CN112693892A - Multifunctional manipulator, automatic feeding device and automatic feeding method - Google Patents

Abstract

The invention discloses a multifunctional manipulator, an automatic feeding device and an automatic feeding method, wherein the multifunctional manipulator comprises an installation frame, an electromagnetic adsorption device, a code reader and a first clamping mechanism are arranged on the installation frame, the electromagnetic adsorption device is positioned on the side part of the installation frame, the adsorption end faces outwards, the code reader is obliquely arranged above the electromagnetic adsorption device, and a lens faces outwards and downwards; the first clamping mechanism is located on the inner side of the electromagnetic adsorption device and located below the code reader. This scheme is through making the integration have electromagnetic adsorption device on the manipulator, can be when getting the material, open the drawer through electromagnetic adsorption's mode to be convenient for follow-up get the material through the first fixture on it, can accurately confirm the type of reagent strip in the drawer, the definite of quantity and position through the bar code scanner, for first fixture's control provides data support, greatly improved the integrated level of equipment, make a moving mechanism that a plurality of parts can share simultaneously, can simplify the structure effectively.

Description

Multifunctional manipulator, automatic feeding device and automatic feeding method

Technical Field

The invention relates to the field of automatic medical equipment, in particular to a multifunctional manipulator, an automatic feeding device and an automatic feeding method.

Background

The circularly enhanced fluoroimmunoassay is a highly sensitive fluoroimmunoassay which enhances the intensity of a fluorescent signal by a certain method, thereby enabling the detection of a target at a low concentration.

It is a great trend to realize the reaction and the corresponding detection through an automatic device, and the automatic device usually has a loading space, manually places a plurality of reagent strips or reagent boxes to be used in a blister tray, then places the blister tray in the loading space, and subsequently needs to transfer the reagent strips or reagent boxes in the blister tray to a predetermined position through a corresponding manipulator assembly for processing.

In order to meet the requirement of mass tests, the applicant researches a structure that the loading space is provided with a plurality of layers of independent drawers which can be opened and closed, in order to facilitate the material taking of the manipulator assembly, each drawer needs to be provided with an independent power source to realize automatic opening and closing, so that a plurality of power sources are needed, the complexity of the whole structure is caused, and the structure is obviously uneconomical and not easy to realize the miniaturization of products.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a multifunctional manipulator, an automatic feeding device and an automatic feeding method.

The purpose of the invention is realized by the following technical scheme:

the multifunctional manipulator comprises a mounting frame, wherein an electromagnetic adsorption device, a code reader and a first clamping mechanism are arranged on the mounting frame, the electromagnetic adsorption device is positioned on the side part of the mounting frame, the adsorption end faces outwards, the code reader is obliquely arranged above the electromagnetic adsorption device, and a lens faces outwards and downwards; the first clamping mechanism is located on the inner side of the electromagnetic adsorption device and located below the code reader.

Preferably, the first clamping mechanism includes a first motor, the first motor drives two moving blocks that reciprocate along a first horizontal direction Y relative to the mounting frame, the two moving blocks move synchronously and move in opposite directions, and two opposite claw bodies are disposed on the two moving blocks.

Preferably, a second clamping mechanism is arranged on the mounting frame, the opening and closing direction of the second clamping mechanism is perpendicular to the opening and closing direction of the first clamping mechanism, and the tail end of the claw body of the second clamping mechanism is higher than the tail end of the claw body of the first clamping mechanism.

Preferably, the second clamping mechanism is connected with a first driving mechanism for driving the second clamping mechanism to reciprocate along the vertical direction Z.

Preferably, the mounting rack is arranged on the vertical frame in a reciprocating manner along the vertical direction Z, and a second driving mechanism for driving the mounting rack to move along the vertical direction is arranged on the vertical frame.

Preferably, the vertical frame is provided with a third clamping mechanism, the third clamping mechanism and the mounting frame are located on two opposite sides of the vertical frame, and the third clamping mechanism is connected with a third driving mechanism for driving the third clamping mechanism to reciprocate along the vertical direction Z.

Preferably, the third clamping mechanism includes a second motor, a motor shaft of the second motor extends along a longitudinal direction and is eccentrically connected with a transmission member, the transmission member is coaxially connected with a rotation member capable of rotating relative to the transmission member, the rotation member is embedded in a mounting groove of the first clamping block, the first clamping block is movably arranged on a guide rail extending along a second horizontal direction X, the guide rail is fixed on a fixed block, and the fixed block is further provided with a second clamping block matched with the first clamping block.

Preferably, the vertical frame is further provided with a first cover opening plate, and the first cover opening plate is connected with a fourth driving mechanism for driving the first cover opening plate to lift.

Preferably, the lower part of the first cover opening plate comprises a group of equidistant cover opening push rods.

Preferably, a second open cover plate is arranged on the inner side of the first open cover plate in a clearance mode, and the lower end of the second open cover plate extends to the position below the first open cover plate.

Preferably, the stand is connected to a horizontal movement mechanism for driving the stand to move in a first horizontal direction and a second horizontal direction.

An automatic feeding device comprises any one of the multifunctional manipulators.

Preferably, the automatic feeding device further comprises a strip storage device.

The automatic feeding method comprises the following steps:

s1, providing the multi-function manipulator according to any one of claims 5-11 and a strip storage device having an openable drawer having a magnetically attractable portion at an end thereof facing the multi-function manipulator;

s2, placing the tray loaded with the strip-shaped objects into the drawer;

s3, the electromagnetic adsorption device on the multifunctional manipulator adsorbs the drawer and opens the drawer;

s4, reading the bar codes on the bars in the tray by the code reader on the multifunctional manipulator to determine the type, the number and the position of the bars;

and S5, the first clamping mechanism on the multifunctional manipulator clamps the needed bars one by one and moves the bars out of the drawer.

Preferably, the automatic feeding method includes limiting the drawer to be closed from an open state by a first limiting mechanism or a second limiting mechanism after the S3 and before the S5.

The technical scheme of the invention has the advantages that:

this scheme is through making the integration have electromagnetic adsorption device on the manipulator, can be when getting the material, open the drawer through electromagnetic adsorption's mode, thereby be convenient for follow-up get the material through the first fixture on it, and simultaneously, through setting up the bar code scanner, can confirm the type of reagent strip in the drawer effectively, the definite of quantity and position, control for first fixture provides data support, the integrated level of equipment has greatly been improved, make a moving mechanism that a plurality of parts can share simultaneously, can simplify the structure effectively.

The first clamping mechanism of the scheme adopts the motor to drive, and can flexibly adjust the opening and closing sizes of the clamping jaws as required, so that the clamping mechanism is suitable for clamping requirements of articles with different sizes, and is good in application flexibility.

This scheme further integrates to have second fixture and centre gripping opposite direction, can remedy first fixture and article contact position less problem, has improved the stability of centre gripping effectively.

This scheme further integrates the third fixture of liftable and the mechanism of uncapping on the grudging post, can satisfy opening of reagent strip protective cover and the removal needs of the probe in it, is favorable to further richening the function of product, improves the integrated nature.

This scheme adopts a plurality of push rod ground structures of uncapping, can effectively realize opening of a plurality of protection lids in an action, has improved the efficiency of uncapping effectively.

According to the scheme, the strip storage device is provided with the drawer with the strip tray limiting groove, strips can be placed in the strip tray and then inserted into the strip tray limiting groove for storage, meanwhile, when the strips need to be used, the drawer can be opened, so that the strips can be conveniently taken out of the drawer and used in cooperation with an automatic material taking structure, and when the strip tray is inserted, the drawer cannot be opened due to limitation of the first limiting mechanism, the difficulty of inserting the strip tray can be effectively reduced, and the operability is improved. The storage device can be effectively matched with the multifunctional manipulator to meet the requirements of storing and transferring reagent strips.

The inlet end of each strip tray limiting groove is provided with the guide groove, so that the inserting difficulty of the strip trays can be greatly reduced, the loading efficiency can be improved, and meanwhile, the loading state of each strip tray limiting groove can be visually indicated through the indicating lamp, and the observation is facilitated.

The scheme adopts a plurality of layers of drawers, and each layer of drawer is provided with three strip tray limiting grooves, so that the storage capacity of strips can be effectively improved, and the test requirements of a large batch of items can be met.

The first limiting mechanism can limit the opening of the plurality of drawers at the same time, so that the limiting structure is simplified, the number of power sources is reduced, and the equipment cost is reduced.

This scheme sets up second stop gear, can be to every opening of drawer is injectd, and can realize dual assurance with first stop gear cooperation, and second stop gear can also realize the injecture that the drawer closed with the cooperation of the second lug on the drawer simultaneously to the drawer removes the problem that causes unable stable uninstallation when can avoiding follow-up uninstallation strip.

The second limiting mechanism can share one linear driving mechanism, so that the driving structure can be effectively simplified, and the equipment cost is reduced.

Drawings

FIG. 1 is a perspective view of a multi-function manipulator of the present invention;

FIG. 2 is a front view of the multi-function manipulator of the present invention;

FIG. 3 is a top view of the multi-function manipulator of the present invention;

FIG. 4 is an enlarged view of area C of FIG. 2;

FIG. 5 is a first perspective view of the mounting bracket of the multi-function manipulator of the present invention positioned on a stand;

FIG. 6 is a second perspective view of the multi-function manipulator mounting frame of the present invention positioned on a stand;

FIG. 7 is a cross-sectional view of the multi-function manipulator of the present invention;

FIG. 8 is an end view of the multi-function robot of the present invention;

FIG. 9 is a first perspective view of the multi-function manipulator of the present invention with a horizontal translation mechanism;

FIG. 10 is a perspective view of the multi-function manipulator of the present invention from a second perspective;

FIG. 11 is a perspective view of the automatic feeding apparatus of the present invention;

FIG. 12 is a front perspective view of the present invention;

FIG. 13 is a rear perspective view of the present invention;

FIG. 14 is a rear view of the present invention;

FIG. 15 is an enlarged view of area A of FIG. 13;

FIG. 16 is an enlarged view of area B of FIG. 14;

fig. 17 is a side view of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.

In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

The multifunctional manipulator disclosed by the invention is explained with reference to the accompanying drawings, and as shown in fig. 1, the multifunctional manipulator comprises a mounting frame 8, the specific structure of the mounting frame 8 can be as required, in this embodiment, the mounting frame 8 at least comprises a flat plate 81, a first mounting part 82 is arranged on a first side of the flat plate 81, and a second mounting part 83 is arranged on a second side of the flat plate 81 opposite to the first side.

As shown in fig. 1, the first mounting member 82 is provided with an electromagnetic absorption device 9, and the electromagnetic absorption device 9 is a device capable of generating a magnetic force when being powered on, such as an electromagnet, an electromagnetic chuck, and the like, and the specific structure thereof is known in the art and will not be described herein. The electromagnetic adsorption device 9 has an adsorption end facing outwards, and when the electromagnetic adsorption device 9 works, magnetic force can be generated by the electromagnetic adsorption device 9 to adsorb objects and drive the objects to move.

As shown in fig. 1, a first clamping mechanism 20 is disposed on the flat plate 81, and the first clamping mechanism 20 is located inside the electromagnetic adsorption device. As shown in fig. 2 and 3, the first clamping mechanism 20 includes two opposing jaw bodies 201, and clamping portions 2011 of the two jaw bodies 201 are located below the first mounting member 82, so as to avoid interference during clamping, and the two jaw bodies 201 are connected with a driving mechanism for driving them to move, and the driving mechanism may be, for example, a jaw air cylinder. In a more preferred embodiment, the driving mechanism includes a first motor 202 located on the flat plate 81, a motor shaft of the first motor 202 vertically penetrates through the flat plate 81 and is coaxially connected with a driving gear 203 located below the flat plate 81, the driving gear 203 is engaged with teeth on two moving blocks 204, the two moving blocks 204 are located on two opposite sides of the driving gear 203, and are movably disposed on a guide rail 206 extending along a first horizontal direction Y through a slider 205, respectively, and a claw body 201 is fixed on each slider 205, so that when the first motor 202 is started, the two moving blocks 204 are driven by the driving gear 203 to move in opposite directions, thereby opening and closing the two claw bodies 201.

When the first clamping mechanism 20 is used for clamping, information such as the position and the type of an article to be clamped needs to be determined, so as shown in fig. 1, a code reader 10 is further disposed on the mounting frame 8, the code reader 10 is specifically disposed on the second mounting member 83 through a connecting member, and is obliquely disposed above the electromagnetic adsorption device 9, and a lens of the code reader is disposed downward and outward.

As shown in fig. 1, a second clamping mechanism 30 is further disposed on the mounting frame 8, an opening and closing direction of the second clamping mechanism 30 is perpendicular to an opening and closing direction of the first clamping mechanism 20, and a distal end of the claw body 301 of the second clamping mechanism 30 is higher than a distal end of the claw body 201 of the first clamping mechanism 20.

As shown in fig. 4, the two claw bodies 301, 302 of the second clamping mechanism 30 can be driven to open and close by a single cylinder, and in a more preferred embodiment, the claw body 301 is horizontally fixed and close to the first clamping mechanism 20, the other claw body 302 can translate relative to the claw body 301, and the claw body 302 reciprocates along the second horizontal direction X (perpendicular to the first horizontal direction Y) to adjust the distance between the claw body 301 and the claw body 301. The claw body 302 is driven to move by a cylinder 303, the cylinder shaft of the cylinder 303 extends along the second horizontal direction Y and is connected with the claw body 302 through a transmission piece 305, and the transmission piece 305 is slidably arranged on a guide rail 306 extending along the second horizontal direction X.

The specific structure of the two claw bodies 301, 302 can be designed according to the contour of the part of the two claw bodies 301, which contacts with the object, in a preferred embodiment, as shown in fig. 4, a square notch 3011 is formed on the claw body 301 at the lower right corner thereof, the claw body 302 includes a clamping portion 3021 corresponding to the notch 3011, the end of the clamping portion 3021 is slightly higher than the end of the notch 3011, meanwhile, the end surface of the clamping portion 3021 facing the claw body 301 is formed with a clamping notch 3022, and the upper end thereof is vertically provided with a limiting rod 3033, and the length of the limiting rod 3033 defines the minimum distance between the two claw bodies 301, 302.

In addition, in order to avoid the interference between the second clamping mechanism 30 and the article when in use, as shown in fig. 1, the second clamping mechanism 30 is connected to a first driving mechanism 304 for driving the second clamping mechanism 30 to reciprocate along the vertical direction Z, the first driving mechanism 304 includes a second cylinder 3041, a cylinder axis of the second cylinder 3041 extends along the vertical direction Z, a cylinder axis of the second cylinder 3041 is connected to a lifting plate 3042, the lifting plate 3042 is slidably disposed on a vertical guide rail (not shown) on a vertical plate of the second mounting member 83, and the cylinder 303 and the guide rail 305 are fixed on the lifting plate 3042.

As shown in fig. 5 and 6, the mounting frame 8 is disposed on a side portion (left side) of a vertical frame 40 so as to be capable of reciprocating in the vertical direction Z, specifically, the mounting frame 8 is slidably disposed on a vertical rail 401 extending in the vertical direction Z on the vertical frame 40 through a slider, and the vertical frame 40 is provided with a second driving mechanism 50 for driving the mounting frame 8 to move in the vertical direction. The second driving mechanism 50 includes a lifting driving motor 501, the lifting driving motor 501 is fixed on the top of the vertical frame 40, a motor shaft of the lifting driving motor 501 extends along a first horizontal direction Y, the motor shaft is coaxially connected with a first driving wheel 502, the first driving wheel 502 is connected with a second driving wheel 504 through a synchronous belt 503, the second driving wheel 504 is rotatably arranged at the bottom of the vertical frame 40, a clamping member 505 is arranged on the synchronous belt 503, and the clamping member 505 is arranged on the second mounting member 83 of the mounting frame 8.

As shown in fig. 6, a third clamping mechanism 60 is further disposed on the vertical frame 40, the third clamping mechanism 60 and the mounting frame 8 are located on two opposite sides of the vertical frame 40, and the third clamping mechanism 60 is connected to a third driving mechanism 70 for driving the third clamping mechanism 60 to reciprocate along the vertical direction Z.

Specifically, as shown in fig. 7, the third clamping mechanism 60 includes a second motor 601, a motor shaft of the second motor 601 extends in a longitudinal direction and is eccentrically connected to a transmission member 602, a rotation member 603 capable of rotating relative to the transmission member 602 is coaxially connected to the transmission member, the rotation member 603 may be a bearing, for example, the rotation member 603 is embedded in a mounting groove (not shown) of a first clamping block 604, the aperture of the mounting groove corresponds to the outer diameter of the rotation member 603, the first clamping block 604 is movably disposed on a guide rail 605 extending in the second horizontal direction X, the guide rail 605 is fixed on a fixed block 606, and the fixed block 606 is further provided with a second clamping block 607 cooperating with the first clamping block 604 for clamping.

When the clamping mechanism works, the second motor 601 drives the transmission piece 602 to rotate and drives the rotating piece 603 to rotate, and because the transmission piece 602 and the rotating piece 603 are eccentrically arranged, the rotating piece 603 revolves around the axis of the rotating piece 602, so that the first clamping block 604 is driven to reciprocate along the guide rail 605, and the distance between the first clamping block 604 and the second clamping block 607 is changed, so that the third clamping mechanism is opened and closed.

As shown in fig. 6, the fixed block 606 is connected to a third driving mechanism 70 for driving the fixed block 606 to reciprocate along the vertical direction Z, specifically, the third driving mechanism 70 includes a carrier plate 701 for fixing the fixed block 606, the carrier plate 701 is connected to a movable nut of a lead screw 703 through a transfer block 702, a screw of the lead screw 703 extends along the vertical direction Z and both ends of the screw are rotatably disposed on the stand 40, one end of the screw is connected to a motor 704 for driving the screw to rotate and is fixed on the stand 40 and is slidably disposed on the stand 702, the transfer block 702 is further connected to a sliding block 705, the sliding block 705 is slidably disposed on a sliding rail 706 extending along the vertical direction Z, and the sliding rail 706 is disposed on the stand 40.

Of course, in other embodiments, the third driving mechanism 70 may be implemented by a rodless cylinder, a hydraulic cylinder, or an electric push rod.

As shown in fig. 6, a cover opening mechanism 80 is further disposed on the stand 40, the cover opening mechanism 80 is used for opening a cover on the reagent strip, the cover opening mechanism 80 includes a first cover opening plate 801, and the first cover opening plate 801 is connected to a fourth driving mechanism 90 for driving the first cover opening plate 801 to move up and down. The lower part of the first cover opening plate 801 comprises a group of cover opening push rods 802 which are equidistant, and the number of the cover opening push rods 802 is preferably 10, so that the covers on a plurality of reagent strips can be opened at the same time.

Meanwhile, a second opening cover plate 803 is arranged on the inner side of the first opening cover plate 801 in a clearance mode, the lower end of the second opening cover plate 803 extends to the lower portion of the first opening cover plate 801, the clearance between the second opening cover plate 803 and the first opening cover plate 801 is designed as required, when a protective cover for a reagent strip is opened, the clearance between the second opening cover plate 803 and the first opening cover plate 801 is met, and when the opening cover push rod 802 is embedded into a clamping groove at the end portion of the protective cover, the second opening cover plate 803 is in contact with the end portion of the protective cover.

As shown in fig. 6 and 8, the first open cover plate 801 and the second open cover plate 803 are both connected to the fourth driving mechanism 90, the fourth driving mechanism 90 includes a vertical connecting plate 901, the first open cover plate 801 and the second open cover plate 803 are disposed on both sides of the lower end of the vertical connecting plate 901, the upper end of the vertical connecting plate 901 is connected to an engaging block 902, the engaging block 902 is connected to a movable nut of a second lead screw 903 and slidably disposed on a second guide rail (not shown in the figure) extending in the vertical direction Z, a screw of the second lead screw 903 is rotatably disposed on the vertical frame 40 and located on a side portion (right side) of the lead screw 703, and the screw of the second lead screw is connected to a motor 904 driving the second lead screw to rotate.

In actual operation, it is necessary to enable the vertical frame 40 to horizontally move to meet the requirements of grasping and transferring at different positions, and therefore, as shown in fig. 9 and 10, the vertical frame 40 is connected to a horizontal movement mechanism 100 for driving the vertical frame 40 to move in a first horizontal direction Y and a second horizontal direction X, the horizontal movement mechanism 100 may have various known structures, and in a preferred embodiment, the horizontal movement mechanism includes a first translation driving mechanism 110 and a second translation driving mechanism 120, the first translation driving mechanism 110 includes a moving frame 116, one end of the moving frame 116 is provided with a first translation motor 111, a motor shaft of the first translation motor 111 is coaxially connected to a synchronous pulley 112, the synchronous pulley 112 is connected to a driven synchronous pulley 114 through a synchronous belt 113, the driven synchronous pulley 114 is rotatably provided at the other end of the moving frame 116, and a clamp block 115 is fixed to the synchronous belt 113, the clamping block 115 is fixed to the stand 40, and the stand 40 is slidably disposed on a horizontal rail extending in the first horizontal direction Y by a slide block 117. The second translation driving mechanism 120 has a structure equivalent to that of the first translation driving mechanism 110, and the second translation driving mechanism 110 is translated by using a motor, a synchronizing wheel, a synchronizing belt, a clamping block, a guide rail and other mechanisms, which are not described herein again.

Example 2

The embodiment discloses an automatic feeding device, as shown in fig. 11, comprising the multifunctional manipulator 02 of the above embodiment, and a strip storage device 01 is further arranged beside the multifunctional manipulator.

As shown in fig. 12 to 14, the stick storage device 01 includes an outer frame 1, the outer frame 1 is a rectangular frame formed by combining four side plates, at least one drawer 2 is disposed in the outer frame 1, the drawer 2 can be translated to the outer side of the outer frame 1, and the drawer 2 is preferably a slide rail type drawer, and the specific structure thereof is known in the art and will not be described herein again. At least one strip-shaped object tray limiting groove 21 is formed in the drawer 2, the strip-shaped object tray limiting groove 21 comprises a bottom plate, side plates located on two sides of the bottom plate and an inner end plate located at the inner end of the bottom plate, and one end (front end) of the strip-shaped object tray limiting groove 21 is open and used for inserting a strip-shaped object tray (not shown in the figure) into the strip-shaped object tray limiting groove 21 for storage.

In actual testing, there is often a requirement for performing a large number of tests in a large scale, and therefore, as shown in fig. 12 to 14, the number of the drawers 2 is plural, preferably at least three, more specifically 10, and three stick-like article tray limiting grooves 21 are formed side by side on each drawer 2, so that the storage device can store 30 stick-like article trays simultaneously, and each stick-like article tray can accommodate a plurality of sticks, thereby greatly improving the storage capacity.

Usually, the width of each stick tray limiting groove 21 is equal to the width of the stick tray to ensure the stability of limiting, but it is inconvenient to place the stick tray into the stick tray limiting groove 21, therefore, as shown in fig. 15, the outer frame 1 is provided with a guide groove 3 connected with the inlet end of each stick tray limiting groove, the guide groove 3 includes two guide blocks located at both sides of the inlet end of the stick tray limiting groove 21, and a wedge-shaped groove-shaped space with a large opening end and a small inner end is formed between the two guide blocks. An indicator light 4 is arranged at the inlet of each guide groove 3, and the indicator light 4 is used for indicating whether a strip tray exists in the corresponding strip tray limiting groove 21.

Although the difficulty of inserting the stick trays can be reduced by adding the guide grooves 3, the drawer 2 can be opened by a pushing force when inserting the stick trays into each stick tray stopper groove 21, which is obviously disadvantageous for the operation of putting the stick trays. Therefore, as shown in fig. 12, 14 and 16, the outer frame 1 is further provided with a first stopper mechanism 5 having a power source for at least restricting the opening of the drawer 2, so that the drawer can be effectively prevented from being opened when the stick tray is inserted into the stick tray stopper groove 21, and when the stick tray is inserted and then needs to be opened, the first stopper mechanism 5 automatically releases the restriction of the opening operation of the drawer 2, so that the drawer with the stick tray can be opened to perform a corresponding operation.

Since there are a plurality of drawers 2, it is necessary to restrict the opening of each drawer 2 when the stick tray is inserted, and in this embodiment, the opening of all the drawers 2 is restricted by the first stopper mechanism 5. The specific structure of the first limiting mechanism 5 will be described in detail, as shown in fig. 12 and 16, which comprises a power source 51 capable of generating a linear movement in the vertical direction Z, said power source 51 being an air or hydraulic cylinder or a linear movement device driven by an electric motor, the power source 51 is connected to a vertical rod 52 driven by the power source to move at a first height and a second height, the side of the vertical rod 52 is formed with a stop block 54 corresponding to the projection 53 of each side of the drawer 2, at a first height, the stop block 54 is located in front of the projection 53 of the drawer 2 in the closed state (defining that during the opening process of the drawer 2, the position where the drawer passes through first is the rear position, and the position where the drawer passes through later is the front position), namely, the blocking block 54 is located on the moving path of the opening of the projection 53, so that the projection 53 is blocked by the blocking block 54 when being opened and cannot be opened continuously; at the second height, the stop 54 is vertically offset from the projection 53, so that the stop 54 does not block the movement of the projection 53.

In order to ensure the movement stability of the vertical rod 52, a guide post (not shown in the figure) is arranged on the bracket, and the guide post is inserted into a waist-shaped hole extending in the vertical direction on the vertical rod 52; as shown in fig. 12, the vertical rod 52 is connected to a cross rod 55 perpendicular thereto, the cross rod 55 is connected to the power source 51, two guide sleeves 56 are disposed on the cross rod 55, a guide shaft 57 extending in the vertical direction is inserted into each of the two guide sleeves 56, and the guide shaft 57 is fixed to the outer frame 1.

Further, the outer frame 1 is provided with second limiting mechanisms corresponding to the number of the drawers 2, each of the second limiting mechanisms at least can limit the opening of the corresponding drawer 2, specifically, as shown in fig. 17, the second limiting mechanism includes a limiting pin 6 located at a side portion of each drawer 2, the limiting pin 6 can move along an axial direction thereof and is vertically disposed on one side plate 11 of the outer frame, the side plate 11 is provided with a through hole 12 for the limiting pin 6 to pass through, and a shaft sleeve (not shown in the figure) can be further disposed at an outer side of the side plate 11, the limiting pin 6 sequentially penetrates through the shaft sleeve and the side plate 11, and the limiting pin 6 is connected with a linear driving mechanism (not shown in the figure), such as an air cylinder, for driving the limiting pin 6 to extend into the outer frame 1 and be located in front of a bump 53 on the drawer 2 in a closed state, the drawer 2 can be effectively restrained, and in the second state, the linear driving mechanism drives the front end of the restraining pin 6 to be positioned outside the projection 53, so that the movement of the projection 53 is relieved.

Each of the second limit mechanisms may have an independent linear driving mechanism, but this requires a plurality of linear driving mechanisms, which is disadvantageous in terms of structural simplicity and cost reduction, and therefore, in a more preferred embodiment, as shown in fig. 17, a set of the limit pins 6 is driven by one linear driving mechanism to move axially, in which case the linear driving mechanism needs to move vertically to each of the limit pins 6 and is connected to the limit pin 6, and then drives the limit pin 6 to move axially, in which case the linear driving mechanism can be automatically and rapidly connected to and disconnected from the limit pin 6 by a quick-connection structure such as a claw or an electromagnet.

The lifting driving mechanism for driving the linear driving mechanism to lift can be designed according to the requirement, for example, a non-inductive air cylinder or a hydraulic cylinder or an electric push rod extending along the vertical direction Z can be used for driving the linear driving mechanism to lift. In a more preferred embodiment, the lifting driving mechanism 7 includes a motor 71 fixed on the side of the frame, an output shaft of the motor 71 is coaxially connected to a driving wheel 72, the driving wheel 72 is lower than the lowest drawer, the driving wheel 72 is connected to a driven wheel 74 through a transmission belt 73, the driven wheel 74 is higher than the highest drawer, the transmission belt 73 is connected to a connecting plate (not shown in the figure), the connecting plate is slidably disposed on a guide rail (not shown in the figure) extending along the vertical direction Z through a sliding block 75, and the linear driving mechanism is connected to the connecting plate, so that the forward and reverse rotation of the motor drives the forward and reverse rotation of the belt to realize the lifting of the connecting plate, and further drives the linear driving mechanism to lift and lower to the limiting pins 6 at different positions for.

At the same time, each of the limit pins 6 also cooperates with a second projection (not shown in the figures) on the side of the drawer 2 to limit the drawer to be closed, that is, when the drawer 2 is opened, the second projection is located in front of the limit pin 6 in the second state, so that the limit pin 6 limits the second projection to prevent the drawer 2 from being closed. Of course, in other embodiments, the stop block 54 of the first limiting mechanism can cooperate with the second protrusion to prevent the drawer from closing.

Further, an openable and closable door (not shown in the figure) for at least covering all the drawers is further disposed on the outer frame 1, the door and the drawer in an opened state are located on the opposite side of the outer frame, the openable and closable door is used for being opened when a strip is added, and the door is closed after the strip is placed in the strip tray limiting groove 21, and the door may be an automatic door or a manual door.

Finally, when in subsequent testing, the drawer 2 needs to be opened to take out the strip-shaped objects in the drawer 2, in order to facilitate automatic opening of the drawer 2, a part which can be magnetically attracted is arranged at one end of each drawer 2 towards the opening direction of the drawer, and then the connection between the opening mechanism and the drawer 2 can be realized through magnetic attraction, and then the drawer 2 is opened by applying pulling force to the drawer.

During the working process, the actions of the respective moving parts of the multifunctional manipulator and the strip storage device can be automatically controlled by various control devices (such as an industrial computer and/or a PLC) and a sensor, which are known in the art and are not described in detail herein.

The working process of the automatic feeding device is described as follows:

s1, providing the automatic feeding device of the above embodiment, which includes the multifunctional manipulator and the strip storage device, wherein the strip storage device has an openable drawer, one end of the drawer facing the multifunctional manipulator has a magnetically attracted portion, and the magnetically attracted portion faces the multifunctional manipulator.

S2, manually placing at least one tray carrying the strip into the strip tray limiting groove 21 of the drawer, wherein the sensor corresponding to the strip tray limiting groove 21 determines that there is a tray in the strip tray limiting groove 21.

And S3, controlling the horizontal moving mechanism 100 and the second driving mechanism 50 of the multifunctional manipulator to drive the electromagnetic adsorption device 9 to move to the drawer with the tray, electrifying to enable the electromagnetic adsorption device to generate magnetic force to adsorb the drawer, driving the electromagnetic adsorption device 9 to move horizontally by the horizontal moving mechanism 100 to open the drawer adsorbed by the electromagnetic adsorption device, and powering off the electromagnetic adsorption device 9 after the drawer is opened. The drawer is limited to be closed from an open state through a first limiting mechanism or a second limiting mechanism on the strip storage device.

S4, the control device controls the code reader on the multi-function robot to start reading the bar codes on the bars in the tray to determine the type, number and position of the bars.

And S5, controlling the horizontal moving mechanism and the second driving mechanism 50 to move the multifunctional manipulator according to the determined number and position of the strips, and clamping the required strips one by one and moving the required strips out of the drawer through the first clamping mechanism 20 and the second clamping mechanism 30 on the multifunctional manipulator, wherein at the moment, the first clamping mechanism 20 clamps the two sides of the strips, and the second clamping mechanism 30 clamps the protruding parts at the ends of the strips.

And S6, after the strip is moved out of the drawer, the first limiting mechanism or the second limiting mechanism relieves the limitation on the drawer, and the control device controls the horizontal moving mechanism 100 and the second driving mechanism 50 of the multifunctional manipulator to drive the electromagnetic adsorption device 9 to move and close the drawer after the strip is moved.

The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.

Claims (15)

1. Multifunctional manipulator, including the mounting bracket, its characterized in that: the mounting frame is provided with an electromagnetic adsorption device, a code reader and a first clamping mechanism, the electromagnetic adsorption device is positioned on the side part of the mounting frame, the adsorption end faces outwards, the code reader is obliquely arranged above the electromagnetic adsorption device, and the lens faces outwards and downwards; the first clamping mechanism is located on the inner side of the electromagnetic adsorption device and located below the code reader.

2. The multi-functional manipulator of claim 1, characterized in that: the first clamping mechanism comprises a first motor, the first motor drives two moving blocks which move in a reciprocating mode along a first horizontal direction Y relative to the mounting frame, the two moving blocks move synchronously and are opposite in moving direction, and two opposite claw bodies are arranged on the two moving blocks.

3. The multi-functional manipulator of claim 1, characterized in that: the mounting bracket is provided with a second clamping mechanism, the opening and closing direction of the second clamping mechanism is perpendicular to that of the first clamping mechanism, and the tail end of the claw body of the second clamping mechanism is higher than that of the claw body of the first clamping mechanism.

4. The multi-functional manipulator of claim 3, characterized in that: the second clamping mechanism is connected with a first driving mechanism which drives the second clamping mechanism to reciprocate along the vertical direction Z.

5. The multi-functional manipulator of claim 1, characterized in that: the mounting frame can be arranged on the vertical frame in a reciprocating mode along the vertical direction Z, and a second driving mechanism for driving the mounting frame to move along the vertical direction is arranged on the vertical frame.

6. The multi-functional manipulator of claim 5, characterized in that: the vertical frame is provided with a third clamping mechanism, the third clamping mechanism and the mounting frame are located on two opposite sides of the vertical frame, and the third clamping mechanism is connected with a third driving mechanism for driving the third clamping mechanism to reciprocate along the vertical direction Z.

7. The multi-functional manipulator of claim 6, characterized in that: the third clamping mechanism comprises a second motor, a motor shaft of the second motor extends longitudinally and is eccentrically connected with a transmission piece, the transmission piece is coaxially connected with a rotating piece capable of rotating relative to the transmission piece, the rotating piece is embedded into a mounting groove of the first clamping block, the first clamping block is movably arranged on a guide rail extending in the second horizontal direction X, the guide rail is fixed on a fixed block, and the fixed block is further provided with a second clamping block matched with the first clamping block.

8. The multi-functional manipulator of claim 6, characterized in that: the vertical frame is further provided with a first cover opening plate, and the first cover opening plate is connected with a fourth driving mechanism for driving the first cover opening plate to lift.

9. The multi-functional manipulator of claim 8, characterized in that: the lower part of the first cover opening plate comprises a group of equidistant cover opening push rods.

10. The multi-functional manipulator of claim 8, characterized in that: and a second opening cover plate is arranged on the inner side of the first opening cover plate in a clearance mode, and the lower end of the second opening cover plate extends to the position below the first opening cover plate.

11. The multifunctional manipulator of any one of claims 5 to 10, wherein: the vertical frame is connected with a horizontal moving mechanism which drives the vertical frame to move along a first horizontal direction and a second horizontal direction.

12. Automatic feedway, its characterized in that: comprising the multifunctional manipulator of any one of claims 1-11.

13. The automatic feeding device according to claim 12, characterized in that: the strip-shaped object storage device is provided with an openable drawer, and one end of the drawer, facing the multifunctional manipulator, is provided with a part capable of being magnetically attracted.

14. The automatic feeding method is characterized in that: at least comprises the following steps:

s1, providing the multi-function manipulator according to any one of claims 5-11 and a strip storage device having an openable drawer having a magnetically attractable portion at an end thereof facing the multi-function manipulator;

s2, placing the tray loaded with the strip-shaped objects into the drawer;

s3, the electromagnetic adsorption device on the multifunctional manipulator adsorbs the drawer and opens the drawer;

s4, reading the bar codes on the bars in the tray by the code reader on the multifunctional manipulator to determine the type, the number and the position of the bars;

and S5, the first clamping mechanism on the multifunctional manipulator clamps the needed bars one by one and moves the bars out of the drawer.

15. The automated feeding method according to claim 14, wherein: after the S3, before S5, the drawer is restricted from being closed from an open state by a first or second stopper mechanism.

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