feeding device
By designing multiple storage and retrieval components in the feeding device, the problem of low efficiency in existing dispensing robots when mixing different drugs is solved, achieving efficient supply and accurate retrieval of various target objects.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CORE VISION (BEIJING) TECH CO LTD
- Filing Date
- 2025-08-06
- Publication Date
- 2026-07-03
AI Technical Summary
Existing dispensing robots are only suitable for single types of drugs. When mixing different types of drugs, manual identification and dispensing are required, resulting in low efficiency.
A feeding device is provided, including multiple storage components, a picking component, and a transferring component. By switching between different picking positions with a picking head, efficient supply of various target objects can be achieved.
It enables accurate retrieval and efficient supply of various target objects, simplifies the operation process, reduces manual intervention, and improves efficiency.
Smart Images
Figure CN224449415U_ABST
Abstract
Description
Technical Field
[0001] This disclosure relates to the field of automation, and more specifically to a feeding device. Background Technology
[0002] Chinese invention patent application CN109398851A discloses a drug dispensing robot and its implementation method. The first calculation module calculates the number of drug bags needed by the patient and the total dosage of the medication based on the prescription information. Then, the drug delivery mechanism control module controls the drug delivery mechanism to deliver the specified number of drug bags to the dispensing mechanism.
[0003] However, the aforementioned dispensing robot is only suitable for single-type medications. When mixing different types of medications, the types of medications need to be identified manually. After selecting a specific type of medication, the medication bag needs to be manually supplied to the delivery mechanism. This makes the dispensing robot inefficient. Utility Model Content
[0004] This disclosure is made in view of the state of the prior art described above. The object of this disclosure is to provide a printing apparatus that overcomes at least one of the disadvantages described in the background section.
[0005] To achieve the above objectives, the present disclosure adopts the following technical solution.
[0006] The feeding device provided in this application includes:
[0007] Multiple storage components, each storage component including a storage space, an outlet, and a discharging element, the discharging element being configured to move a target object within the storage space to the outlet, each storage component corresponding to a material retrieval position;
[0008] A material handling assembly, comprising a material handling head for picking up and releasing a target object, the material handling head being configured to switch between a pick-up position and a take-out position, wherein when the material handling assembly is in the pick-up position, the material handling head is located at the exit in the pick-up position, and is able to leave the exit in the take-out position; and
[0009] A material transfer component, configured to enable the material picking component to switch between different material picking positions.
[0010] In at least one embodiment, the storage space has a length, the outlet is located at one end of the length direction of the storage space, and at least a portion of the discharge element is configured to move or extend along the length direction to approach and move away from the outlet.
[0011] In at least one embodiment, the length direction is inclined relative to the horizontal direction, and the outlet is located at the lower end of the storage space.
[0012] In at least one embodiment, the picking head is configured to pick up the target object by negative pressure.
[0013] At the pickup position, the adsorption direction of the picking head is parallel to the length direction.
[0014] At the extraction position, the adsorption direction of the extraction head is inclined relative to the length direction.
[0015] In at least one embodiment, the discharge element includes a spring configured to bias a target object toward the outlet.
[0016] In at least one embodiment, the storage component further includes a retaining element disposed at the edge of the outlet and configured to prevent a target object from leaving the outlet.
[0017] In at least one embodiment, the pick-up head is configured to rotate to switch between the pick-up position and the take-out position.
[0018] In at least one embodiment, the material handling assembly includes a support, a swing arm, and a first driver. The support is connected to the material handling assembly, the swing arm is rotatably connected to the support, the material handling head is fixed relative to the swing arm, and the first driver is configured to drive the swing arm to rotate so that the material handling head rotates with the swing arm. And / or,
[0019] The material handling assembly further includes one or more limiting elements configured to limit the rotation angle of the material handling head.
[0020] In at least one embodiment, the transfer assembly includes a second driver and a guide rail, the second driver being connected to the pick-up assembly and configured to drive the pick-up assembly to move along the guide rail, the plurality of storage components being arranged in a direction parallel to the length direction of the guide rail.
[0021] In at least one embodiment, the material transfer component is configured to enable the material picking component to switch between the material picking position and the material feeding position, wherein when the material picking component is in the material feeding position, the material picking component is offset from the storage component.
[0022] By employing the above technical solution, and providing multiple storage components, different types of target objects can be pre-stored in different storage components. When multiple different target objects need to be supplied, the picking component can switch between corresponding picking positions, thereby accurately retrieving these target objects from the storage space. In this way, the feeding device can efficiently supply multiple target objects. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of a feeding device according to an embodiment of the present disclosure, wherein the discharging element is omitted.
[0024] Figure 2 yes Figure 1 A top view of the feeding device in the middle.
[0025] Figure 3 yes Figure 1 A schematic diagram of the storage component of the feeding device.
[0026] Figure 4 yes Figure 1 The schematic diagram of the feeding device shows the material handling component, in which the material handling head is in the picking position and the material handling component is superimposed, and the arrow indicates the rotation direction of the material handling head.
[0027] Explanation of reference numerals in the attached figures
[0028] 30 Feeding device
[0029] 32 Storage Components
[0030] 34 Material handling assembly
[0031] 36 Transfer Components
[0032] 38 Exports
[0033] 40 Discharge element
[0034] 41 Target Object
[0035] 42. Material receiving head
[0036] 44 Holding element
[0037] 46 brackets
[0038] 48. Swing arm
[0039] 50 First Driver
[0040] 52 Second Driver
[0041] 54 guide rails
[0042] 56 cylinder barrel
[0043] 58 Piston Rod
[0044] 60 ball screw
[0045] 62 First position sensor
[0046] 64 Second position sensor
[0047] 66 mounting holes
[0048] 68 Cover plate
[0049] P1 Pickup Location
[0050] P2 Retrieve Position
[0051] P3 Material Picking Location
[0052] P4 Feeding Location
[0053] L (length direction) Detailed Implementation
[0054] like Figure 1 and Figure 2 As shown, this embodiment of the present disclosure provides a feeding device 30.
[0055] like Figures 1 to 4 As shown, the feeding device 30 may include multiple storage components 32, a picking component 34, and a transfer component 36. The storage component 32 includes a storage space, an outlet 38, and a discharge element 40. The discharge element 40 is configured to move a target object 41 from the storage space to the outlet 38. Each storage component 32 corresponds to a picking position P3. The picking component 34 includes a picking head 42 for picking up and releasing target objects. The picking head 42 is configured to switch between a picking position P1 and a taking position P2. When the picking component 34 is at the picking position P3, the picking head 42 can be at the outlet 38 at the picking position P1 and can leave the outlet 38 at the taking position P2. The transfer component 36 is configured to allow the picking component 34 to switch between different picking positions P3. In other words, the picking head 42 can pick up the target object 41 at the picking position P1, but remove the target object 41 from the storage component 32 when switching from the picking position P1 to the taking position P2.
[0056] In the technical solution provided in this embodiment, by providing multiple storage components 32, different types of target objects 41 can be pre-stored in different storage components 32. When multiple different target objects 41 need to be supplied, the picking component 34 can switch between corresponding picking positions P3, thereby accurately retrieving these target objects 41 from the storage space. In this way, the feeding device 30 can efficiently supply multiple target objects 41.
[0057] In some examples, such as Figure 3 As shown, target object 41 includes powder and packaging containing the powder. For example, the powder can be a chemical reagent, pharmaceutical, seasoning, or food additive. Here, the powder includes at least powder and granules.
[0058] In some examples, such as Figure 3 As shown, the discharge element 40 can extend at least partially into the storage space.
[0059] In some examples, such as Figure 3 As shown, the discharge element 40 includes a cover 68 that defines a storage space. The cover 68 is made of a transparent material. This allows the target object 41 within the storage space to be easily observed, enabling timely replenishment of the storage space with the target object 41.
[0060] In some examples, such as Figure 3 As shown, the storage space has a length, and the outlet 38 is located at one end of the storage space along the length direction L. At least a portion of the discharge element 40 is configured to move or extend along the length direction L to approach and move away from the outlet 38. In this way, the discharge element 40 can push the target object 41 to the outlet 38 by its own movement or extension. In particular, when multiple target objects 41 are arranged in the storage space along the length direction L, the discharge element 40 can push these target objects 41 to the outlet 38 one by one.
[0061] In some examples, such as Figure 3 As shown, the length direction L is inclined relative to the horizontal direction, and the outlet 38 is located at the lower end of the storage space. Here, the lower end refers to the lower end in the vertical direction. In this way, the target object 41 can smoothly slide to the outlet 38 with the assistance of gravity, and is less likely to get stuck in the storage space.
[0062] In some examples, such as Figure 3 As shown, the discharge element 40 includes a spring configured to bias the target object 41 toward the outlet 38. In other words, the spring can act directly on the target object 41, or it can indirectly bias the target object 41 via other parts of the discharge element 40. This allows the feeding device 30 to move the target object 41 without the aid of a complex drive mechanism, resulting in a simple structure and low cost for the feeding device 30.
[0063] In some examples, such as Figure 3As shown, the storage assembly 32 also includes a retaining element 44. The retaining element 44 is disposed at the edge of the outlet 38 and configured to prevent the target object 41 from leaving the outlet 38. In some examples, the retaining element 44 may obstruct a local area of the target object 41 at the edge of the outlet 38. When the target object 41 leaves the storage assembly 32, it may deform under the pull of the feeding head 42, thereby passing over the retaining element 44. In this way, the feeding device 30 can retain the target object 41 at the outlet 38 in a simple manner, allowing the feeding device 30 to have a simple structure and low cost.
[0064] In some examples, such as Figure 3 As shown, multiple retaining elements 44 are arranged along the edge of the outlet 38. In this way, the target object 41 can be held more securely in the outlet 38.
[0065] In some examples, such as Figure 3 As shown, the retaining element 44 is configured to be adjustable in position relative to the edge of the outlet 38. For example, the retaining element 44 may be provided with an elongated mounting hole 66 that receives a fastener (not shown) for securing the retaining element 44. In this way, by changing the position of the retaining element 44, the degree to which the retaining element 44 obstructs the target object 41 can be adjusted, allowing the feeding device 30 to adapt to different target objects 41.
[0066] In some examples, such as Figure 3 and Figure 4 As shown, the picking head 42 is configured to pick up the target object 41 using negative pressure. In the picking position P1, the adsorption direction of the picking head 42 is parallel to the length direction L. In the removal position P2, the adsorption direction of the picking head 42 is inclined relative to the length direction L. This prevents the picking head 42 from damaging the target object 41, thus avoiding leakage of the contents of the target object 41. Furthermore, by making the adsorption direction of the picking head 42 in the picking position P1 parallel to the length direction L, the adsorption direction of the picking head 42 can match the length direction L, allowing the picking head 42 to smoothly and easily remove the target object 41. Moreover, by making the adsorption direction of the picking head 42 in the removal position P2 inclined relative to the length direction L, the target object 41 can be adapted to the angle of subsequent processes, thereby enabling the feeding device 30 to connect with subsequent workstations.
[0067] In some examples, such as Figure 4 As shown, the material handling head 42 includes a suction cup.
[0068] In some examples, such as Figure 4 As shown, at the material taking position P2, the adsorption direction of the material taking head 42 is parallel to the horizontal direction.
[0069] In some examples, such as Figure 4As shown, the adsorption direction of the feed head 42 is the axial direction of the feed head 42.
[0070] In some examples, such as Figure 4 As shown, the pick-up head 42 is configured to rotate to switch between a pick-up position P1 and a pick-up position P2. In this way, the pick-up head 42 can change the orientation of the target object 41 while simultaneously retrieving it from the storage component 32. Furthermore, this arrangement allows the feeding device 30 to have a compact structure.
[0071] In some examples, such as Figure 4 As shown, the material handling assembly 34 includes a bracket 46, a swing arm 48, and a first driver 50. The bracket 46 is connected to the material handling assembly 36, and the swing arm 48 is rotatably connected to the bracket 46. The material handling head 42 is fixed relative to the swing arm 48. The first driver 50 is configured to drive the swing arm 48 to rotate, thereby causing the material handling head 42 to rotate with the swing arm 48.
[0072] In some examples, such as Figure 4 As shown, the first actuator 50 is a cylinder. The cylinder barrel 56 is rotatably connected to the bracket 46, and the cylinder piston rod 58 is rotatably connected to the rocker arm 48.
[0073] In some examples, such as Figure 4 As shown, the piston rod 58 includes a first extension length and a second extension length, the first extension length being shorter than the second extension length. When the piston rod 58 has the first extension length, the pick-up head 42 is in the pick-up position P1. When the piston rod 58 is at the second extension length, the pick-up head 42 is in the take-out position P2. Here, the extension length refers to the length by which the piston rod 58 extends from the cylinder 56.
[0074] In some examples, such as Figure 4 As shown, the material handling assembly 34 also includes one or more limiting elements configured to restrict the rotation angle of the material handling head 42. For example, the limiting element can be fixedly connected to the bracket 46. When the material handling head 42 rotates to the pick-up position P1 or the take-out position P2, the limiting element can abut against the swing arm 48, preventing the swing arm 48 from rotating further. In other words, under the restriction of the limiting element, the swing arm 48 can only rotate within a certain angle range.
[0075] In some examples, such as Figure 1 and Figure 2 As shown, the transfer assembly 36 includes a second driver 52 and a guide rail 54. The second driver 52 is connected to the pick-up assembly 34 and is configured to drive the pick-up assembly 34 to move along the guide rail 54. A plurality of storage assemblies 32 are arranged in a direction parallel to the length direction (extension direction) of the guide rail 54.
[0076] In some examples, such as Figure 1and Figure 2 As shown, the second driver 52 is a motor.
[0077] In some examples, such as Figure 1 and Figure 2 As shown, the transfer assembly 36 also includes a ball screw 60. The second driver 52 is connected to the pick-up assembly 34 via the ball screw 60.
[0078] In some examples, such as Figure 1 and Figure 2 As shown, the material handling assembly 36 also includes a plurality of first position sensors 62 (shown only partially), each first position sensor 62 corresponding to a picking position P3. The first position sensors 62 are configured to be triggered when the picking assembly 34 is in the picking position P3. In this way, the material handling assembly 36 can accurately move the picking assembly 34 to the picking position P3.
[0079] In some examples, such as Figure 1 and Figure 2 As shown, the transfer assembly 36 is configured to allow the picking assembly 34 to switch between the picking position P3 and the feeding position P4. When the picking assembly 34 is in the feeding position P4, the picking assembly 34 and the storage assembly 32 are offset along the length direction (extension direction) of the guide rail 54. In other words, when the picking assembly 34 is in the feeding position P4, there is no corresponding storage assembly 32. Thus, the picking assembly 34 can supply the target object 41 to the receiving device at the feeding position P4, ensuring that the receiving device does not interfere with the storage assembly 32.
[0080] It is important to understand that the feeding position P4 is not mandatory. For example, when the transfer assembly 36 is in the picking position P3 and the picking head 42 is in the taking position P2, the device for receiving the target object 41 can approach the target object 41 and take the target object 41 off the picking head 42.
[0081] In some examples, such as Figure 1 and Figure 2 As shown, the material transfer assembly 36 also includes a second position sensor 64, which corresponds to the feeding position P4. The second position sensor 64 is configured to be triggered when the material pick-up assembly 34 is in the feeding position P4. In this way, the material transfer assembly 36 can accurately move the material pick-up assembly 34 to the feeding position P4.
[0082] The terminology used in the embodiments of this disclosure is for illustrative purposes only and is not intended to limit the disclosure. Unless otherwise defined, the technical or scientific terms used in the embodiments of this disclosure should be understood in their ordinary sense by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and similar words used in this specification and claims do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Similarly, "a" or "one," and similar words do not indicate a quantity limitation, but rather indicate the presence of at least one. The terms "comprising," "including," and similar words mean that the elements or objects preceding "comprising" or "including" encompass the elements or objects listed following "comprising" or "including" and their equivalents, but do not exclude other elements or objects. "Upper," "lower," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly. "A plurality" refers to two or more, unless otherwise expressly defined.
[0083] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this disclosure should be included within the protection scope of this disclosure.
Claims
1. A supply device, characterized in that include: Multiple storage components, each storage component including a storage space, an outlet, and a discharging element, the discharging element being configured to move a target object within the storage space to the outlet, each storage component corresponding to a material retrieval position; A material handling assembly includes a material handling head for picking up and releasing a target object. The material handling head is configured to switch between a picking position and a taking position. When the material handling assembly is in the picking position, the material handling head can be located at the outlet in the picking position and can leave the outlet in the taking position. as well as A material transfer component, configured to enable the material picking component to switch between different material picking positions.
2. The feeder device according to claim 1, characterized in that The storage space has a length, the outlet is located at one end of the length direction of the storage space, and at least a portion of the discharge element is configured to move or extend along the length direction to approach and move away from the outlet.
3. The feeder of claim 2, wherein The length direction is inclined relative to the horizontal direction, and the outlet is located at the lower end of the storage space.
4. The feeding device according to claim 2, characterized in that, The picking head is configured to pick up target objects using negative pressure. At the pickup position, the adsorption direction of the picking head is parallel to the length direction. At the extraction position, the adsorption direction of the extraction head is inclined relative to the length direction.
5. The feeder device according to any one of claims 1 to 4, characterized in that The discharge element includes a spring configured to bias a target object toward the outlet.
6. The feeder device according to any one of claims 1 to 4, characterized in that The storage component also includes a retaining element disposed at the edge of the outlet and configured to prevent a target object from leaving the outlet.
7. The feeder device according to any one of claims 1 to 4, characterized in that The pick-up head is configured to rotate to switch between the pick-up position and the take-out position.
8. The feeder of claim 7, wherein The material handling assembly includes a bracket, a swing arm, and a first driver. The bracket is connected to the material transfer assembly, the swing arm is rotatably connected to the bracket, and the material handling head is fixed relative to the swing arm. The first driver is configured to drive the swing arm to rotate, so that the material handling head rotates with the swing arm, and / or... The material handling assembly further includes one or more limiting elements configured to limit the rotation angle of the material handling head.
9. The feeder of claim 1, wherein The transfer assembly includes a second driver and a guide rail. The second driver is connected to the pick-up assembly and is configured to drive the pick-up assembly to move along the guide rail. The plurality of storage components are arranged in a direction parallel to the length direction of the guide rail.
10. The feeder device according to any one of claims 1 to 4, characterized in that The material transfer component is configured to enable the material picking component to switch between the material picking position and the material feeding position. When the material picking component is in the material feeding position, the material picking component is offset from the storage component.