35. The bend 35 bends away from the straight section 34 in a direction away from the turntable 20. In this embodiment, the collection bend 36 is preferably fixed to the cylinder bracket 32. The bottom end of the straight tube section 34 of the collecting bend 36 extends into the turntable 20 and is directly opposite the first discharge hole 09 at the air blowing pipe assembly 38. When compressed air blows the unqualified microspheres out of the discharge hole, the unqualified freeze-dried microspheres directly enter the straight tube section 34, making it difficult for the freeze-dried microspheres to scatter or splash within the turntable 20. At the same time, the bend section 35 bends away from the straight tube section 34 in a direction away from the turntable 20, changing the direction of movement of the freeze-dried microspheres and guiding the unqualified microspheres to the preset waste collection area for centralized recycling or processing. Furthermore, the microspheres discharged through the bend will not remain on the surface of the turntable 20 or fall into other holes, reducing the potential impact of waste on subsequent discharge, inspection, and unloading processes, and keeping the working environment within the turntable 20 clean.

[0031] Optionally, the ball sorting unit 04, the detection unit 01, the feeding unit 02 and the waste unit 10 are arranged in sequence in the rotation direction of the turntable 20, and the detection unit 01 is disposed above the feeding unit 02. In this way, when the turntable 20 rotates, the first set of discharge holes passes through the ball sorting unit 04, the detection unit 01, the unloading unit 02, and the waste disposal unit 10 in sequence, completing the microsphere sorting, status detection, qualified product unloading, and clearing of jammed material in the first set of discharge holes in sequence, with smooth connection between each process; at the same time, the detection unit 01 is set above the unloading unit 02, and can obtain the status information of the first set of discharge holes in advance. Before the first set of discharge holes reaches the unloading unit 02, the detection unit 01 has completed the detection of the first set of discharge holes. The controller 08 can determine in advance whether the first set of discharge holes should be unloaded or subsequently discharged based on the detection results, reserving response time for the actuator; in addition, the ball sorting unit 04 is located at the starting point of the process, improving the quality of discharge from the source. The ball sorting tube blows the microspheres before the first set of discharge holes enters the detection process, reducing the problems of voids or multiple particles caused by agglomeration, and improving the reliability of subsequent detection and unloading.

[0032] Optionally, the freeze-dried microsphere dispensing device provided in this application embodiment further includes a consumable unit 07. The feeding unit 02 includes a feeding cylinder 39 and a funnel 41. The feeding cylinder 39 is used to push the tray 15 radially on the turntable 20. The funnel 41 is disposed below the turntable 20. The top end of the funnel 41 is positioned to correspond to the position of each of the second discharge holes 18, and the bottom end of the funnel 41 is positioned to correspond to the position of the consumable unit 07. In this way, the feeding cylinder 39 pushes the tray 15 radially upward on the turntable 20, aligning the second discharge hole 18 with the first discharge hole 09. The freeze-dried microspheres fall into the funnel 41 under gravity. The top of the funnel 41 corresponds to the position of the second discharge hole 18, and the bottom corresponds to the position of the consumable unit 07. After being guided by the inner wall of the funnel 41, the freeze-dried microspheres fall into the consumable unit 07 and other dispensing containers, reducing the risk of displacement or scattering during the fall and ensuring accurate placement of the microspheres into the designated dispensing containers. In this embodiment, the feeding cylinder 39 is supported by a support frame 40.

[0033] Optionally, a plurality of microsphere channels are provided in the funnel 41. Each microsphere channel is arranged in a straight line in a direction parallel to the turntable 20. The top port 42 of each microsphere channel is an elliptical opening. The length direction of the top port 42 is parallel to the radial direction of the turntable 20. Each top port 42 is configured to correspond one-to-one with each of the second discharge holes 18. The position of the bottom port 44 of each microsphere channel is configured to correspond to the position of the consumable unit 07. In this way, the shape of the top port 42 of the microsphere channel can expand the receiving area of ​​the microsphere channel, thereby adapting to the arc-shaped arrangement of each second discharge hole 18 and the corresponding first discharge hole 09 of the first discharge hole group, making it easier for the freeze-dried microspheres falling from the second discharge hole 18 to enter the corresponding microsphere channel, reducing the retention or deviation of the freeze-dried microspheres at the inlet; at the same time, multiple microsphere channels are arranged in a straight line in the direction parallel to the turntable 20, corresponding to the straight line arrangement of the dispensing container openings in the eight-tube consumables of the consumable unit 07, so that the freeze-dried microspheres are accurately dropped into each dispensing container after being guided by the microsphere channel.

[0034] Optionally, the consumable unit 07 includes a tray assembly 26, a track assembly 25, and a transmission assembly. The tray assembly 26 includes a tray 30. One end of the track assembly 25 is a receiving position along its length, which corresponds to the position of the bottom port 44 of each microsphere channel. The other end of the track assembly 25 is a tray 30 replacement position. The tray assembly 26 and the transmission assembly are both mounted on the track assembly 25. The transmission assembly is used to drive the tray assembly 26 to move along the length of the track assembly 25 between the receiving position and the tray 30 replacement position. In this embodiment, preferably, the tray assembly 26 is used to support the dispensing container (i.e., consumables, such as an eight-tube array or a reaction tank). The tray 30 has a flat structure with multiple support holes 31 for placing the dispensing container. The shape and size of the support holes 31 match the dispensing container to be supported. When supporting an eight-tube array, the support holes 31 are arranged in a straight line with eight holes per row. When supporting a reaction tank, the support holes 31 are arranged in an array, and the number of holes is determined according to the specifications of the reaction tank. The tray assembly also includes a dispensing container positioning structure. The inner wall or edge of each support hole 31 can be provided with positioning steps or claws to fix the position of the dispensing container and prevent the dispensing container from shaking or tilting during the movement of the tray 30. The track assembly 25 includes an origin sensor 23, a position sensor 28, and two parallel guide rails. The positions of the origin sensor 23 and the position sensor 28 correspond to the positions at both ends of the track. The transmission assembly includes a consumable motor 27 (preferably a stepper motor), a second synchronous belt 24, and a second synchronous pulley. Slide grooves 29 are provided on both sides of the material tray 30, with each groove corresponding to one of the two tracks. The consumable motor 27 is connected to the material tray assembly 26 via the second synchronous pulley and the second synchronous belt 24, converting the rotational motion of the consumable motor 27 into the linear motion of the material tray assembly 26. An origin sensor 23 is installed on the track assembly 25 to detect the initial position of the material tray assembly 26. The origin sensor 23 is installed at one end of the track assembly 25 (usually near or away from the receiving position) and communicates with the controller 08. The origin sensor 23 can be a photoelectric sensor, a proximity sensor, or a mechanical limit switch. Position sensors 28 can be installed at the receiving position of the track assembly 25 and at the changing position of the material tray 30 to detect whether the material tray assembly 26 has reached a predetermined position. The position sensors 28 communicate with the controller 08, and the controller 08 controls the start and stop of the transmission assembly based on the feedback signal from the position sensors 28.In this way, the tray 30 receives the freeze-dried microspheres at the receiving position. After the consumables (i.e., the dispensing containers) in the tray 30 are full of freeze-dried microspheres, they move to the replacement position of the tray 30, which is convenient for operators to pick up and put down the tray 30. The setting of the receiving position and the replacement position of the tray 30 ensures that the receiving process and the replacement operation of the tray 30 do not interfere with each other. The track assembly 25 provides guidance for the movement of the tray 30, so that the tray 30 can be accurately aligned with the bottom of the microsphere channel every time it stops at the receiving position, so that the freeze-dried microspheres fall more accurately into the dispensing containers.

[0035] In this embodiment of the application, preferably, the freeze-dried microsphere dispensing device further includes a frame 06, and a consumable unit 07, a drive unit 05, a turntable unit 03, a ball sorting unit 04, a feeding unit 02, a detection unit 01, a waste unit 10 and a controller 08 are all installed on the frame 06.

[0036] like Figure 11 As shown, another aspect of this application provides a control method for a freeze-dried microsphere dispensing device, implemented using the freeze-dried microsphere dispensing device provided in the embodiments of this application. The control method includes: S100: Control the drive unit 05 to drive the turntable 20 to rotate intermittently, so that each of the first material dropping hole groups on the turntable 20 passes through the ball sorting unit 04, the detection unit 01, the material feeding unit 02 and the waste unit 10 in sequence; S200: At the ball sorting unit 04, control the ball sorting tube to blow air into the turntable 20 to disperse the agglomerated freeze-dried microspheres, so that the individual freeze-dried microspheres fall into the first discharge hole 09. S300: When the first discharge hole group rotates to the detection unit 01, the detection unit 01 is controlled to detect the first discharge hole group, obtain the detection signal of whether freeze-dried microspheres exist in each of the first discharge holes 09, and send the detection signal to the controller 08. S400: The controller 08 determines whether the current first discharge hole group is a qualified hole group based on the received detection signal: if there are freeze-dried microspheres in each of the first discharge holes 09, it is determined to be a qualified hole group; if there are at least one first discharge hole 09 without freeze-dried microspheres, it is determined to be an unqualified hole group. S500: When a group of holes is determined to be defective, the drive unit 05 is controlled to drive the turntable 20 to continue rotating, so that the next first material dropping hole group rotates to the detection unit 01 for detection; if six consecutive first material dropping hole groups are determined to be defective, it is determined to be a ball shortage state, and a ball shortage prompt signal is output. S600: When the first discharge hole group, which is determined to be a qualified hole group, rotates to the feeding unit 02, the transmission component in the consumable unit is controlled to drive the tray assembly 26 to move along the track assembly 25, so that the dispensing container on the tray assembly 26 is aligned with the discharge port of the feeding unit 02, and the feeding cylinder 39 in the feeding unit 02 is controlled to push the pallet 15 to send each freeze-dried microsphere in the first discharge hole group out of the turntable 20, so that the freeze-dried microspheres fall into the dispensing container through the feeding unit 02; S700: After the feeding cylinder 39 returns to its original position, the detection unit 01 is controlled to detect the first feeding hole group again: if there are no freeze-dried microspheres in each of the first feeding holes 09, the feeding is determined to be completed; if there are still freeze-dried microspheres in any of the first feeding holes 09, the feeding is determined to be stuck, and the first feeding hole group is marked as a stuck hole group and transferred to the waste processing process. S800: When the material discharge hole group rotates to the waste unit 10, the waste unit 10 is controlled to remove the freeze-dried microspheres from the turntable 20 in the first material discharge hole group. After the waste is removed, the detection unit 01 is controlled to detect the first material discharge hole group again: if there are no freeze-dried microspheres in each of the first material discharge holes 09, the waste removal is determined to be complete; if there are still freeze-dried microspheres in any of the first material discharge holes 09, it is determined to be a second material jamming state, and the first material discharge hole group is rotated into the waste processing flow again for a second waste removal. After the second waste removal, the detection unit 01 is controlled to detect the first material discharge hole group again: if there are no freeze-dried microspheres in each of the first material discharge holes 09, the waste removal is determined to be complete; if there are still freeze-dried microspheres in any of the first material discharge holes 09, it is determined to be a third material jamming state, and a material jamming prompt signal is output. S900: After completing one feeding cycle, control the transmission component to drive the tray assembly 26 to move one station along the track assembly 25, so that the next row of dispensing containers on the tray assembly 26 is aligned with the discharge port of the feeding unit 02, waiting for the next feeding cycle; S1000: After all the dispensing containers on the tray assembly 26 have finished receiving materials, control the transmission assembly to move the tray assembly 26 to the tray 30 of the track assembly 25 to change position.

[0037] The control method of the freeze-dried microsphere dispensing device provided in this application is implemented using the freeze-dried microsphere dispensing device provided in this application. The ball-collecting tube blows airflow into the turntable 20, which can disperse the freeze-dried microspheres that are agglomerated due to electrostatic adsorption or surface adhesion, so that the freeze-dried microspheres are kept in a loose state in the turntable 20, which makes it easier for a single freeze-dried microsphere to fall smoothly into the first discharge hole 09. Compared with the existing structure that relies solely on gravity to fall naturally, this design can reduce the situation where multiple freeze-dried microspheres or empty holes enter the first discharge hole 09 at the same time, and improve the uniformity of discharge. Moreover, the detection unit 01 detects the first discharge hole group at the feeding unit 02, which can obtain information on whether there are freeze-dried microspheres in each first discharge hole 09 and whether the state of the freeze-dried microspheres is complete. This information allows the controller 08 to control the dispensing process, thereby achieving quality control of the finally collected freeze-dried microspheres.

[0038] Furthermore, the control method of the freeze-dried microsphere packaging device provided in this application involves the controller 08 judging the conformity of each first feeding hole group based on the detection signal sent by the detection unit 01: when the conforming hole group rotates to the feeding unit 02, the feeding action is performed; for the unconforming hole group that is missing balls, the control turntable 20 continues to rotate to detect the next hole group, and a missing ball prompt signal is issued only when a preset number of consecutive hole groups are missing balls; for the jammed hole group that still has microspheres remaining after feeding, it is transferred to the waste unit for waste removal. This control logic ensures that qualified microspheres enter the dispensing container, removes stuck microspheres, and promptly alerts users to any missing microspheres, thus achieving quality control during the dispensing process. Furthermore, before the testing step, the control system blows airflow into the turntable 20 through the ball-collecting tube to disperse clustered freeze-dried microspheres, allowing individual microspheres to fall smoothly into the first discharge hole 09. This step reduces voids or multiple particles caused by electrostatic adsorption or surface adhesion, providing a foundation for subsequent testing and feeding. Simultaneously, before feeding, the control system moves the material tray assembly 26. The control logic automatically moves the tray 30 to align the dispensing container with the discharge port of the feeding unit 02. After dispensing, the control tray assembly 26 moves one station to position the next row of dispensing containers. This control logic enables the tray 30 to automatically move and receive materials row by row, reducing manual intervention and improving the continuity of the dispensing operation. In addition, when all the dispensing containers on the tray assembly 26 have finished receiving materials, the control transmission assembly moves them to the tray 30 on the track assembly 25 to change positions. Operators can directly pick up and put down the tray 30 without having to manually adjust it inside the equipment.

[0039] like Figure 10As shown in the embodiment of this application, the air circuit system adopts the following structure: the main air source is used to provide compressed air for the ball sorting unit 04, the unloading unit 02 and the waste unit 10. The main air source can be an air compressor or an external centralized air supply system; after the main air source is processed by reducing its diameter, it is connected to a pressure regulator for pressure stabilization, so that the main air source pressure is stabilized within a preset range. After pressure stabilization, the main air source is connected to a main air source one-to-four distributor to divide the main air circuit into four independent branches. The first air path is connected to the two-position air exchange module via a quick-connect reducer (such as a main air source to a 6-pipe connector). The two-position air exchange module controls the actions of the feeding cylinder 39 and the pusher cylinder 33 respectively: the feeding cylinder 39 is equipped with a speed control valve to adjust the action speed of the feeding cylinder 39, which is used to push the pallet 15 radially upward on the turntable 20 to achieve feeding; the pusher cylinder 33 is equipped with a speed control valve to adjust the action speed of the pusher cylinder 33, which is used to push the pallet 15 radially upward on the turntable 20 to establish an air blowing channel; the two-position air exchange module is used to control the air intake and exhaust direction of the cylinder to realize the reciprocating motion of the cylinder. The second air path is connected to the ball-forming tube via a quick-connect reducing connector (such as a main air source to a 6-pipe connector). The ball-forming tube air path is equipped with a switching valve and a speed regulating valve, which can control the on / off state of the ball-forming tube and the air volume. The air outlet of the ball-forming tube is set towards the inlet area of ​​the first material drop hole group inside the turntable 20, which is used to blow air into the turntable 20 to disperse the agglomerated freeze-dried microspheres and assist individual microspheres to fall into the first material drop hole 09. The third and fourth air circuits are used to control multiple air blowing pipes to achieve waste removal. Each circuit has the same structure, as follows: The third air circuit connects to a T-type quick-connect fitting (e.g., a 1-to-2 pipe 6), dividing into two sub-branches. Each sub-branch is again connected to a T-type quick-connect fitting (e.g., a 1-to-2 pipe 6), forming two sets of sub-branches. Each set of sub-branches is equipped with a switch valve and a speed control valve, controlling one air blowing pipe respectively. The third air circuit controls both the first and second air blowing pipes. The fourth air circuit connects to a T-type quick-connect fitting (e.g., a 1-to-2 pipe 6), dividing into two sub-branches. Each sub-branch is again connected to a T-type quick-connect fitting (e.g., a 1-to-2 pipe 6), forming two sets of sub-branches. Each set of sub-branches is equipped with a switch valve and a speed control valve, controlling one air blowing pipe respectively. The fourth air circuit controls both the third and fourth air blowing pipes. The fifth and sixth air circuits (and so on) control the fifth, sixth, seventh, and eighth air blowing pipes respectively. The air circuit control is as follows: the switching valves, speed regulating valves, and two-position air exchange modules of each air circuit branch are all electrically connected to the controller 08. The controller 08 controls the opening and closing of each valve body according to the detection signal of the detection unit 01 and the preset working sequence, thereby realizing the automatic control of the following air circuit actions: continuous or intermittent air blowing in the ball-collecting tube, the unloading cylinder 39 pushing the pallet 15 at the unloading station, the push plate cylinder 33 pushing the pallet 15 at the waste station, and the air blowing pipes selectively blowing air at the waste station. Each air blowing pipe is located below the turntable 20, with the air blowing port facing the first discharge hole 09 at the waste unit 10.By controlling the on / off state of each air-blowing pipe with a switching valve and adjusting the air-blowing flow rate with a speed regulating valve, it is possible to achieve point-to-point air blowing on a single first discharge hole 09 or simultaneous air blowing on multiple first discharge holes 09.

[0040] like Figure 12 As shown, the operation interface logic and interface prompts of the freeze-dried microsphere dispensing device provided in this application are as follows: Operation button function logic: Pressing the reset button causes the stepper motor of tray 30 to return the tray to its original position, and turntable 20 rotates clockwise, triggering the material feeding sensor to stop. Stop operation logic: Pressing the stop operation key or physical emergency stop button will stop the equipment immediately, and all components will cease movement. Pressing the start button triggers the main operating logic of the equipment. The rotary motor speed adjustment button or knob allows for adjustable rotary motor speed. The consumable motor 27 (preferably a stepper motor) speed and distance adjustment allows for adjustment of the consumable motor 27 speed, as well as the distance and number of rows after the first row of dispensing containers on tray 30 is in place. The number of individual ball drops requires setting the number of times the consumable motor 27 rotates. The ball handling tube electromagnetic switch activation time is activated during equipment operation after pressing the reset and start buttons, maintaining air blowing.

[0041] The interface display logic includes the following statuses and prompts: "Equipment is resetting normally" is displayed, and a green light flashes; the row number of balls loaded is calculated according to internal logic, triggering a green light flash; missing balls and half-ball prompts are triggered by internal logic and photo judgment; after ball loading is completed, the consumable motor 27 returns to its original position, triggering a red light flash; if freeze-dried pellets are added, and the module is not fully loaded after six consecutive initial module photos, a red light flashes; if the module needs cleaning, and there is still ball jamming after two loading attempts, a red light flashes.

[0042] The overall process can be summarized as follows: the equipment can be controlled by operating buttons to reset, start, adjust speed, and stop in real time. At the same time, the equipment status is reflected in the interface in real time: during normal operation / reset: the green light flashes to indicate the reset progress, ball loading progress and ball shortage; during abnormal / consumable replacement: the red light flashes to indicate the need to replace consumables, add freeze-dried pellets or clean the module; the ball handling tube electromagnetic switch continues to blow air after reset and start, working in conjunction with the ball dropping logic.

[0043] like Figure 13 As shown, the main logic of the freeze-dried microsphere dispensing device provided in this application is as follows: I. Main process for dispensing freeze-dried microspheres (a) Start-up and Turntable 20 Positioning After pouring freeze-dried microspheres into the turntable 20, the operator clicks the start button. The controller 08 controls the drive unit 05 to rotate the turntable 20 clockwise. After the feeding sensor is triggered three times, the turntable 20 stops rotating, completing the initial positioning.

[0044] (ii) Control of material tray 30 movement and feeding The controller 08 controls the transmission component in the consumable unit 07 to move the tray assembly 26 along the track assembly 25, so that the tray assembly 26 returns to its original position. Subsequently, the transmission component moves the tray assembly 26 to the receiving position, so that the first group of packaging containers is aligned with the discharge port of the unloading unit 02.

[0045] After the feeding unit 02 completes one feeding cycle, the controller 08 controls the transmission component to move the tray assembly 26 along the track assembly 25 a preset distance, aligning the next batch of dispensing containers with the discharge port of the feeding unit 02, ready for the next feeding cycle. When the tray assembly 26 is completely full of dispensing containers, the transmission component moves the tray assembly 26 to the tray 30 on the track assembly 25 for replacement, allowing the operator to change the tray 30.

[0046] (III) Detection, photography, and status assessment The turntable 20 rotates clockwise by a preset angle (e.g., 60 degrees) to bring the first material discharge hole group to the detection unit 01, triggering the material discharge position sensor 28. The controller 08 controls the turntable 20 to stop rotating and waits for a preset time (e.g., 0.5 seconds) before controlling the detection unit 01 to take a picture of the first material discharge hole group.

[0047] The detection unit 01 acquires the distribution and status information of the freeze-dried microspheres in each first discharge hole 09, generates a detection signal, and sends it to the controller 08. The controller 08 determines the status of the current first discharge hole group based on the detection signal. All microspheres present: Each first discharge hole 09 in the first discharge hole group contains freeze-dried microspheres and the freeze-dried microspheres are in good condition. The group is judged to be a qualified hole group. The feeding unit 02 is controlled to perform the feeding action. After the feeding is completed, the next group of tests is carried out. Partial Ball Presence: Some first discharge holes 09 within the first discharge hole group contain freeze-dried microspheres, while others are empty, indicating a ball shortage. If the same first discharge hole group is repeatedly (e.g., 6 times) classified as partially ball-presence (ball shortage), a ball shortage warning signal will be output. After the discharge cylinder 39 starts, it pauses for a preset time (e.g., 1 second), resets, starts again, and pauses for another preset time (e.g., 1 second). After the discharge cylinder 39 returns to its original position, a photographic inspection is performed again. No balls (balls fell cleanly): There are no freeze-dried microspheres in each of the first discharge holes 09 in the first discharge hole group, which is determined to be a state of no discharge. The process proceeds normally to the next group of tests. Ball Jamming: If there are freeze-dried microspheres in the first discharge hole group but their condition is abnormal (e.g., they are too large to fall), it is determined to be a jamming condition, and the process enters the waste disposal process. II. Waste Disposal Process (a) Waste location positioning When the first material discharge hole group is determined to be stuck, the controller 08 controls the drive unit 05 to drive the turntable 20 to rotate clockwise by a preset angle (such as 60 degrees), so that the first material discharge hole group rotates to the waste unit 10, triggering the waste position sensor 28.

[0048] (II) Action of push plate cylinder 33 and air blowing for waste discharge The controller 08 activates the pusher cylinder 33 in the waste unit 10, pushing the tray 15 to slide so that the second discharge hole 18 aligns with the first discharge hole 09, establishing an air blowing channel. The controller 08 then controls the air blowing pipe assembly 38 in the waste unit 10 to blow air into the first discharge hole 09, blowing the defective freeze-dried microspheres away from the first discharge hole 09.

[0049] The blowing process can be carried out sequentially. The controller 08 sequentially turns on the electromagnetic switches corresponding to each blowing tube. Each electromagnetic switch is turned on for a preset time (e.g., 2 seconds). Each group of switches controls multiple blowing tubes (e.g., each group controls two blowing tubes). After the blowing is completed, the controller 08 closes the blowing air path and controls the push plate cylinder 33 to reset.

[0050] (III) Re-inspection of waste material location After the air blowing and waste removal are completed, the controller 08 controls the drive unit 05 to rotate the turntable 20 counterclockwise by a preset angle (e.g., 60 degrees), causing the first material discharge hole group to rotate back to the detection unit 01, triggering the material discharge position sensor 28. After the controller 08 waits for the turntable 20 to stop moving for a preset time (e.g., 0.5 seconds), it controls the detection unit 01 to take another photographic inspection of the first material discharge hole group. No balls: It is determined that the waste has been completely blown away, the waste treatment is complete, and the process continues; Balls present (material not blown away): If the same first discharge hole group is judged to be stuck multiple times (e.g., twice) and freeze-dried microspheres are still left after blowing air, then the first discharge hole group is judged to need to be manually cleaned.

[0051] III. Loop Logic After the detection, unloading or waste disposal of a first set of discharge holes is completed, the controller 08 controls the drive unit 05 to drive the turntable 20 to continue to rotate clockwise by a preset angle (such as 60 degrees), so that the next set of first discharge holes passes through the detection unit 01, the unloading unit 02 and the waste disposal unit 10 in sequence, and repeats the above process until all the first discharge holes on the turntable 20 are sorted or cleaned.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A freeze-dried microsphere dispensing device, characterized in that, It includes an air source, drive unit, turntable unit, ball-sorting unit, feeding unit, detection unit, and controller. The turntable unit includes a turntable, and a first set of material discharge holes is provided on the base plate of the turntable. The first set of material discharge holes includes a plurality of first material discharge holes evenly distributed along the circumference of the turntable. The drive unit is in transmission cooperation with the turntable unit to drive the turntable to rotate. The ball-sorting unit includes a ball-sorting pipe connected to the air source, the ball-sorting pipe being used to blow air into the turntable. The feeding unit is used to feed each ball from the first set of feeding holes at the feeding unit out of the turntable. The detection unit is communicatively connected to the controller, and the detection unit is used to detect the status of each first material drop hole in the first material drop hole group at the material feeding unit and the status of each corresponding material ball.

2. The freeze-dried microsphere dispensing device according to claim 1, characterized in that, The turntable unit further includes a tray assembly, which is installed below the turntable and rotates synchronously with it. The tray assembly includes a tray, a return spring, and a bracket. The bracket is installed on the turntable, and the tray is arranged parallel to the bottom plate of the turntable. The tray and the bracket slide in a radial direction on the turntable. The tray is provided with a plurality of second discharge holes. Both the bracket and the tray are connected to the return spring. The feeding unit is used to push the tray to squeeze the return spring, thereby making each of the second discharge holes correspond one-to-one with each of the first discharge holes in the first discharge hole group.

3. The freeze-dried microsphere dispensing device according to claim 2, characterized in that, A plurality of first material discharge hole groups are provided on the base plate of the turntable, and each first material discharge hole group is evenly distributed on the base plate of the turntable. The turntable unit includes a plurality of tray assemblies, and the position of each tray assembly corresponds one-to-one with the position of each first material discharge hole group.

4. The freeze-dried microsphere dispensing device according to claim 3, characterized in that, It also includes a waste unit, which includes a pusher plate assembly and an air blowing pipe assembly connected to the air source. The pusher plate assembly includes a cylinder bracket and a pusher plate cylinder mounted on the cylinder bracket. The pusher plate cylinder is used to radially push the support plate on the turntable. The air blowing pipe assembly is located below the turntable and includes multiple air blowing pipes. Each air blowing pipe is used to blow air into each of the second discharge holes at the pusher plate cylinder in a corresponding manner.

5. The freeze-dried microsphere dispensing device according to claim 4, characterized in that, The waste unit also includes a collection bend, which includes a straight section and a bend. The bottom end of the straight section extends into the turntable. In the vertical direction, the bottom end of the straight section is positioned directly opposite each of the first discharge holes at the air blowing pipe assembly. The top end of the straight section is connected to the bottom end of the bend. The bend bends from the straight section in a direction away from the turntable.

6. The freeze-dried microsphere dispensing device according to claim 4, characterized in that, The ball handling unit, the detection unit, the feeding unit, and the waste unit are arranged in sequence along the rotation direction of the turntable, with the detection unit positioned above the feeding unit.

7. The freeze-dried microsphere dispensing apparatus according to any one of claims 4 to 6, characterized in that, It also includes a consumables unit, the feeding unit including a feeding cylinder and a funnel, the feeding cylinder being used to push the pallet radially on the turntable, the funnel being disposed below the turntable, the top end of the funnel being positioned to correspond to the position of each of the second discharge holes, and the bottom end of the funnel being positioned to correspond to the position of the consumables unit.

8. The freeze-dried microsphere dispensing device according to claim 7, characterized in that, Multiple microsphere channels are arranged inside the funnel. Each microsphere channel is arranged in a straight line in a direction parallel to the bottom plate of the turntable. The top port of each microsphere channel is an elliptical opening. The length direction of the top port is parallel to the radial direction of the turntable. Each top port is used to correspond one-to-one with each of the second discharge holes. The position of the bottom port of each microsphere channel is used to correspond to the position of the consumable unit.

9. The freeze-dried microsphere dispensing device according to claim 8, characterized in that, The consumable unit includes a tray assembly, a track assembly, and a transmission assembly. The tray assembly includes a tray. One end of the track assembly along its length is a receiving position, which corresponds to the position of the bottom port of each microsphere channel. The other end of the track assembly is a tray replacement position. Both the tray assembly and the transmission assembly are mounted on the track assembly. The transmission assembly is used to drive the tray assembly to move between the receiving position and the tray replacement position along the length of the track assembly.

10. A control method for a freeze-dried microsphere dispensing device, characterized in that, The freeze-dried microsphere dispensing device according to claim 9 is used, and the control method includes: The drive unit is controlled to drive the turntable to rotate intermittently, so that each of the first material dropping holes on the turntable passes sequentially through the ball sorting unit, the detection unit, the material feeding unit and the waste unit; At the ball sorting unit, the ball sorting tube is controlled to blow air into the turntable to disperse the clustered freeze-dried microspheres, so that individual freeze-dried microspheres fall into the first discharge hole. When the first set of discharge holes rotates to the detection unit, the detection unit is controlled to detect the first set of discharge holes, obtain a detection signal indicating whether freeze-dried microspheres are present in each of the first discharge holes, and send the detection signal to the controller. The controller determines whether the first discharge hole group is a qualified hole group based on the received detection signal: if all the first discharge holes contain freeze-dried microspheres, it is determined to be a qualified hole group; if at least one first discharge hole does not contain freeze-dried microspheres, it is determined to be an unqualified hole group. When a group of holes is determined to be defective, the drive unit is controlled to drive the turntable to continue rotating, so that the next first discharge hole group rotates to the detection unit for detection; if six consecutive first discharge hole groups are determined to be defective, it is determined to be a ball shortage state, and a ball shortage prompt signal is output. When the first discharge hole group, which is determined to be a qualified hole group, rotates to the feeding unit, the transmission component in the consumable unit is controlled to drive the tray assembly to move along the track assembly, so that the dispensing container on the tray assembly is aligned with the discharge port of the feeding unit, and the feeding cylinder in the feeding unit is controlled to push the pallet to send each freeze-dried microsphere in the first discharge hole group out of the turntable, so that the freeze-dried microspheres fall into the dispensing container through the feeding unit; After the feeding cylinder returns to its original position, the detection unit is controlled to detect the first feeding hole group again: if there are no freeze-dried microspheres in each of the first feeding holes, the feeding is determined to be completed; if there are still freeze-dried microspheres in any of the first feeding holes, the feeding is determined to be stuck, and the first feeding hole group is marked as a stuck hole group and transferred to the waste processing process. When the material discharge hole group rotates to the waste disposal unit, the waste disposal unit is controlled to remove the freeze-dried microspheres from the turntable in the first material discharge hole group. After the waste is removed, the detection unit is controlled to detect the first material discharge hole group again: if there are no freeze-dried microspheres in any of the first material discharge holes, the waste removal is considered complete; if there are still freeze-dried microspheres in any of the first material discharge holes, it is considered a second material jamming state, and the first material discharge hole group is rotated back into the waste disposal process for a second waste removal. After the second waste removal, the detection unit is controlled to detect the first material discharge hole group again: if there are no freeze-dried microspheres in any of the first material discharge holes, the waste removal is considered complete; if there are still freeze-dried microspheres in any of the first material discharge holes, it is considered a third material jamming state, and a material jamming warning signal is output. After completing one feeding cycle, the transmission component is controlled to move the tray assembly one station along the track assembly, so that the next row of dispensing containers on the tray assembly is aligned with the discharge port of the feeding unit, ready for the next feeding cycle. Once all the dispensing containers on the tray assembly have finished receiving materials, the transmission assembly is controlled to move the tray assembly to the tray replacement position on the track assembly.

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