Automatic vaccine storing and sorting equipment

Abstract

The utility model provides an automatic vaccine storing and sorting device which comprises a feeding buffer module, a sorting module, a discharging buffer module and a sorting module, the feeding buffer module comprises a feeding buffer groove and a slope conveying belt, the feeding buffer groove is provided with a multi-stage buffer conveying structure, the slope conveying belt is used for lifting and separating vaccines, and a discharging port of the multi-stage buffer conveying structure is correspondingly located above a feeding port of the slope conveying belt; the posture recognition module is arranged on one side of the discharging port of the slope conveying belt, the posture recognition module comprises a rotatable visual platform, a visual camera array arranged in a surrounding mode and a mechanical arm, and the movable end of the mechanical arm is connected with a rotatable vacuum suction nozzle; the storage module comprises a first storage library and a second storage library which are oppositely arranged in the X-axis direction, and each storage library comprises a frame and multiple layers of bearing layer plates; and the access execution module is arranged between the first storage library and the second storage library and comprises a clamping component, a lifting component and a heaven and earth double-rail component. By means of the mode, automatic storage and warehousing and sorting and discharging of vaccines are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of automated equipment, in particular to automated vaccine storage and sorting equipment. Background Art

[0002] Currently, existing vaccine storage and sorting equipment has the following technical bottlenecks:

[0003] (1) Limited feeding buffer capacity: The traditional belt feeding trough has a small buffer space. When multiple vaccines are fed in parallel, it is easy to overflow or cause the correction process to be interrupted, making it difficult to achieve disordered delivery.

[0004] (2) Low efficiency of sorting and posture correction: The traditional sorting process relies on a single baffle to push the vaccine to correct the vaccine posture, which has poor compatibility;

[0005] (3) Vaccine code scanning is separated from the robot's movements, resulting in a cumbersome process and low work efficiency. Utility Model Content

[0006] In order to solve the above problems, the utility model proposes an automated vaccine storage and sorting equipment, which effectively improves the efficiency of vaccine storage and sorting.

[0007] The main contents of the utility model include: a feed buffer module, which includes a feed buffer trough with a multi-stage buffer transmission structure and a slope conveyor belt for vaccine lifting and separation. The discharge port of the multi-stage buffer transmission structure is located above the feed port of the slope conveyor belt. The discharge port of the slope conveyor belt is tilted upward and has a rib structure arranged at equal distances on its surface.

[0008] A posture recognition module is provided on one side of the discharge port of the inclined conveyor belt. The posture recognition module includes a rotatable visual platform, a surrounding visual camera array, and a robotic arm. The visual platform is connected to the rotation drive module. The mobile end of the robotic arm is connected to a rotatable vacuum nozzle for sucking up the vaccine.

[0009] A storage module comprising a first storage bin and a second storage bin arranged opposite to each other along the X-axis direction for storing vaccines;

[0010] The access execution module is arranged between the first storage bin and the second storage bin, and includes a clamping component for executing the storage and removal actions of the vaccine, a lifting component for driving the clamping component to move up and down, and a top-bottom double-track component for driving the lifting component to move along the Y-axis.

[0011] Preferably, the multi-level buffer transmission structure includes an upper conveyor belt and a lower conveyor belt which are arranged in parallel in the vertical direction and have opposite transmission directions. The discharge port of the upper conveyor belt corresponds to above the feed port of the lower conveyor belt, and the discharge port of the lower conveyor belt corresponds to above the feed port of the inclined conveyor belt.

[0012] Preferably, the visual camera array includes a main visual camera, a bottom visual camera, and a side visual camera. The main visual camera is located above the visual platform for identifying and locating vaccines. The bottom visual camera is located below the visual platform for photographing the bottom surface of the vaccine. The side visual camera is located on the horizontal side of the visual platform for photographing the side of the vaccine.

[0013] Preferably, the first storage bin and the second storage bin each comprise a frame and a plurality of supporting layers, wherein the supporting layers are horizontally arranged in the frame and spaced apart in the vertical direction.

[0014] Preferably, the clamping member includes a clamping bracket, a transfer conveyor belt arranged on the clamping bracket, a symmetrically arranged first clamping member and a second clamping member, and a clamping drive module. The transfer conveyor belt has a forward and reverse transmission function along the X-axis direction. The first clamping member and the second clamping member are respectively arranged on both sides of the Y-axis of the transfer conveyor belt. The clamping drive module drives the first clamping member and the second clamping member to realize clamping and opening actions in the Y-axis direction.

[0015] Preferably, the first clamping member and the second clamping member both include a reference plate, a linear guide rail extending in the X-axis direction is provided on the inner side of the reference plate, a horizontal clamping plate is slidably connected to the linear guide rail, and a gear rack telescopic assembly is connected between the reference plate and the horizontal clamping plate.

[0016] Preferably, the gear rack telescopic assembly includes a servo motor, a bidirectional driving gear driven by the servo motor, a first reference rack provided on the reference plate, and a second reference rack provided on the horizontal clamping plate. The bidirectional driving gear simultaneously engages the first reference rack and the second reference rack to form a reverse linkage transmission structure.

[0017] Preferably, a position sensor array is provided on the surface of the visual platform, and the position sensor array is connected to the rotation drive module signal to perform vaccine positioning adjustment.

[0018] Preferably, the storage module has an inlet temporary storage area on one side along the Y-axis and an outlet area on the other side. The inlet temporary storage area includes a temporary storage platform for receiving vaccines that have completed posture recognition. The outlet area includes a terminal visual camera, an outlet port and a recycling port.

[0019] Preferably, it also includes a semi-automatic warehousing module, which is arranged on the horizontal side of the input temporary storage area, and includes a material transfer conveyor belt, a lifting gate, a code scanner and a control screen.

[0020] The beneficial effects of the present invention are as follows: a feed buffer trough is set up through a multi-level buffer transmission structure, combined with the coordinated control of multiple sensors, which effectively extends the length of the feed buffer zone, improves the feed buffer capacity, and expands the vaccine storage capacity; through the slope conveyor belt and the ribbed structure, the vaccine can be slowly and individually transported to the visual platform, and the visual platform vibrates to fit the vaccine to the edge, which is convenient for visual positioning and grasping, and improves the accuracy of visual shooting; the vaccine is grasped by the robot, and the visual camera array arranged circumferentially with the robot can realize vaccine identification, positioning, picking, rotation and placement, posture correction, 6-sided code scanning, basic information acquisition and other actions, shortening the single processing time and improving work efficiency; the storage room of the storage module effectively improves space utilization by placing shelves horizontally, protecting the vaccine from being squeezed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of a preferred embodiment;

[0022] Figure 2 This is a schematic diagram of the three-dimensional structure of the feed buffer module (part of the side panel structure is hidden) in a preferred embodiment;

[0023] Figure 3 A schematic diagram of the three-dimensional structure of a gesture recognition module in a preferred embodiment;

[0024] Figure 4 This is a schematic diagram of the three-dimensional structure of a storage module in a preferred embodiment;

[0025] Figure 5 for Figure 4 Schematic diagram of the local enlarged structure at A in the middle;

[0026] Figure 6 Schematic diagram of the three-dimensional structure of the access execution module in a preferred embodiment;

[0027] Figure 7 This is a schematic diagram of the three-dimensional structure of a clamping member in a preferred embodiment;

[0028] Reference numerals:

[0029] 1. Feeding buffer module; 11. Feeding buffer trough; 111. Upper conveyor belt; 112. Lower conveyor belt; 12. Inclined conveyor belt;

[0030] 2. Posture recognition module; 21. Vision platform; 221. Main vision camera; 222. Bottom vision camera; 23. Robotic arm; 231. Vacuum nozzle; 24. Rotation drive module;

[0031] 3. Storage module; 31. First storage bin; 311. Frame; 312. Supporting shelf; 32. Second storage bin; 33. Incoming material storage area; 331. Temporary storage platform; 34. Outgoing material area; 341. Outlet; 342. Recycling port;

[0032] 4. Access execution module; 41. Sky and ground dual-track component; 411. Sky track; 412. Floor track; 413. First servo drive unit; 42. Lifting component; 421. Lifting guide rail; 422. Second servo drive unit; 43. Clamping component; 431. Clamping bracket; 432. Transfer conveyor belt; 433. First clamping member; 4331. Reference plate; 4332. Linear guide rail; 4333. Horizontal clamping plate; 4334. Servo motor; 4335. Bidirectional driving gear; 4336. First reference rack; 4337. Second reference rack; 434. Second clamping member; 435. Clamping drive module;

[0033] 5. Semi-automatic storage module; 51. Material transfer conveyor belt; 52. Lifting gate; 521. Gate; 522. Lifting drive cylinder. DETAILED DESCRIPTION

[0034] The technical solution protected by the present utility model is described in detail below with reference to the accompanying drawings.

[0035] like Figure 1 As shown, the present application proposes an automated vaccine storage and sorting equipment, which includes a feed buffer module 1, a posture recognition module 2, a storage module 3 and an access execution module 4. Through the cooperation between the above modules, disorderly vaccine delivery, automatic identification and warehousing, and automatic vaccine clamping can be achieved, effectively improving work efficiency.

[0036] like Figure 1-2 As shown, the feed buffer module 1 includes a feed buffer trough 11 with a multi-stage buffer transmission structure and a slope conveyor belt 12 for lifting and separating vaccines. The discharge port of the multi-stage buffer transmission structure is located above the feed port of the slope conveyor belt 12. The discharge port of the slope conveyor belt 12 is tilted upward and the surface is provided with equidistantly arranged rib structures (not shown). The feed buffer trough 11 is used to receive vaccines that are not delivered in order, and transport the vaccines to the slope conveyor belt 12, which then lifts and transports the vaccines obliquely upward by the slope conveyor belt 12. The rib structure can support the lower end of the vaccine and can separate the vaccine in order for transmission. Preferably, the rib structure is extended obliquely on the surface of the slope conveyor belt 12, so that when the slope conveyor belt 12 is transported upward, the inclined upper end of the rib structure can push a single vaccine to the next module first.

[0037] like Figure 2As shown (one side panel of the buffer trough has been hidden in the figure), the multi-level buffer transmission structure includes an upper conveyor belt 111 and a lower conveyor belt 112 which are arranged in parallel in the vertical direction and in opposite transmission directions. The discharge port of the upper conveyor belt 111 corresponds to above the feed port of the lower conveyor belt 112, and the discharge port of the lower conveyor belt 112 corresponds to above the feed port of the slope conveyor belt 12. The lower conveyor belt 112 connects the upper conveyor belt 111 and the slope conveyor belt 12 at the middle position, which is used to extend the total transmission length of the feed buffer module, extend the buffer zone, expand the buffer space, and effectively improve the feed storage capacity and feed processing capacity.

[0038] like Figure 2 As shown, the surfaces of the upper conveyor belt 111 and the lower conveyor belt 112 are provided with equally spaced sensors for detecting whether any vaccine stays or passes on the conveyor belt of the feed buffer trough 11, so as to transmit the signal to the central control system, so that the vaccine in the feed buffer trough 11 is transported to the inclined conveyor belt 12; a sensor is arranged on the inclined conveyor belt 12 for detecting whether there is any vaccine staying or passing on the inclined conveyor belt 12, so as to transmit the signal to the central control system, adjust the speed of the inclined conveyor belt 12 to slow down, and ensure that a single vaccine is transmitted to the next module.

[0039] like Figure 1-3 As shown, the posture recognition module 2 is arranged on the discharge port side of the inclined conveyor belt 12, which includes a rotatable visual platform 21, a surrounding visual camera array and a robotic arm 23. The visual platform 21 is used to receive a single vaccine transported by the inclined conveyor belt 12 and is provided with a position sensor array (not marked) on the surface of the platform for sensing the position of the vaccine. The visual platform 21 is connected to the rotation drive module 24, and the rotation drive module 24 is connected to the position sensor array signal, and can execute the rotation command of the visual platform 21 to fine-tune the vaccine position and move it to the bottom edge of the visual platform 21 for subsequent shooting and visual recognition.

[0040] like Figure 3 As shown, the visual camera array includes at least a main visual camera 221, which is arranged above the visual platform 21 and is used to shoot the visual platform 21 to identify the coordinates, size, posture angle, length and width, barcode and other information of the vaccine.

[0041] like Figure 3 As shown, the mobile end of the robotic arm 23 is connected to a rotatable vacuum nozzle 231. This vacuum nozzle 231 uses negative pressure to lift the vaccine cartridge, driving the vaccine in multi-directional motion. The visual information captured and recognized by the primary vision camera 221 is converted into robotic arm commands. The robotic arm 23 positions itself based on the vaccine's posture and angle, adjusting the angle of the vacuum nozzle 231 to absorb the vaccine and transfer it to the next module, thereby adjusting the vaccine's posture and angle.

[0042] like Figure 3 As shown, preferably, the visual camera array also includes a bottom visual camera 222 and a side visual camera (not shown). The bottom visual camera 222 is correspondingly arranged below the visual platform 21, and the side visual camera is arranged on the horizontal side of the visual platform 21. The robotic arm 23 drives the vaccine to the shooting range of the bottom visual camera 222 and the side visual camera respectively, and scans and identifies the bottom and side of the vaccine. Once the barcode information is obtained, the basic information of the vaccine, such as category, dose, name, expiration date, etc., can be obtained through the central control system for subsequent business processes.

[0043] Specifically, the main vision camera 221 photographs and identifies the front of the vaccine, and the bottom vision camera 222 photographs and identifies the bottom of the vaccine. In front of the side vision camera, the robotic arm 23 drives the vacuum nozzle 231 to rotate circumferentially to ensure that all four sides are photographed and identified, thereby completing the acquisition of all six-sided information of the vaccine and completing the vaccine posture correction.

[0044] In a specific embodiment, a horizontal shaft is fixedly connected to the bottom of the visual platform, and a rotation drive module drives the horizontal shaft to rotate, thereby driving the visual platform to rotate. The rotation drive module can be a motor and a synchronous belt, etc., which are not specifically limited here.

[0045] like Figure 1-4 As shown, the storage module 3 includes a first storage bin 31 and a second storage bin 32 that are relatively arranged along the X-axis direction, and each storage bin includes a frame 311 and a multi-layer supporting plate 312. The supporting plate 312 is horizontally arranged in the frame 311 and spaced apart in the vertical direction. Due to the horizontal placement, the vaccine will not be squeezed and stacked, thereby protecting the vaccine. In a specific embodiment, the supporting plate 312 is movably connected to the frame 311, and the supporting plate 312 is electrically connected to the central control system to achieve adjustable spacing, thereby dynamically dividing the storage area, aligning vaccines of similar size and identical posture, and placing them together with consistent spacing. The available space is recalculated each time the storage bin is accessed, thereby maximizing the space utilization rate of the storage bin. Preferably, the supporting plate 312 can use a transparent glass plate to achieve storage visualization, facilitate observation and inventory of inventory, and improve aesthetics.

[0046] like Figure 4 As shown, the storage module 3 has an infeed temporary storage area 33 on one side along the Y-axis and an outfeed area 34 on the other side. The access execution module 4 is set between the first storage tank 31 and the second storage tank 32, and stores the vaccines in the infeed temporary storage area 33 in the storage tanks on both sides, or removes the vaccines from the storage tanks and transfers them to the outfeed area 34, thereby realizing the automated storage and outfeed of vaccines.

[0047] like Figure 1-4As shown, the temporary storage area 33 includes a temporary storage platform 331. The vaccines that have completed visual identification are transferred to the temporary storage platform by the robot arm 23 and wait for the access execution module 4 to retrieve them and store them in the warehouse. The temporary storage platform 331 is equipped with a sensor to detect whether there is a vaccine on the platform.

[0048] like Figure 1-5 As shown, in one embodiment, the equipment can also be equipped with a semi-automatic storage module 5 to meet the needs of manual storage. The semi-automatic storage module 5 is located horizontally on the side of the feeding port of the temporary storage area 33. It includes a transfer conveyor 51, a lifting gate 52, a code scanner, and a control screen. The lifting gate 52 includes a gate 521 and a lifting cylinder 522 that drives the gate 521 up and down. The gate is located above the transfer conveyor 51. A vaccine is manually scanned to obtain basic information, then placed at the starting end of the transfer conveyor 51. Clicking on the control screen to store the vaccine raises the gate 521, and the transfer conveyor 51 transfers the vaccine to the temporary storage platform 331 (in this embodiment, the temporary storage platform is also configured as a conveyor belt). The gate 521 then descends and closes. After the vaccine on the temporary storage platform 331 is picked up and stored by the access execution module 4, the gate 521 rises to allow the next vaccine to be stored.

[0049] like Figure 1-4 As shown, the discharge area 34 includes a terminal visual camera (not shown), a discharge port 341 and a recycling port 342. An external unloading transmission mechanism is connected to the discharge port 341 for discharging and feeding qualified vaccines. The terminal visual camera takes pictures and identifies the vaccines clamped by the access execution module 4. During the warehousing stage, its characteristic points are analyzed and compared with the category characteristics entered in the system for scoring. The central control system determines whether it meets the warehousing or discharging requirements. If it meets the requirements, it is moved to the supporting shelf storage position dynamically allocated by the system for normal warehousing. If it does not meet the requirements, it is transferred to the recycling port 342 for manual removal and recycling. During the outbound stage, if the terminal visual camera takes pictures and detects that it meets the requirements, the access execution module 4 clamps the vaccine and moves it to the discharge port 341 for normal discharging.

[0050] like Figure 1-6 As shown, the access execution module 4 includes a top-bottom dual-track component 41, a lifting component 42 and a clamping component 43. The top-bottom dual-track component 41 is used to drive the lifting component 42 to move horizontally along the Y-axis, the lifting component 42 is used to drive the clamping component 43 to move up and down, and the clamping component 43 is used to clamp the vaccine and send the vaccine to the storage warehouses on both sides to realize the vaccine storage, or take the vaccine out of the storage warehouse to realize the vaccine out of the storage.

[0051] like Figure 6As shown, the overhead dual-track component 41 includes an overhead track 411 and a ground track 412 extending along the Y-axis, and a first servo drive unit 413. The lifting component 42 is slidably mounted on the overhead track 411 and the ground track 412 via a slider assembly. The first servo drive unit 413 drives the lifting component 42 to move horizontally along the Y-axis along the overhead dual-track. The lifting component 42 includes an elevator guide rail 421 and a second servo drive unit 422. The clamping component 43 is slidably mounted on the elevator guide rail 421 via a slider assembly. The second servo drive unit 422 drives the clamping component 43 to move up and down along the elevator guide rail 421. In a specific embodiment, the first and second servo drive units can be configured as linear servo motors or rotary servo motors in conjunction with a transmission mechanism (such as a synchronous belt, ball screw, etc.), and are not specifically limited herein.

[0052] like Figure 1-7 As shown, the clamping member 43 includes a clamping bracket 431, which is equipped with a transfer conveyor 432, a symmetrically arranged first clamping member 433 and a second clamping member 434, and a clamping drive module 435. The transfer conveyor 432 has a forward and reverse transmission function along the X-axis direction. The first clamping member 433 and the second clamping member 434 are respectively arranged on both sides of the Y-axis of the transfer conveyor 432. The clamping drive module 435 drives the first clamping member 433 and the second clamping member 434 to achieve clamping and opening actions in the Y-axis direction. The first clamping member 433 and the second clamping member 434 are opened, and the vaccine falls on the transfer conveyor 432. The transfer conveyor 432 is transported forward or reversely along the X-axis according to the instructions of the central control system to move the vaccine to the storage warehouses on both sides until the vaccine is transported to the end position of the transfer conveyor 432. Then, the two sets of clamping members clamp the vaccine for storage. In a specific embodiment, the clamping drive module includes two sets of synchronous pulleys connected in series by a synchronous belt, and the parallel sides of the synchronous belt are respectively connected to two sets of clamping parts. The rotating motor drives any synchronous pulley to rotate, and the synchronous belt is transmitted to drive the two sets of clamping parts to move closer and farther away from each other, thereby realizing clamping and releasing actions. The specific structure will not be described here.

[0053] like Figure 7 As shown, the first clamping member 433 and the second clamping member 434 have the same structure and both include a reference plate 4331. A linear guide rail 4332 extending in the X-axis direction is provided on the inner side of the reference plate 4331. A horizontal splint 4333 is slidably connected to the linear guide rail 4332. A gear rack telescopic assembly is connected between the reference plate 4331 and the horizontal splint 4333. The position of the horizontal splint 4333 in the X-axis direction is adjusted by the gear rack telescopic assembly to realize the telescopic movement of the horizontal splint 4333 along the X-axis direction.

[0054] like Figure 7As shown, specifically, the gear rack expansion assembly includes a servo motor 4334, a bidirectional driving gear 4335 driven by the servo motor 4334, a first reference rack 4336 provided on the reference plate 4331, and a second reference rack 4337 provided on the horizontal clamping plate 4333. The bidirectional driving gear 4335 simultaneously engages the first reference rack 4336 and the second reference rack 4337, forming a reverse linkage transmission structure. When the servo motor 4334 drives the bidirectional driving gear 4335 to rotate forward, the horizontal clamping plate 4333 can be displaced in the X-axis direction, and the two sets of horizontal clamping plates 4333 can be moved toward the storage bin on the same side to discharge and retrieve materials from the storage bin. When the servo motor 4334 drives the bidirectional driving gear 4335 to rotate in the reverse direction, the two sets of horizontal clamping plates 4333 can be moved toward the storage bin on the other side to discharge and retrieve materials from the other storage bin.

[0055] Preferably, in a specific embodiment, the unloading and transport mechanism can use an AGV robot mode, which includes multiple small-sized AGV robots that transport vaccines to specific vaccination workstations along a recognizable path map. At the location where the path map and the clamping member connect, the AGV is on standby. After the clamping member 43 picks up the vaccine, it will be transported to the upper tray area of the AGV robot and released. After the AGV receives the vaccine, the central control system will simultaneously order it to be transported to a specific vaccination workstation. The robot will immediately start the transport and dump the vaccine into the corresponding seedling drawer on the workstation. The device above the seedling drawer will alert the vaccinating doctor, who will open the drawer to collect the vaccine for vaccination.

[0056] In another embodiment, the unloading transmission mechanism may also adopt a logistics conveyor belt mode, which specifically includes one or more controllable conveyor belts. Each vaccination workbench position on the conveyor belt is equipped with a controllable pull hook, which can sense the vaccine passing here through the sensor, and according to the instructions of the central control system, intercept the corresponding vaccine and pull it off the conveyor belt, and drop it into the corresponding vaccination table drawer, so as to achieve the effect of transporting it to the designated table number.

[0057] Working principle:

[0058] (1) Pour the vaccines that need to be stored into the feed buffer tank 11 at one time. The sensor senses that there are vaccines on the upper conveyor belt 111, and the storage process is started, and the vaccines are slowly transported to the lower conveyor belt 112 and the slope conveyor belt 12.

[0059] (2) The slope conveyor belt 12 senses that vaccines have fallen in, and slowly transports the vaccines one by one to the top of the slope, and delivers them one by one to the visual platform 21 at the slowest speed. Once the visual platform 21 senses that vaccines have fallen in, it stops the operation of the slope conveyor belt and allows the slope conveyor belt 12 to continue delivering vaccines after the vaccines on the current platform have been processed.

[0060] (3) After the visual platform 21 senses that a vaccine has fallen into the platform, it rotates and vibrates to vibrate the vaccine to the lower edge of the platform 21, and then rotates the angle to the shooting position of the main visual camera 221, and issues a visual shooting action. After the main visual camera 221 shoots, it can obtain the vaccine size, angle, position, and barcode information on the visual platform 21, and notify the robotic arm 23 to pick up the vaccine.

[0061] (4) After receiving the positioning information of the vaccine on the visual platform 21, the robot arm 23 moves and rotates the vacuum nozzle 231 at the top to create negative pressure and suck up the vaccine. It then moves to the shooting position of other visual cameras (bottom and side) to scan and shoot from the bottom and side to ensure that all six sides of the vaccine are scanned and acquired, and obtain accurate basic data of the vaccine. Finally, it is placed on the temporary storage platform 331 and waits for the clamping component 43 to pick it up and put it into storage.

[0062] (5) The semi-automatic warehousing method is to manually scan the code and place the vaccine on the material transfer conveyor belt 51, manually click to enter the warehouse, and start the warehousing process. The vaccine will also be transported to the temporary storage platform 331 and wait for the clamping component 43 to pick it up and put it into the warehouse.

[0063] (6) After receiving the warehousing instruction, the clamping component 43 moves to the side of the temporary storage platform 331, opens the two sets of horizontal clamps 4333, extends the horizontal clamps 4333, merges the horizontal clamps 4333, clamps the vaccine, retracts the horizontal clamps 4333, and places the vaccine on the transfer conveyor belt 432. Then, through the movement of the upper and lower double-track components 41, the vaccine is sent to the position of the terminal visual camera, and the vaccine on the transfer conveyor belt 432 is photographed and tested, and its feature points are analyzed and compared with the category features entered in the system for scoring. If the difference is too large, the process fails, and the clamping component 43 sends the vaccine to the recycling port 342; if it matches, it moves to the supporting shelf storage position dynamically allocated by the system, clamps, sends, places, and retracts back to its original position.

[0064] (7) When a system task is issued to immediately ship out a certain vaccine, the clamping member 43 will immediately move to the corresponding vaccine support layer position, accurately align the vaccine, extend the horizontal clamp 4333, clamp, and pull it back to the transfer conveyor belt 432, and transport it to the terminal visual camera position for feature detection. After completion, it will be sent to the discharge port to carry out the outbound transportation process.

[0065] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automated vaccine storage and sorting equipment, characterized in that: Mainly include: A feed buffer module (1), comprising a feed buffer trough (11) having a multi-stage buffer transmission structure and a slope conveyor belt (12) for vaccine lifting and separation, wherein the discharge port of the multi-stage buffer transmission structure is located above the feed port of the slope conveyor belt (12), and the discharge port of the slope conveyor belt (12) is arranged to be inclined upward and has a rib structure arranged at equal intervals on its surface; A posture recognition module (2) is arranged on one side of the discharge port of the inclined conveyor belt (12), the posture recognition module (2) includes a rotatable visual platform (21), a surrounding visual camera array and a robotic arm (23), the visual platform (21) is connected to a rotary drive module (24), and the mobile end of the robotic arm (23) is connected to a rotatable vacuum nozzle (231) for sucking vaccines; A storage module (3), comprising a first storage bin (31) and a second storage bin (32) arranged opposite to each other along the X-axis direction, for storing vaccines; The access execution module (4) is arranged between the first storage bin (31) and the second storage bin (32), and includes a clamping member (43) for executing the storage and removal of vaccines, a lifting member (42) for driving the clamping member (43) to move up and down, and a top-bottom double-track member (41) for driving the lifting member (42) to move along the Y-axis.

2. The automated vaccine storage and sorting equipment according to claim 1, characterized in that: The multi-level buffer transmission structure comprises an upper conveyor belt (111) and a lower conveyor belt (112) which are arranged in parallel in a vertical direction and have opposite transmission directions, wherein the discharge port of the upper conveyor belt (111) corresponds to above the feed port of the lower conveyor belt (112), and the discharge port of the lower conveyor belt (112) corresponds to above the feed port of the slope conveyor belt (12).

3. The automated vaccine storage and sorting equipment according to claim 1, characterized in that: The visual camera array includes a main visual camera (221), a bottom visual camera (222), and a side visual camera. The main visual camera (221) is arranged above the visual platform (21) for identifying and locating the vaccine. The bottom visual camera (222) is arranged below the visual platform (21) for photographing the bottom surface of the vaccine. The side visual camera is arranged on a horizontal side of the visual platform (21) for photographing the side surface of the vaccine.

4. The automated vaccine storage and sorting equipment according to claim 1, characterized in that: The first storage bin (31) and the second storage bin (32) both comprise a frame (311) and multiple layers of supporting plates (312); the supporting plates (312) are horizontally arranged in the frame (311) and spaced apart in the vertical direction.

5. The automated vaccine storage and sorting equipment according to claim 1, characterized in that: The clamping member (43) includes a clamping bracket (431), a transfer conveyor belt (432) arranged on the clamping bracket (431), a first clamping member (433) and a second clamping member (434) symmetrically arranged, and a clamping drive module (435). The transfer conveyor belt (432) has a forward and reverse transmission function along the X-axis direction. The first clamping member (433) and the second clamping member (434) are respectively arranged on both sides of the Y-axis of the transfer conveyor belt (432). The clamping drive module (435) drives the first clamping member (433) and the second clamping member (434) to realize clamping and opening actions in the Y-axis direction.

6. The automated vaccine storage and sorting equipment according to claim 5, characterized in that: The first clamping member (433) and the second clamping member (434) both include a reference plate (4331), a linear guide rail (4332) extending in the X-axis direction is provided on the inner side of the reference plate (4331), a horizontal clamping plate (4333) is slidably connected to the linear guide rail (4332), and a gear rack telescopic assembly is connected between the reference plate (4331) and the horizontal clamping plate (4333).

7. The automated vaccine storage and sorting equipment according to claim 6, characterized in that: The gear rack telescopic assembly includes a servo motor (4334), a bidirectional driving gear (4335) driven by the servo motor (4334), a first reference rack (4336) provided on the reference plate (4331), and a second reference rack (4337) provided on the horizontal clamping plate (4333). The bidirectional driving gear (4335) simultaneously engages with the first reference rack (4336) and the second reference rack (4337) to form a reverse linkage transmission structure.

8. The automated vaccine storage and sorting equipment according to claim 1, characterized in that: A position sensor array is provided on the surface of the visual platform (21), and the position sensor array is connected to the rotation drive module (24) via a signal, and can perform vaccine positioning adjustment.

9. The automated vaccine storage and sorting equipment according to claim 1, characterized in that: The storage module (3) has a temporary inlet storage area (33) on one side along the Y-axis and a discharge area (34) on the other side. The temporary inlet storage area (33) includes a temporary storage platform (331) for receiving vaccines that have completed the identification process. The discharge area (34) includes a terminal visual camera, a discharge port (341) and a recovery port (342).

10. The automated vaccine storage and sorting equipment according to claim 9, characterized in that: It also includes a semi-automatic storage module (5), which is arranged on a horizontal side of the material input temporary storage area (33), and includes a material transfer conveyor belt (51), a lifting gate (52), a code scanner and a control screen.

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