Vacuum adsorption subpackaging device

Abstract

The utility model relates to the technical field of sub-packaging devices, and discloses a vacuum adsorption sub-packaging device, which is used for sub-packaging spherical materials into a container, and comprises a vacuum sub-packaging arm provided with vacuum adsorption holes; the sphere material bin is provided with a discharge port, and the sphere material bin is used for storing sphere materials; the vacuum adsorption sub-packaging device comprises a first working state and a second working state, in the first working state, the vacuum sub-packaging arm rotates until the vacuum adsorption hole is opposite to the discharging port, and the vacuum adsorption hole adsorbs the spherical materials in the spherical material bin through the discharging port; and in the second working state, the vacuum split charging arm rotates until the vacuum adsorption holes are opposite to the opening of the container, and the adsorbed spherical materials are released into the container. In this way, spherical material subpackaging is achieved, the cost and occupied space are effectively reduced, and the subpackaging speed is increased.

Description

Technical Field

[0001] This utility model relates to the field of dispensing device technology, and in particular to a vacuum adsorption dispensing device. Background Technology

[0002] In the production of medical, cosmetic, and biological reagent products, it is necessary to quickly and accurately dispense mixing spheres into designated containers. Common packaging forms for mixing spheres include vials, cartridges, and pre-filled containers. Different packaging forms directly affect the dispensing efficiency, dispensing structure dimensions, and the complexity of the mechanical structure. Currently, the dispensing of mixing spheres typically uses a two-axis robot combined with vacuum suction to pick up the arranged mixing spheres. However, existing two-axis robots suffer from problems such as high cost, large space occupation, and slow speed. Utility Model Content

[0003] The purpose of this invention is to provide a vacuum adsorption dispensing device that enables automatic dispensing of mixed balls, effectively reducing costs and space requirements, and increasing dispensing speed.

[0004] To solve the above-mentioned technical problems, the present invention provides a vacuum adsorption dispensing device for dispensing spherical materials into a container (4). The device includes: a vacuum dispensing arm (1) with a vacuum adsorption hole; a spherical material bin (2) with a discharge port, the spherical material bin (2) being used to store spherical materials; the vacuum adsorption dispensing device includes a first working state and a second working state. In the first working state, the vacuum dispensing arm (1) rotates to the position where the vacuum adsorption hole and the discharge port are opposite each other, and the vacuum adsorption hole adsorbs the spherical materials in the spherical material bin (2) through the discharge port; in the second working state, the vacuum dispensing arm (1) rotates to the position where the vacuum adsorption hole and the opening of the container are opposite each other, and releases the adsorbed spherical materials into the container.

[0005] Compared with the prior art, this utility model has at least the following advantages or beneficial effects: During use, the vacuum adsorption dispensing device, through the design of the vacuum adsorption hole in the vacuum dispensing arm, firstly, in the first working state, positions the vacuum adsorption hole below the discharge port of the spherical material bin, allowing the spherical material to fall into the vacuum adsorption hole. Then, the spherical material is adsorbed by vacuum, adsorbing only one spherical material at a time, ensuring that the spherical material does not fall out when the vacuum dispensing arm rotates around its longitudinal axis. Subsequently, the device enters the second working state, where the vacuum dispensing arm, carrying the spherical material, rotates to above the container opening, releasing the vacuum and allowing the spherical material to fall into the container, completing one dispensing cycle. This vacuum adsorption dispensing device avoids manual contact with the spherical material, reducing external contamination. The vacuum dispensing arm of this utility model makes the spatial layout of the equipment more compact and efficient, reducing the floor space occupied and the equipment's operating time.

[0006] In some embodiments, the vacuum dispensing arm (1) is a long strip structure with a vacuum channel in the center, and the vacuum adsorption hole is disposed on the surface of the vacuum dispensing arm (1) and communicates with the vacuum channel.

[0007] In some embodiments, one end of the vacuum channel of the vacuum dispensing arm (1) is closed, and the other end is used to connect to a vacuum drive device.

[0008] In some embodiments, the vacuum dispensing arm (1) is provided with a plurality of vacuum adsorption holes in the longitudinal direction.

[0009] In some embodiments, the diameter of the vacuum adsorption pore is larger than the diameter of the spherical material, and the depth of the vacuum adsorption pore is smaller than the diameter of the spherical material.

[0010] In some embodiments, the distance from the discharge port to the deepest point of the vacuum adsorption hole is greater than the diameter of the spherical material; the distance from the discharge port to the surface of the vacuum dispensing arm (1) is less than the diameter of the spherical material.

[0011] In some embodiments, the spherical material bin (2) and the container (4) are arranged opposite to each other on both sides of the vacuum dispensing arm (1) in the direction of gravity; and / or, the spherical material bin (2) and the container (4) are each arranged in multiple ways along the longitudinal axis of the vacuum dispensing arm (1).

[0012] In some embodiments, the container (4) includes at least a vial or a cartridge bottle for holding and dispensing the spherical material.

[0013] In some embodiments, the device further includes a detection sensor (3) disposed on the rotation path of the vacuum dispensing arm to detect whether the vacuum adsorption pore has adsorbed spherical material.

[0014] In some embodiments, the device further includes a vacuum drive device connected to the vacuum dispensing arm (1) for creating a vacuum inside the cavity of the vacuum dispensing arm (1) and controlling the rotational positioning of the vacuum dispensing arm (1). Attached Figure Description

[0015] One or more embodiments are illustrated by way of example with corresponding pictures in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Unless otherwise stated, the pictures in the accompanying drawings do not constitute a limitation on scale. In order to more clearly illustrate the technical solutions in the embodiments of this disclosure or the conventional technology, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the structure of a vacuum adsorption dispensing device provided in one embodiment of the present invention;

[0017] Figure 2 This is another structural schematic diagram of the vacuum adsorption dispensing device provided in one embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the dispensing state of a vacuum adsorption dispensing device provided in an embodiment of this utility model;

[0019] Figure 4 This is another schematic diagram of the dispensing state of the vacuum adsorption dispensing device provided in one embodiment of the present invention;

[0020] Figure 5 This is another schematic diagram of the dispensing state of the vacuum adsorption dispensing device provided in one embodiment of this utility model. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this utility model clearer, the various embodiments of this utility model will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this utility model to facilitate a better understanding of this application. However, the technical solutions claimed in the claims of this application can be implemented even without these technical details and with various variations and modifications based on the following embodiments.

[0022] In the description of the embodiments of this disclosure, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary or secondary relationship of the indicated technical features. In the description of the embodiments of this disclosure, "a plurality of" means two or more, unless otherwise explicitly defined.

[0023] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this disclosure. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0024] In the description of the embodiments of this disclosure, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A exists, A and B exist simultaneously, and B exists. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0025] In the description of the embodiments of this disclosure, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this disclosure according to the specific circumstances.

[0026] In the description of embodiments of this disclosure, when a component “includes” another component, other components are not excluded unless otherwise stated, and other components may be further included.

[0027] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the embodiments of this disclosure to facilitate a better understanding of the disclosure. However, the technical solutions claimed in this disclosure can be implemented even without these technical details and various variations and modifications based on the following embodiments.

[0028] This invention provides a vacuum adsorption dispensing device that can be used in automated production equipment for products such as vials, cartridges, and pre-filled bottles to achieve automatic dispensing of mixed beads. It can also be used for the automatic dispensing of magnetic beads in medical biochemical analyzers. This vacuum adsorption dispensing device eliminates manual contact with the beads, effectively avoiding external contamination, and minimizes contact between the beads and the adsorption device. The vacuum dispensing arm of this invention allows for a more compact and efficient spatial layout, reducing floor space and equipment downtime.

[0029] It should be clarified that the material to be packaged in this application can be a regular sphere or an approximate sphere with a certain deformation; the material to be packaged should have symmetry similar to a sphere (e.g., an ellipsoid or a polyhedral sphere), or the difference between the maximum and minimum dimensions should be small (e.g., tablets, capsules, or micro-parts with an aspect ratio less than a certain threshold). As long as it can be stably adsorbed / released through the size of the adsorption pore and the vacuum force, it can be used as the material to be packaged in this application.

[0030] like Figures 1 to 5As shown, a preferred embodiment of the vacuum adsorption dispensing device provided by this utility model is presented.

[0031] Please see Figures 1 to 5 In this embodiment, the vacuum adsorption dispensing device includes: a vacuum dispensing arm (1) with a vacuum adsorption hole; a spherical material bin (2) with a discharge port, wherein the spherical material bin (2) is used to store spherical material; the vacuum adsorption dispensing device includes a first working state and a second working state. In the first working state, the vacuum dispensing arm (1) rotates to the position where the vacuum adsorption hole and the discharge port are opposite each other, and the vacuum adsorption hole adsorbs the spherical material in the spherical material bin (2) through the discharge port; in the second working state, the vacuum dispensing arm (1) rotates to the position where the vacuum adsorption hole and the opening of the container are opposite each other, and releases the adsorbed spherical material into the container.

[0032] Furthermore, in some embodiments, the device further includes a detection sensor (3) disposed on the rotation path of the vacuum dispensing arm to detect whether the vacuum adsorption pore has adsorbed spherical material.

[0033] Specifically, the core component of this device is the vacuum dispensing arm (1), which adopts a hollow cylindrical structure design with a vacuum channel at the center. Several vacuum adsorption holes are arranged on the surface of the arm along the longitudinal axis of the vacuum dispensing arm (1), and each hole is connected to the central vacuum channel to form a negative pressure adsorption system. The dispensing arm achieves rotational movement through a drive device to ensure that the rotation phase is precisely synchronized with the adsorption action.

[0034] It is obvious that the vacuum dispensing arm (1) in this invention needs to be aligned with the material hopper outlet and container opening, and the adsorption hole needs to be effectively fitted with the surface of the sphere, while also being able to support the vacuum channel and external load. Therefore, the shape of the vacuum dispensing arm (1) needs to meet the following conditions: the cross-section needs to be symmetrical (such as a circle or a regular polygon) to ensure that the adsorption hole is accurately aligned with the target position during rotation; the surface needs to be smooth to avoid vacuum leakage or material jamming due to sharp edges; and the shape needs to be compatible with the vacuum channel. Therefore, the feasible shape of the vacuum dispensing arm (1) in this invention can be a cylinder, a regular prism, an elliptical cylinder, or any columnar structure that meets the above conditions.

[0035] For structural implementation details, please refer to [link / reference]. Figure 2The vacuum dispensing arm (1) adopts a structural design with one end closed and the other end having a boss-shaped opening, which facilitates reliable connection with the vacuum drive device. In this way, the closed end ensures the sealing of the vacuum channel and avoids vacuum leakage; the boss design facilitates quick connection with the external vacuum drive device and enhances the modular design. Professional technicians should understand that this structure can be equivalently replaced by: forming a vacuum channel by hollowing out the center, connecting the vacuum generator to the open end, and setting the drive device independently on the outside. This design can realize the modular separation of the vacuum generation system and the rotary drive system.

[0036] Furthermore, the specific working process of this device is as follows: Figures 3 to 5 As shown. First, the device enters the first working state, the vacuum adsorption hole of the vacuum dispensing arm (1) is rotated to the bottom of the spherical material bin (2), and then the vacuum adsorption device is turned on, so that the vacuum dispensing arm (1) enters a vacuum state, thereby adsorbing the spherical material released from the spherical material bin (2) into the vacuum adsorption hole (e.g. Figure 3 (as shown); Next, the vacuum dispensing arm (1) rotates with the spherical material to the sensor's detection station, and the detection sensor (3) checks whether the spherical material has been successfully adsorbed (as shown). Figure 4 (as shown); subsequently, the device enters the second working state, the vacuum dispensing arm (1) rotates to above the opening of the container (4), the vacuum is released so that the spherical material falls smoothly into the container, thereby completing the fixed-point dispensing (as shown). Figure 5 (as shown); Finally, the vacuum dispensing arm (1) returns to its initial state, that is, the vacuum adsorption hole rotates to the bottom of the spherical material bin (2), ready to enter the next cycle.

[0037] In practical applications, the vacuum dispensing arm (1) can be made of any material into a hollow cylindrical structure with vacuum adsorption holes on its surface that communicate with the vacuum channel. During operation, the vacuum dispensing arm (1) rotates around its longitudinal axis, sequentially passing through the adsorption station, detection station, and release station. The adsorption station, detection station, and release station are evenly distributed along the rotation path of the vacuum dispensing arm (1) at preset angles, as described in the following figures. Figures 3 to 5 Those skilled in the art will understand that each station can be specifically configured as follows: the adsorption station is located in the area directly above the vacuum dispensing arm (1), and the detection station is located in the side area. Specifically, the detection station can be located at any phase angle between the adsorption and release stations, or it can be located at the same position as the release station. Detection is optimal at the release station to prevent false detections caused by the material falling between the release and adsorption stations. The release station is located in the area directly below the vacuum dispensing arm (1). Thus, this design achieves automated control of the spherical material dispensing process through a modular architecture, possessing technical advantages such as accurate positioning, stable operation, and strong scalability, and can adapt to the dispensing needs of spherical materials of different specifications.

[0038] In some embodiments, please refer to Figures 1 to 5The vacuum dispensing arm (1) is placed horizontally, and the spherical material bin (2) and the container (4) are arranged opposite each other on both sides of the vacuum dispensing arm (1) in the direction of gravity. That is, the rotation axis of the vacuum dispensing arm is perpendicular to the discharge port of the spherical material bin (2) and the inlet of the container (4). In this way, the horizontal layout simplifies the structure of the device and reduces the space occupation; the design of the same vertical plane ensures the precise alignment of the vacuum adsorption hole with the discharge port and the inlet of the container, and improves the dispensing accuracy.

[0039] Furthermore, in a specific example, please refer to Figure 1 and Figure 2 The vacuum dispensing arm (1) is provided with a plurality of vacuum adsorption holes along the longitudinal axis of the vacuum dispensing arm (1). The vacuum dispensing arm (1) is placed horizontally, and the spherical material bin (2) and the container (4) are arranged opposite to each other on both sides of the vacuum dispensing arm (1) in the direction of gravity; and / or, both the spherical material bin (2) and the container (4) are provided with a plurality of holes along the longitudinal axis of the vacuum dispensing arm (1).

[0040] Specifically, the discharge port of the spherical material bin (2) and the inlet of the container (4) are spatially aligned with the vacuum adsorption holes of the vacuum dispensing arm (1). This allows multiple vacuum adsorption holes to support batch dispensing, improving dispensing efficiency and avoiding interference between adjacent spherical materials. Simultaneous feeding by multiple conveying arms adapts to the dispensing requirements of multiple vacuum adsorption holes, increasing overall dispensing speed. Simultaneous reception of spherical materials by multiple containers adapts to batch dispensing requirements, improving dispensing efficiency; and matching spacing ensures accurate placement of spherical materials into the containers.

[0041] Furthermore, the inner wall of the vacuum adsorption hole of the vacuum dispensing arm (1) may also be provided with an elastic pad (such as a silicone layer) to protect the surface integrity of the spherical material; the inner wall of the vacuum adsorption hole may also be provided with an anti-stick coating. The spherical material bin (2) may also include a vibrating material handling device and a guide slide, with an anti-reverse structure at the end of the slide.

[0042] Furthermore, a defective product rejection device can be provided between the opening of the vacuum dispensing arm (1) and the container (4). This device can be a pneumatic nozzle or a mechanical push rod, which removes the station without adsorbed spherical material in response to the signal of the spherical material detection sensor. Alternatively, the container (4) can be fixed on a positioning mechanism or conveyor belt, and the position of the container (4) can be adjusted to reject defective spherical material.

[0043] Furthermore, in some embodiments, the diameter of the vacuum adsorption pore is larger than the diameter of the spherical material, and the depth of the vacuum adsorption pore is smaller than the diameter of the spherical material.

[0044] Specifically, the diameter of the vacuum adsorption pore is 0.02 to 0.05 mm larger than the diameter of the spherical material, and its depth is slightly smaller than the diameter of the spherical material, ranging from 0.3 to 0.5 mm. The diameter and depth of the vacuum adsorption pore can be adjusted appropriately according to different materials and roughnesses. Additionally, the preset spacing can also be related to the diameter of the spherical material, the spherical material chamber, or the container. The above-described method for setting the pore size, depth, and preset spacing is only one example; other methods are also applicable. For example, the pore depth can be set to be greater than half the diameter of the spherical material but less than the diameter of the spherical material; the specific settings can be adjusted according to the actual application. In this way, the vacuum adsorption pore size is adapted to the size of the spherical material, ensuring reliable adsorption and avoiding jamming; the preset spacing matching design ensures the accuracy of spherical material release.

[0045] Furthermore, in some embodiments, the distance from the discharge port to the deepest point of the vacuum adsorption hole is greater than the diameter of the spherical material; the distance from the discharge port to the surface of the vacuum dispensing arm (1) is less than the diameter of the spherical material.

[0046] Specifically, the discharge port of the spherical material bin (2) is matched with the vacuum adsorption hole of the vacuum dispensing arm (1). The two are directly related to the spherical material. This ensures that the spherical material completely enters the vacuum adsorption hole during the conveying process, avoiding the failure of adsorption due to only part of the spherical material entering because the distance is too short. It can also use the gravity of the spherical material itself to make the spherical material stick tightly to the surface of the dispensing arm, which facilitates the vacuum adsorption hole to quickly adsorb the spherical material, reduce the probability of leakage, and control that only one spherical material is adsorbed each time.

[0047] In addition, in some embodiments, the device further includes a detection sensor (3) disposed on the rotation path of the vacuum dispensing arm to detect whether the vacuum adsorption hole adsorbs spherical material.

[0048] Specifically, the detection sensor (3) of the vacuum adsorption dispensing device disclosed in this utility model can be a smart camera, photoelectric sensor, vision sensor, or contact sensor, etc., arranged radially along the vacuum dispensing arm (1) to provide feedback on the absence or abnormal state of the spherical material in the vacuum adsorption orifice. Those skilled in the art will understand that the types of sensors described are merely examples; in practical applications, different sensors can be selected according to the type of spherical material to meet specific detection requirements. For example, the spherical material detection sensor can be selected according to the different materials or characteristics of the spherical material. For instance, when the spherical material is glass, a smart camera can be used, and the position of the light source and camera can be adjusted to detect the spherical material; if the spherical material is metal, a Hall effect sensor can be used. By selecting the sensor type (such as infrared detection or pressure feedback), the adsorption state can be accurately determined, reducing the false detection rate.

[0049] In some embodiments, the container (4) includes at least a vial or a cartridge bottle for holding and dispensing the spherical material. In practical applications, it can adapt to the standardized container requirements of scenarios such as medicine and laboratories, expanding the application range of the device.

[0050] In some embodiments, the device further includes a vacuum drive unit connected to the vacuum dispensing arm (1) for creating a vacuum inside the cavity of the vacuum dispensing arm (1) and controlling the rotational positioning of the vacuum dispensing arm (1). Thus, by integrating vacuum drive and rotational control, automated operation of the dispensing arm is achieved; precise positioning ensures reliable station switching.

[0051] Furthermore, as can be understood by those skilled in the art, the vacuum drive device can also consist of two parts: a vacuum device and a drive device. Specifically, the drive device can be a stepper motor or a servo motor, which drives the vacuum dispensing arm to rotate via a gear set or belt drive. The vacuum device can be a vacuum generator. The vacuum generator, the drive device, and the solenoid valve cooperate with each other to switch the adsorption / release state according to the rotation phase of the dispensing arm, so that the vacuum dispensing arm (1) passes through the adsorption station, the detection station, and the release station in sequence along the preset rotation path. At the corresponding station, the spherical material is obtained through the vacuum adsorption hole and released into the container (4). The rotation angle of the vacuum dispensing arm (1) can be controlled in a closed loop by an encoder or a position sensor, thereby achieving precise positioning of the dispensing position.

[0052] The vacuum adsorption dispensing device disclosed in this utility model avoids manual contact with the spherical materials, reducing external contamination. Furthermore, the vacuum dispensing arm of this utility model has multiple vacuum adsorption holes along its longitudinal axis, enabling simultaneous extraction of spherical materials from the outlets of multiple spherical material bins. This results in a more compact and efficient spatial layout, reducing floor space and equipment downtime.

[0053] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes in form and detail may be made without departing from the spirit and scope of this disclosure. Any person skilled in the art can make various alterations and modifications without departing from the spirit and scope of this disclosure; therefore, the scope of protection of this disclosure should be determined by the scope defined in the claims.

Claims

1. A vacuum suction and portioning device for portioning a spherical material into a container (4), characterized in that The device comprises: a vacuum dispensing arm (1) provided with a vacuum suction hole; a spherical material bin (2) provided with a discharge port, the spherical material bin (2) being used for storing spherical materials; the vacuum suction dispensing device comprises a first working state and a second working state, in the first working state, the vacuum dispensing arm (1) is rotated to be opposite to the vacuum suction hole and the discharge port, the vacuum suction hole suctions the spherical materials in the spherical material bin (2) through the discharge port; in the second working state, the vacuum dispensing arm (1) is rotated to be opposite to the opening of the container, and the suctioned spherical materials are released into the container.

2. The vacuum suction decanting device according to claim 1, characterized in that the vacuum dispensing arm (1) is a long strip structure, and a vacuum channel is arranged in the center; the vacuum suction hole is arranged on the surface of the vacuum dispensing arm (1) and communicates with the vacuum channel.

3. The vacuum suction decanting device according to claim 2, characterized in that one end of the vacuum channel of the vacuum dispensing arm (1) is closed, and the other end is used for connecting a vacuum driving device.

4. The vacuum suction decanting device according to claim 2, wherein a plurality of vacuum suction holes are arranged on the longitudinal axis direction of the vacuum dispensing arm (1).

5. The vacuum suction decanting device according to any one of claims 1 to 4, characterized in that, the diameter of the vacuum suction hole is greater than the diameter of the spherical material, and the depth of the vacuum suction hole is less than the diameter of the spherical material.

6. The vacuum suction decanting device according to claim 2, wherein the distance from the discharge port to the deepest part of the vacuum suction hole is greater than the diameter of the spherical material; and the distance from the discharge port to the surface of the vacuum dispensing arm (1) is less than the diameter of the spherical material.

7. The vacuum suction decanting device according to claim 1, wherein the spherical material bin (2) and the container (4) are arranged opposite to each other on both sides of the vacuum dispensing arm (1) in the direction of gravity; and / or the spherical material bin (2) and the container (4) are each provided with a plurality of in the longitudinal axis direction of the vacuum dispensing arm (1).

8. The vacuum suction decanting device according to claim 1, wherein the container (4) at least comprises a test tube or a carton bottle, which is used for containing and dispensing the spherical materials.

9. The vacuum suction decanting device according to claim 1, wherein the device further comprises a detection sensor (3) arranged on the rotating path of the vacuum dispensing arm, to detect whether the spherical materials are suctioned by the vacuum suction hole.

10. The vacuum suction decanting device according to claim 1, wherein the device further comprises a vacuum driving device connected with the vacuum dispensing arm (1), which is used for forming a vacuum in the cavity of the vacuum dispensing arm (1), and controlling the rotation and positioning of the vacuum dispensing arm (1).

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