CN113763995B - Automatic allocation and storage assembly line - Google Patents
Automatic allocation and storage assembly line Download PDFInfo
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- CN113763995B CN113763995B CN202111045588.9A CN202111045588A CN113763995B CN 113763995 B CN113763995 B CN 113763995B CN 202111045588 A CN202111045588 A CN 202111045588A CN 113763995 B CN113763995 B CN 113763995B
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- G—PHYSICS
- G11—INFORMATION STORAGE
- G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
- G11B9/00—Recording or reproducing using a method not covered by one of the main groups G11B3/00 - G11B7/00; Record carriers therefor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/12—Computing arrangements based on biological models using genetic models
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/12—Computing arrangements based on biological models using genetic models
- G06N3/123—DNA computing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to the technical field of information storage, and particularly discloses an automatic allocation and storage assembly line, which comprises a transmission system and a separate injection system; the automatic feeding device also comprises a feeding system, a discharging system and a transmission control system; the transmission control system is used for controlling the connecting pipe transmission assembly to move at a preset speed; the feeding system comprises a feeding device arranged above the conveying system, the feeding device comprises a feeding box, the feeding box is used for storing the connecting pipes to be fed, and the feeding device is used for placing the connecting pipes in the feeding box on a connecting pipe placing disc; the separate injection system is used for injecting target liquid into the connecting tubes on the connecting tube placing disc; the blanking system comprises a grabbing component and a plurality of transmission components, and the plurality of transmission components are used for controlling the grabbing component to move along a plurality of directions; the grabbing component is used for grabbing the connecting pipe in the transmission process after the movement speed and the movement direction are the same as the transmission speed and the transmission direction. By adopting the technical scheme of the invention, the flux, the efficiency and the success rate of DNA storage can be improved.
Description
Technical Field
The invention relates to the technical field of information storage, in particular to an automatic allocation and storage assembly line.
Background
Unprecedented changes in our work and lifestyle have led to the advent of the internet era, and both knowledge and data have experienced explosive growth due to the surge of digitization and informatization. Statistical data show that humans produced 4.4ZB (44 hundred million TB) of data, 10 times that in 2013, in 2015 alone. With the advent of the big data era, mass data brings unprecedented challenges to the existing data storage technologies. However, the existing hard disk and tape data storage modes have the defects of limited storage time (30 years at most), large occupied space, inconvenient transportation, large electric energy loss, hardware loss and the like, and the existing hard disk and tape data storage modes may be far from meeting the demand of exponential form increase of data in the future.
The DNA storage technology is an emerging big data storage technology, which breaks through the traditional storage mode using solid media (such as hard disk, optical disk, removable disk, etc.) as media, converts the traditional 0-1 binary code of text, picture, sound, image file, etc. into DNA (deoxyribonucleic acid) nucleotide quaternary code (a, T, C, G combination) according to certain rules by using the natural information storage capacity of DNA base, then stores the data of text, picture, sound file, etc. by artificially synthesizing DNA of specific sequence, and then reads the restored data completely by using corresponding decoding means.
In order to improve the storage efficiency, an automatic allocation pipeline capable of storing given information in a DNA form in a full-automatic and high-throughput manner is needed.
Disclosure of Invention
The invention provides an automatic allocation and storage assembly line which can improve the flux, efficiency and success rate of DNA storage.
In order to solve the technical problem, the present application provides the following technical solutions:
an automatic allocation and storage assembly line comprises a transmission system and a separate injection system, wherein the transmission system comprises a connecting pipe transmission assembly and a connecting pipe placing disc, and the connecting pipe transmission assembly is used for transmitting the connecting pipe placing disc; the automatic feeding device also comprises a feeding system, a discharging system and a transmission control system;
the transmission control system is used for controlling the connecting pipe transmission assembly to move at a preset speed;
the feeding system comprises a feeding device arranged above the conveying system, the feeding device comprises a feeding box, the feeding box is used for storing the connecting pipes to be fed, and the feeding device is used for placing the connecting pipes in the feeding box on a connecting pipe placing disc;
the separated injection system is used for injecting target liquid into the connecting tubes on the connecting tube placing disc;
the blanking system comprises a grabbing component and a plurality of transmission components, and the plurality of transmission components are used for controlling the grabbing component to move along a plurality of directions; the plurality of transmission assemblies are also used for controlling the movement speed and the movement direction of the grabbing assemblies according to the transmission speed and the transmission direction of the connecting pipes, and the grabbing assemblies are used for grabbing the connecting pipes in the transmission process after the movement speed and the movement direction are the same as the transmission speed and the transmission direction.
The basic scheme principle and the beneficial effects are as follows:
in this scheme, through controlling the antithetical couplet pipe transmission assembly and according to predetermineeing the speed and remove, can guarantee going on smoothly of material loading, branch injection and unloading. The feeding box is arranged, and is matched with the use of the connecting pipe transmission assembly and the feeding device, and is specially used for storing the connecting pipes to be fed. The cooperation of antithetical couplet pipe transmission assembly and loading attachment realizes the antithetical couplet pipe and places the transmission of dish and the placing of antithetical couplet pipe, when the antithetical couplet pipe was placed the dish and is transmitted to the loading attachment below, and the antithetical couplet pipe in the loading attachment will be put to the antithetical couplet pipe and place the dish, will ally oneself with the pipe and put to the production line on, and the incessant transmission of dish is placed to antithetical couplet pipe at this in-process antithetical couplet pipe, under the condition of placing in the face of a large amount of antithetical couplet pipes, can effectively improve the efficiency of placing of antithetical couplet pipe.
Through the injection system, each single pipe of the union pipe can be injected with specified drugs according to program setting, and compared with manual injection, the success rate is high.
Finally, the arrangement of a plurality of transmission assemblies can control the grabbing assembly to move in a plurality of directions, so that the grabbing assembly can be controlled to move to any position through the cooperation of the movement in the plurality of directions, and the connecting pipe on any position can be grabbed.
When the union pipe is grabbed, the motion direction and the motion speed of the grabbing component are consistent with the transmission direction and the transmission speed of the union pipe through the transmission component, namely, the grabbing component and the union pipe move in the same direction and at the same speed, so that the follow-up in-process of grabbing the union pipe is ensured to have no resistance in the motion direction, the error rate when the union pipe is grabbed is reduced, and the stability of grabbing the union pipe is improved. Meanwhile, the connecting pipes are uninterruptedly transmitted in the process, so that the grabbing efficiency of the connecting pipes can be effectively improved under the condition that a large number of connecting pipes are subjected to blanking, and the production efficiency is improved.
In conclusion, the scheme can improve the flux, efficiency and success rate of DNA storage.
Furthermore, the feeding box comprises a box body, a plurality of vertical accommodating holes are formed in the box body, and the accommodating holes are used for storing the stacked connecting pipes;
the device also comprises a feeding base, wherein the feeding base comprises a workbench, and a strip-shaped hole which is over against the header placing disc is formed in the workbench;
the feeding device further comprises a feeding transmission mechanism, and the feeding transmission mechanism is used for transmitting the feeding box to enable the accommodating holes to be opposite to the strip-shaped holes.
The feeding box is arranged, so that the connecting pipes can be conveniently transported in batches; the feeding base is arranged to provide an installation position for the feeding transmission mechanism; the feeding box is convenient to move due to the arrangement of the feeding transmission mechanism. When the feeding box moves on the workbench, the workbench closes the bottom of the feeding box, so that the connecting pipe moves along with the feeding box. When the feeding box moves to the accommodating hole and is right opposite to the strip-shaped hole, the connecting pipe falls through the strip-shaped hole, and therefore automatic feeding of the connecting pipe is achieved.
Furthermore, the feeding device also comprises a movable clamp, a fixed clamp and a fourth transmission assembly, wherein the movable clamp and the fixed clamp are used for clamping two adjacent connecting pipes, the fourth transmission assembly is fixedly connected with the movable clamp, and the fourth transmission assembly is used for moving the movable clamp to separate the two adjacent connecting pipes; the fourth transmission assembly is further used for moving the movable clamp, and when the distance from the bottom end of the connecting pipe clamped by the movable clamp to the connecting pipe placing disc is smaller than a preset distance threshold value, the fourth transmission assembly stops moving the movable clamp.
Because the connecting pipes are stacked, two adjacent connecting pipes are in a connecting state. And the fixed clamp and the movable clamp are arranged to clamp two adjacent connecting pipes, namely a first connecting pipe and a second connecting pipe which are arranged from top to bottom in a reciprocal manner. And the fourth transmission assembly drives the movable clamp to move, so that the penultimate connecting pipe and the penultimate connecting pipe are separated.
Move anchor clamps and drive the antithetical couplet pipe and remove, firstly separate two adjacent antithetical couplet pipes, secondly remove the antithetical couplet pipe to being close to the position that the antithetical couplet pipe placed the dish, under this position, the antithetical couplet pipe does not influence the antithetical couplet pipe and places the removal of dish, can fall to the antithetical couplet pipe in the short time simultaneously again and place the dish on, realize the accurate material loading of antithetical couplet pipe.
Furthermore, the feeding device also comprises a pipe connecting mechanism and a feeding auxiliary mechanism, wherein the pipe connecting mechanism comprises a telescopic block and a third transmission assembly, the free end of the third transmission assembly is fixedly connected with the telescopic block, when the telescopic block extends out, the telescopic block is positioned below the strip-shaped hole, and the upper surface of the telescopic block can be abutted against a connecting pipe falling in the feeding box;
when the accommodating hole is over against the strip-shaped hole, the feeding auxiliary mechanism is used for pushing out the connecting pipe in the feeding box; the feeding auxiliary mechanism comprises a second transmission assembly and a pushing and pressing piece, the pushing and pressing piece is fixedly connected with the free end of the second transmission assembly, and the second transmission assembly is used for moving the pushing and pressing piece, so that the pushing and pressing piece pushes the connecting pipe out of the feeding box.
And the third transmission assembly controls the extension and contraction of the telescopic block. The flexible piece that stretches out blocks the yoke pipe of following the whereabouts of bar hole, and when the yoke pipe offseted with flexible piece, the yoke pipe keeps this state, is convenient for decide anchor clamps and move anchor clamps and carry out the centre gripping to the yoke pipe.
The union pipe and the accommodating hole may have friction or have long storage time, and the union pipe is adhered to the wall of the accommodating hole, so that the union pipe cannot fall freely. The material loading complementary unit's setting is pushed out the material pipe from the magazine through the bulldozing piece for the union pipe falls from the bar hole.
Furthermore, the number of the transmission assemblies of the blanking system is three, the three transmission assemblies are used for controlling the grabbing assembly to move along three directions, and the three directions are mutually perpendicular.
The three directions perpendicular to each other are adopted, the grabbing component can move to any position by the aid of the transmission components with the minimum quantity, and equipment cost and control difficulty are reduced.
Further, any one of the three directions is parallel to the conveying direction of the header.
When the grabbing component needs to move to any position, the calculation difficulty of calculating the required movement distance is reduced, so that the control reaction speed is improved, and the quick and accurate movement of the grabbing component is realized.
Further, snatch the subassembly and include anchor clamps, anchor clamps include first clamping jaw and second clamping jaw, and the arc hole has been seted up to one side that first clamping jaw and second clamping jaw are relative, and when first clamping jaw and second clamping jaw offset, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe.
The setting of arc hole when snatching the antithetical couplet pipe, in the laminating of antithetical couplet pipe lateral wall, improves the stability of snatching subassembly centre gripping antithetical couplet pipe.
Furthermore, it still includes parallel gas claw to snatch the subassembly, and parallel gas claw is including two pneumatic fingers that can move in opposite directions, two pneumatic fingers respectively with first clamping jaw, second clamping jaw fixed connection.
The parallel air claws are adopted to control the grabbing components for grabbing the connecting pipes, so that the control is simple and the stability is strong.
The blanking control system is used for counting the blanking number of the connecting pipes, counting once after the first clamping jaw and the second clamping jaw loosen the connecting pipes, and generating a reminding signal when the blanking number of the connecting pipes reaches a preset number.
For example, the preset number is the number of the connecting pipes which can be placed in the blanking box. When the number of the connected pipes reaches the preset number, a reminding signal is generated, so that the relevant working personnel can be reminded of replacing the connected pipes in time.
The system further comprises a feeding control system, a feeding control system and a feeding control system, wherein the feeding control system is used for detecting the connecting pipes on the connecting pipe placing disc and counting the feeding quantity of the connecting pipes;
the device is also used for counting the falling times of the connecting pipes in the feeding box, generating the quantity of the connecting pipe materials to be fed according to the falling times of the connecting pipes, judging whether the quantity of the connecting pipe materials to be fed is consistent with the quantity of the connecting pipes, and giving an alarm when the quantity of the connecting pipe materials to be fed is inconsistent.
The condition that the connecting pipe is blocked and cannot fall can be found in time.
Drawings
FIG. 1 is a top view of an embodiment automated inventory pipeline;
FIG. 2 is an enlarged schematic view of FIG. 1 at A;
FIG. 3 is an isometric view of the feeding system;
FIG. 4 is an isometric view of the clamping mechanism, the take-over mechanism, and the flattening apparatus;
FIG. 5 is an isometric view of a dispensing system
FIG. 6 is a rear view of the blanking system;
fig. 7 is a left side view of the blanking system.
Detailed Description
The following is further detailed by way of specific embodiments:
the reference numbers in the drawings of the specification include: the automatic pipe feeding device comprises a conveying system 1, a feeding system 2, a dispensing system 3, a discharging system 4, a transmission base 5, a pipe connecting placing disc 6, a conveying belt 7, a first guide block 8, a second guide block 9, a connecting block 10, a clamping block 11, a feeding base 12, a workbench 13, a feeding box 14, a containing hole 15, a first transmission assembly 16, a guide block 17, a second transmission assembly 18, a pushing and pressing piece 19, a telescopic block 20, a third transmission assembly 21, a fixed clamp 22, a movable clamp 23, a first parallel air claw 24, a second parallel air claw 25, a pressing plate 26 and a fifth transmission assembly 27. The device comprises a liquid storage bottle 28, a support 29, an electromagnetic valve 30, a liquid spray nozzle 31, a sixth transmission assembly 32, a seventh transmission assembly 33, an eighth transmission assembly 34, a parallel gas claw 35, a clamp 36 and a blanking box 37.
Examples
As shown in fig. 1, an automatic allocation and storage assembly line of this embodiment includes a conveying system 1, a loading system 2, a dispensing system 3, a discharging system 4, and a master control system;
as shown in fig. 2, the transfer system 1 includes a transfer base 5, a manifold transfer assembly, and a manifold placement tray 6.
The union pipe transmission assembly is arranged on the transmission base 5 and is used for transmitting the union pipe placing disc 6, the union pipe placing disc 6 comprises a sliding block and a fixing plate, a first placing groove used for placing the union pipe is formed in the upper surface of the fixing plate, the first placing groove is matched with the shape of the union pipe, the union pipe refers to consumables which are sequentially connected by a plurality of reaction pipes, and the number of the first placing grooves is multiple and is distributed in sequence. The fixed plate is detachably connected with the sliding block, and particularly, the fixed plate and the sliding block are detachably connected through the fixing screws.
The union pipe transmission assembly comprises a driving wheel, a driven wheel and a conveying belt 7 in transmission connection with the driving wheel and the driven wheel, and the axial directions of the driving wheel and the driven wheel are parallel to the vertical direction. The transmission device also comprises a power supply and a transmission motor, wherein the power supply provides a power source, and an output shaft of the transmission motor is connected with the driving wheel key.
The side of action wheel and follow driving wheel is equipped with evenly distributed's first guide block 8, and the inboard of conveyer belt 7 is equipped with the second guide block 9 that uses with first guide block 8 cooperation, and is concrete, and the distance of adjacent first guide block 8 equals the width of second guide block 9 on the horizontal direction, and the distance of adjacent second guide block 9 equals the width of first guide block 8 on the horizontal direction.
The first guide block 8 and the second guide block 9 are both vertically arranged, that is, the length direction of the first guide block 8 and the second guide block 9 is parallel to the vertical direction, and in other embodiments, the first guide block 8 and the second guide block 9 are obliquely arranged, that is, the length direction of the first guide block 8 and the second guide block 9 intersects with the vertical direction.
The connecting pipe transmission assembly further comprises a connecting piece, the connecting piece comprises a connecting block 10 and two clamping blocks 11, limiting grooves are formed in two sides of the connecting block 10, one opposite side of each clamping block 11 extends to form a protruding portion, and the two protruding portions are in contact with the two limiting grooves respectively. The connecting block 10 is fixedly connected with the outer side of the conveying belt 7, the clamping blocks 11 are fixedly connected with the side faces of the header placing discs 6, namely, one side, far away from the limiting groove, of each clamping block 11 is fixedly connected with the side face of the sliding block through a screw.
The connecting pipe transmission assembly further comprises a sliding part and a guide rail, the guide rail is identical to the conveyor belt 7 in shape in the horizontal direction, the guide rail is located on the outer side of the conveyor belt 7, the outer side of the conveyor belt 7 is one side, far away from the driving wheel, of the conveyor belt 7, and the sliding part is used for enabling the connecting pipe placing disc 6 to move along the guide rail. The sliding part comprises a plurality of rollers, the mounting shafts of the rollers are fixedly connected with the sliding block, the side surfaces of the rollers are abutted against the side surfaces of the guide rails, and the rollers are respectively positioned on two sides of the guide rails. Specifically, the number of the rollers is four, that is, the left side and the right side of the guide rail are respectively abutted against the side surfaces of the two rollers.
The feeding system 2 comprises a feeding base 12 and a feeding device.
The feeding base 12 is arranged on the transmission base 5, the feeding device is arranged on the feeding base 12, and the feeding device is positioned above the connecting pipe transmission assembly. Material loading base 12 includes workstation 13, has seted up the bar hole on the workstation 13, and the bar hole is just to the header transmission subassembly, places when the header that set 6 transmits to bar hole below, and the bar hole is just to the header placing set 6, and the length direction in bar hole is parallel with the distribution direction that the header placed the standing groove on the set 6.
As shown in fig. 3, the feeding device is used for placing the header in the feeding box 14 on the header placing tray 6, and the feeding device comprises a feeding transmission mechanism, a feeding auxiliary mechanism, a clamping mechanism, a pipe connecting mechanism and the feeding box 14. Go up magazine 14 and be used for depositing the antithetical couplet pipe of treating the material loading, go up magazine 14 and include the box body, seted up a plurality of vertical holes 15 of accomodating on the box body, accomodate hole 15 and stack in the hole 15 and have a plurality of antithetical couplet pipes along perpendicular bar hole length direction evenly distributed.
The feeding transmission mechanism is used for transmitting a feeding box 14, the feeding transmission mechanism is arranged on the upper surface of the workbench 13 and comprises a first transmission assembly 16 and a tray, the first transmission assembly 16 is used for transmitting the tray, and the transmission direction of the tray is perpendicular to the length direction of the strip-shaped hole. First transmission assembly 16 includes first lead screw pair, first guide arm, first base and first motor, the both ends of first guide arm respectively with first base fixed connection, the one end and the first base swing joint of lead screw in the first lead screw pair, the output shaft fixed connection of the other end and first motor, one end and the first base fixed connection of lead screw are kept away from to first motor, the one end of nut cup joints on first guide arm in the lead screw pair, the other end and the tray fixed connection of nut, tray and last magazine 14 fixed connection, the upper surface fixed connection of base and workstation 13. The nut drives the feeding box 14 to move on the workbench 13 through the tray, so that the accommodating hole 15 of the feeding box 14 is just opposite to the strip-shaped hole on the workbench 13, and the moving direction of the feeding box 14 is vertical to the length direction of the strip-shaped hole.
The workbench 13 is further provided with two mutually parallel guide blocks 17, the two guide blocks 17 are respectively in contact with two opposite sides of the tray, the length direction of the guide blocks 17 is parallel to the moving direction of the feeding box 14, the tray moves along a channel between the two guide blocks 17, and the feeding transmission mechanism is used for transmitting the feeding box 14 along the two guide blocks 17.
The feeding auxiliary mechanism is used for pushing out the union pipe in the feeding box 14 when the accommodating hole 15 is opposite to the strip-shaped hole, the feeding auxiliary mechanism is located above the feeding transmission mechanism, the feeding auxiliary mechanism comprises a second transmission assembly 18 and a pushing and pressing piece 19, the pushing and pressing piece 19 is fixedly connected with the free end of the second transmission assembly 18, the second transmission assembly 18 is used for moving the pushing and pressing piece 19, and the pushing and pressing piece 19 is used for pushing out the union pipe in the accommodating hole 15 from the strip-shaped hole. The pushing and pressing part 19 comprises a connecting block, an elastic part and a pressing block which are connected in sequence, the pressing block is matched with the shape of the accommodating hole 15, and in the embodiment, the elastic part selects a spring. The elastic piece can prevent the connecting pipe from being pressed too tightly.
As shown in fig. 4, the pipe connecting mechanism includes a telescopic block 20 and a third transmission assembly 21, in this embodiment, the third transmission assembly 21 employs a first cylinder, and in other embodiments, the third transmission assembly 21 may employ a lead screw sliding table module. The free end and the flexible piece 20 fixed connection of first cylinder, flexible piece 20 is located the bar hole below, and the upper surface of flexible piece 20 offsets with the union pipe of pushing out in the last magazine 14. In the initial state, the telescopic block 20 is in the extended state, and at this time, the telescopic block 20 is located below the strip-shaped hole, when the connecting pipe is pushed out from the upper material box 14, the upper surface of the telescopic block 20 abuts against the bottom end of the connecting pipe, and the extended telescopic block 20 is used for blocking the falling connecting pipe. When the union pipe is not required to be blocked, the first cylinder drives the telescopic block 20 to retract, and the union pipe can move downwards.
The clamping mechanism comprises a movable clamp 23, a fixed clamp 22, a first parallel pneumatic claw 24, a second parallel pneumatic claw 25 and a fourth transmission assembly, wherein the movable clamp 23 and the fixed clamp 22 are used for clamping two adjacent connecting pipes, the fourth transmission assembly is fixedly connected with the movable clamp 23, and the fourth transmission assembly is used for moving the movable clamp 23 to separate the two adjacent connecting pipes. In this embodiment, the fourth transmission assembly adopts the second cylinder, and in other embodiments, the fourth transmission assembly can adopt a lead screw sliding table module. The pneumatic fingers of the first parallel pneumatic claw 24 are fixedly connected with the movable clamp 23, the pneumatic fingers of the second parallel pneumatic claw 25 are fixedly connected with the fixed clamp 22, and the fixed clamp 22 and the movable clamp 23 are sequentially arranged from top to bottom. The free end of the second cylinder is fixedly connected with the first parallel air claw 24, the second cylinder is used for driving the first parallel air claw 24 to move in the vertical direction, and the first parallel air claw 24 drives the movable clamp 23 to move in the vertical direction.
Specifically, but first parallel gas claw 24 and the parallel gas claw 25 of second all include two pneumatic fingers of relative motion, decide anchor clamps 22 including the first fixed clamping jaw and the second fixed clamping jaw of relative motion, the one end of the first fixed clamping jaw and the second fixed clamping jaw respectively with two pneumatic fingers fixed connection, the arc hole has been seted up to the relative one side of first fixed clamping jaw and second fixed clamping jaw, when the first fixed clamping jaw offsets with the second fixed clamping jaw, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe, decide anchor clamps 22 centre gripping antithetical couplet pipe this moment. Move anchor clamps 23 and move the clamping jaw including the first clamping jaw and the second that move in opposite directions, the one end that first clamping jaw and second moved the clamping jaw respectively with two pneumatic finger fixed connection, the arc hole has been seted up to first clamping jaw and the second one side that moves the clamping jaw relative, when first fixed clamping jaw offsets with the second, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe, moves 23 centre gripping antithetical couplet pipes of anchor clamps this moment.
In the initial state, the movable clamp 23 and the fixed clamp 22 are both in a loose state, the second air cylinder is in a contraction state, when the connecting pipes abut against the pipe connecting mechanism, the movable clamp 23 is used for clamping the last to last connecting pipe of the last connecting pipe from top to bottom in a stacked mode, and the fixed clamp 22 is used for clamping the last to last connecting pipe adjacent to the last to last connecting pipe. When the fixed clamp 22 and the movable clamp 23 clamp the connecting pipes, the connecting pipes do not need to be blocked, at the moment, the first cylinder drives the telescopic block 20 to retract, the second cylinder extends out to drive the movable clamp 23 to move downwards, the penultimate connecting pipe and the penultimate connecting pipe are separated, and when the second cylinder extends out completely, the distance between the second cylinder and the upper surface of the connecting pipe transmission disc is close. In this embodiment, the distance from the upper surface of the manifold transfer plate to the bottom end of the manifold is 2-5 mm when the second cylinder is fully extended. When the header placing disc 6 moves to the lower part of the header clamped by the movable clamp 23, the movable clamp 23 releases the header, and the header falls into the placing groove of the header placing disc 6 at the moment, so that the loading of the header is realized.
In other embodiments, the third and fourth transmission assemblies 21, 21 are pre-set to retract or extend a distance, and are considered to be retracted or extended into position when retracted or extended a corresponding pre-set distance. For example, the fourth transfer assembly is used to move the movable clamp 23, and when the movable clamp 23 moves a preset distance, the distance from the bottom end of the header clamped by the movable clamp 23 to the header placing tray 6 is less than 5 mm, the fourth transfer assembly stops moving the movable clamp 23.
The flattening device is positioned above the header transmission assembly and used for pressing the headers falling onto the header placing disc 6. Specifically, the flattening device includes a flattening plate 26 and a fifth transmission assembly, in this embodiment, the fifth transmission assembly employs a third air cylinder, and in other embodiments, the fifth transmission assembly may employ a lead screw sliding table module. The free end and the dull and stereotyped 26 fixed connection of clamp plate of third cylinder, the free end and the dull and stereotyped 26 fixed connection of fifth transmission subassembly promptly, the lower surface of clamp plate 26 can offset with the top of antithetical couplet pipe, and the third cylinder is used for controlling clamp plate 26 to move down and presses the antithetical couplet pipe on the antithetical couplet pipe placing tray 6 for antithetical couplet pipe and standing groove in close contact with.
The dispensing system 3 includes a gas supply unit, a liquid storage unit, a liquid supply unit, and a plurality of connection pipes.
The gas supply part is used for providing stable and clean gas. The gas supply part comprises a gas pump, a gas source processing device and a pressure stabilizing device; the output port of the air pump is connected with the input port of the air source processing device through a connecting pipe, and the output port of the air source processing device is connected with the input port of the pressure stabilizing device through a connecting pipe.
As shown in fig. 5, the liquid storage part comprises a bracket 29 and a plurality of liquid storage bottles; the liquid storage bottle is fixed on the top of the bracket 29. The liquid storage bottle is used for storing target liquid. The top of the liquid storage bottle is covered with a sealing cover, the sealing cover is provided with a connecting port, and the output port of the air source processing device is connected with the connecting port of the sealing cover through a connecting pipe. Namely, one gas supply portion supplies gas to all the liquid storage bottles as a whole.
In this embodiment, the number of the liquid storage bottles is 24, and the liquid storage bottles are distributed in a 4x6 matrix.
The liquid supply portion includes a solenoid valve 30 and a liquid ejecting nozzle 31. In this embodiment, the solenoid valve 30 is a high-precision micro-fluid solenoid valve 30, and the response time of the solenoid valve 30 should be as low as 10ms, the pressure resistance can reach 0.38Mpa, and the internal volume of the valve is 20uL, so as to meet the requirement of precision micro-control. The solenoid valves 30 are fixed on the side of the bracket 29, and the liquid nozzles 31 are horizontally fixed inside the bracket 29, in this embodiment, the number of the liquid nozzles 31 is 24. Each liquid storage bottle has a unique serial number, and the serial numbers correspond to the electromagnetic valves 30 and the liquid spraying nozzles 31 one by one to form a group of liquid spraying assemblies, and the liquid spraying assemblies are arranged in sequence. In this embodiment, in the same liquid spraying assembly, the outlet of the bottom of the liquid storage bottle is connected to the inlet of the solenoid valve 30 through a connecting pipe (not shown), and the outlet of the solenoid valve 30 is connected to the liquid spraying nozzle 31 through a connecting pipe. The specification of the connecting pipe can be selected according to actual conditions. For example, the diameter of the connection pipe for gas supply may be larger than the diameter of the liquid to be transported.
The bottom end of the bracket 29 is fixedly connected with the transmission base 5, and the conveyor belt 7 passes through the bracket 29. The liquid ejecting nozzle 31 is located on the moving path of the first placing tank and directly above the first placing tank. The union pipe adopts eight union pipes (8 reaction tubes that link together promptly) in this embodiment, and 3 eight union pipes can be placed to 24 trench altogether of first standing groove.
The blanking system 4 comprises a tool supporting frame and a blanking assembly;
the frock support frame sets up on transmission base 5, and the unloading subassembly is placed on the frock support frame. The unloading subassembly includes unloading box 37, and a plurality of evenly distributed's second standing groove is seted up to the upper surface of unloading box 37, and the second standing groove is used for placing the antithetical couplet pipe, and the second standing groove matches with the antithetical couplet pipe shape. In this embodiment, the feed box 37 is located outside the conveyor belt 7.
The transmission base 5 is further provided with a transmission support frame, as shown in fig. 6 and 7, the transmission support frame is fixedly connected with a sixth transmission assembly 32, the sixth transmission assembly 32 is movably connected with a seventh transmission assembly 33, the seventh transmission assembly 33 is movably connected with an eighth transmission assembly 34, the eighth transmission assembly 34 is fixedly connected with the grabbing assembly, and the sixth transmission assembly 32, the seventh transmission assembly 33 and the eighth transmission assembly 34 are used for controlling the grabbing assembly to move along three directions perpendicular to each other. Specifically, the method comprises the following steps:
the sixth transfer assembly 32 is adapted to control the gripping assembly to move in a first direction, which is perpendicular to the transfer direction of the manifold placement tray 6 in a horizontal plane. Sixth transmission assembly 32 includes the sixth lead screw pair, the sixth guide arm, sixth base and sixth motor, the both ends of sixth guide arm respectively with sixth base fixed connection, the one end and the sixth base swing joint of lead screw in the sixth lead screw pair, the output shaft fixed connection of the other end and sixth motor, the one end and the sixth base fixed connection of lead screw are kept away from to the sixth motor, the one end of first nut in the sixth lead screw pair cup joints on the sixth guide arm, the other end and the seventh transmission assembly 33 fixed connection of first nut, sixth base and transmission support frame fixed connection, first nut drives seventh transmission assembly 33 and moves along first direction, thereby it moves along first direction to drive the subassembly of snatching.
The seventh transport assembly 33 is adapted to control the gripping assembly to move in a second direction, which is parallel to the transport direction of the manifold placement tray 6 in the horizontal plane. The seventh transmission assembly 33 includes a seventh screw pair, a seventh guide rod, a seventh base and a seventh motor, two ends of the seventh guide rod are respectively fixedly connected to the seventh base, one end of the screw in the seventh screw pair is movably connected to the seventh base, the other end of the screw is fixedly connected to an output shaft of the seventh motor, one end of the seventh motor, which is far away from the screw, is fixedly connected to the seventh base, one end of a second nut in the seventh screw pair is sleeved on the seventh guide rod, the other end of the second nut is fixedly connected to the eighth transmission assembly 34, the seventh base is fixedly connected to the first nut of the first screw pair, and the second nut drives the eighth transmission assembly 34 to move along the second direction, so as to drive the grabbing assembly to move along the second direction.
The eighth transmission assembly 34 is used for controlling the grabbing assembly to move along a third direction, wherein the first direction, the second direction and the third direction are perpendicular to each other, and the third direction is a vertical direction. In this embodiment, the eighth transmission assembly 34 adopts a pneumatic sliding table, the pneumatic sliding table includes a sliding table base and a sliding end, the sliding end can slide on the sliding table base, the sliding table base of the pneumatic sliding table is fixedly connected with the second nut of the second screw rod pair, and the sliding end of the pneumatic sliding table is fixedly connected with the grabbing assembly. In other embodiments, the eighth transfer assembly 34 employs a lead screw slide.
The grabbing assembly comprises a parallel pneumatic claw 35 and a clamp 36, the parallel pneumatic claw 35 comprises a pneumatic claw base and two pneumatic fingers, the two pneumatic fingers can slide on the pneumatic claw base in opposite directions, the pneumatic claw base of the parallel pneumatic claw 35 is fixedly connected with the sliding end of the pneumatic sliding table, and the pneumatic fingers of the parallel pneumatic claw 35 are fixedly connected with the clamp 36. Anchor clamps 36 include first clamping jaw and second clamping jaw, first clamping jaw and second clamping jaw respectively with two pneumatic finger fixed connection, the arc hole has been seted up to one side that first clamping jaw and second clamping jaw are relative, when first clamping jaw and second clamping jaw offset, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe, 36 centre gripping antithetical couplet pipes of anchor clamps this moment.
The sixth transfer assembly 32, the seventh transfer assembly 33, the eighth transfer assembly 34 and the grasping assembly are all positioned above the union transfer assembly. In the initial state, the clamp 36 is in a released state, and the clamp 36 is in the same plane as the top of the header in the header placing tray 6.
The master control system comprises a transmission control system, a feeding control system, a separate injection control system and a discharging control system.
The transmission control system is used for controlling the transmission motor to rotate at a constant speed, so that the driving wheel rotates at a preset speed, and the purpose of uniform movement of the transmission belt is achieved.
The feeding control system comprises a first detection terminal, a second detection terminal, a third detection terminal and a first control module. The first control module comprises a feeding box 14 transmission unit, an auxiliary feeding unit, a connecting pipe and clamping unit, a connecting pipe transmission unit and a flattening unit.
The first detection terminal is disposed on the workbench 13, and is configured to detect the feeding box 14, and when the feeding box 14 is detected, a start signal is generated, and at this time, the feeding box 14 is located at an initial position.
Go up 14 transmission unit of magazine and be used for receiving behind the enabling signal, start first transmission assembly 16, control tray drives and goes up magazine 14 and move to the material loading position, and when going up magazine 14 and moving to the material loading position, the hole of accomodating 15 on the magazine 14 just faces the bar hole on the workstation 13.
The auxiliary feeding unit is used for starting the second transmission assembly 18 after the accommodating hole 15 on the feeding box 14 is opposite to the strip-shaped hole on the workbench 13, controlling the pushing part 19 to move downwards for a preset second distance Y, pushing out the connecting pipe in the accommodating hole 15 from the strip-shaped hole, and pushing the pushing part 19 in an initial state and the top end of the stacked connecting pipe when the bottom end of the stacked connecting pipe abuts against the pipe connecting mechanism at the second distance Y. And is also used to actuate the second transfer assembly 18 again to control the downward movement of the pusher 19 by a predetermined third distance Y', which is the distance between two adjacent manifolds stacked one on top of the other.
Specifically, still include first count sensor for the number of times of the union coupling whereabouts is counted, when the number of times of the union coupling whereabouts reaches and predetermines the union coupling number, represents that the union coupling in the hole 15 of accomodating has fallen, starts first transmission subassembly 16 this moment, predetermines the union coupling number and is the union coupling quantity that stacks in single hole 15 of accomodating.
The auxiliary loading unit is also used for starting the second transmission assembly 18 to reset after the connecting pipe in the accommodating hole 15 falls, and the pushing piece 19 moves out of the accommodating hole 15.
The transmission unit of the feeding box 14 is also used for starting the first transmission assembly 16 after the auxiliary feeding unit is reset, controlling the tray to move a preset first distance X, wherein another accommodating hole 15 on the feeding box 14 is just opposite to the strip-shaped hole on the workbench 13, and the first distance X is the distance between the adjacent accommodating holes 15 in the feeding box 14.
Specifically, the first counting sensor is further configured to count the number of the tube coupling fall groups, and when the number of the tube coupling fall groups reaches the preset number of the holes, the first conveying assembly 16 is started to reset and the feeding box 14 is replaced, which represents that all the tube couplings with the accommodating holes 15 fall completely. When the falling times reach the preset number of the connecting pipes, the number of the connecting pipes falling in one time is counted, and the preset number of the holes is the number of the accommodating holes 15 in the feeding box 14.
The connecting pipe and clamping unit is used for controlling the clamping mechanism to respectively clamp the first to last connecting pipe and the second to last connecting pipe from top to bottom after the bottom end of the connecting pipe abuts against the telescopic block 20. Specifically, the first parallel gas claw 24 is controlled to contract, so that the movable clamp 23 is controlled to clamp the penultimate connecting pipe; the second parallel gas claw 25 is controlled to contract, so that the primary clamp 22 is controlled to clamp the penultimate union pipe.
The connecting pipe and clamping unit is also used for controlling the third transmission assembly 21 to contract after the clamping mechanism clamps the connecting pipe, the telescopic block 20 moves towards the third transmission assembly 21, and when the third transmission assembly 21 contracts to a certain position, the telescopic block 20 does not block the connecting pipe from falling.
The connecting pipe and clamping unit is also used for controlling the fourth transmission assembly to extend out after the third transmission assembly 21 is contracted to the position, so as to control the movable clamp 23 to move downwards, so that the penultimate connecting pipe clamped by the movable clamp 23 moves downwards, when the fourth transmission assembly extends to the position, the penultimate connecting pipe is located at a falling position, and the distance from the bottom end of the penultimate connecting pipe to the upper surface of the connecting pipe transmission disc is 2-5 mm. In other embodiments, the third and fourth transmission assemblies 21, 21 are pre-set to retract or extend a distance, and are considered to be retracted or extended into position when retracted or extended a corresponding pre-set distance.
The union pipe transmission unit is used for starting the transmission motor after receiving the starting signal and controlling the transmission belt to move at a constant speed to transmit the union pipe placing disc 6. The second detection terminal is arranged on the transmission base 5 and is used for detecting the header placing tray 6, and when the header placing tray 6 is detected, a falling signal is generated; the connecting pipe and clamping unit is also used for controlling the brake clamp 23 to release the connecting pipe according to the falling signal when receiving the falling signal, and the falling connecting pipe just falls into the connecting pipe placing disc 6 and moves along with the connecting pipe placing disc 6. Specifically, the distance from the second detection terminal to the falling position in the horizontal direction is a, the distance from the falling position to the upper surface of the header placement tray 6 in the vertical direction is B, the required time T1 is predicted according to the distance a and the movement speed of the conveyor belt, the required time T2 is predicted according to the distance B, T2 is smaller than T1, the connecting pipe and clamping unit is further used for starting timing when receiving a falling signal, when the timing reaches T2-T1, the movable clamp 23 is controlled to release the header, and when the header placement tray 6 moves to the position below the falling position, the falling header just falls into the header placement tray 6.
The connecting pipe and clamping unit is also used for sequentially starting the fourth transmission assembly, the third transmission assembly 21 and the second parallel air claw 25 to reset after the movable clamp 23 loosens the connecting pipe, so that the fixed clamping claw loosens the connecting pipe, the connecting pipe falls to abut against the telescopic block 20, at the moment, the second transmission assembly 18 is started again to push the connecting pipe in the accommodating hole 15, the first parallel air claw 24 and the second parallel air claw 25 are started to enable the movable clamp 23 and the fixed clamp 22 to clamp the connecting pipe, and the connecting pipe is charged again.
The third detection terminal sets up on transmission base 5, and the third detection terminal is used for detecting the header and places dish 6, when detecting the header and place dish 6, generates the signal of flattening. When the unit that flattens is used for receiving the signal that flattens, control fifth transmission assembly stretches out to control and press dull and stereotyped 26 and move down, press the antithetical couplet pipe in the dish 6 is placed to the antithetical couplet pipe, make antithetical couplet pipe and antithetical couplet pipe place dish 6 in close contact with, accomplish antithetical couplet pipe unloading process.
In other embodiments, the system further comprises a neglected loading terminal, which is used for detecting the headers on the header placing tray 6 and counting the number of the fed headers; and the neglected loading judgment module is used for generating the number of the link emptying according to the falling times of the link, the falling group number of the link and the falling signal, judging whether the number of the link emptying and the number of the link feeding are consistent or not, and giving an alarm when the numbers are inconsistent.
The dispensing control system includes a control board electrically connected to the solenoid valve 30. The control board is used for individually controlling the on-off of each electromagnetic valve 30 so as to realize the liquid spraying control of the appointed liquid spraying nozzle 31 according to the serial number of the liquid storage bottle.
Specifically, a Microcontroller (MCU), a plurality of MOS tubes and a plurality of MOS tube driving circuits are arranged on the control panel; the MOS tube driving circuit, the MOS tube, and the electromagnetic valve 30 correspond to each other one to one.
The microcontroller is used for generating PWM (pulse width modulation) signals, inputting the PWM signals into the MOS tube driving circuit to control the on-off of the MOS tube, and realizing the on-off control of the electromagnetic valve 30 through the on-off of the MOS tube.
And the microcontroller decodes the data in the received separated injection control signal to decode the serial number of the liquid storage bottle requiring liquid injection and the serial number of the liquid storage bottle in which the solution needs to be filled into each reaction tube. The first placing groove for placing the reaction tubes moves on the conveyor belt 7 at a constant speed and sequentially passes through the first liquid spraying nozzle 31, the microcontroller judges whether to spray liquid according to the decoding information, then the first placing groove passes through the second liquid spraying nozzle 31, the second reaction tube also passes through the first liquid spraying nozzle 31 at the moment, the same liquid spraying judgment is carried out, and the like is carried out until the last reaction tube passes through the last liquid spraying nozzle 31, so that the operation of loading different solutions into a plurality of reaction tubes is realized. In this example, the gas pressure was 0.03MPa, and the amount of liquid sprayed was 6uL when the solenoid valve 30 was opened for 18 ms.
The blanking control system comprises a fourth detection terminal and a second control module;
and a fourth detection terminal is arranged on the transmission base 5 and is used for detecting the header placing plate 6, and when the header placing plate 6 is detected, a blanking starting signal is generated.
The second control module is used for calling the transmission speed and the transmission direction of the conveyor belt 7 according to the blanking starting signal, starting the seventh transmission assembly 33, and controlling the movement speed and the movement direction of the clamp 36 moving along the second direction according to the transmission speed and the transmission direction.
The second control module is further configured to time when the seventh transmission assembly 33 is started, and when the time reaches a preset time (at this time, the clamp 36 moves in the same direction and at the same speed as the header on the header placing tray 6), the parallel pneumatic claw 35 is started, the first clamping jaw and the second clamping jaw of the clamp 36 are controlled to move in the opposite direction to clamp the header, and at this time, the clamp 36 is in a clamping state. The preset time is the time required for the jaws to accelerate to the transport speed.
The second control module is further configured to start the eighth transmission assembly 34 after the union pipe is clamped, and control the clamp 36 to move in the third direction according to the preset distance, that is, control the clamp 36 to move vertically upward. Predetermine the distance and for the distance between the upper header bottom of the header of vertical direction upper header placing plate 6 and the lower box 37 upper surface, stop the header motion for avoiding lower box 37, predetermine the distance and place the distance between upper header bottom of the header of plate 6 and the lower box 37 upper surface 2 to 5 millimeters big than the upper header in vertical direction.
The second control module is further configured to start the sixth transmission assembly 32 and the seventh transmission assembly 33 after the clamp 36 moves a preset distance along the third direction (at this time, the pipe is separated from the pipe placing tray 613), and control the clamp 36 to move above the blanking box 37 according to a preset position. The preset position is the position of the second placing groove in the blanking box 37, and includes a distance X in the first direction and a distance Y in the second direction, where the distance X is the distance between the connecting pipe clamped by the clamp 36 and the second placing groove in the second direction after the clamp 36 moves a preset distance in the third direction. The distance X increases with the number of times of placement, and each time the distance X 'increases, X' is the distance between adjacent second placement grooves in the second direction, until the lower magazine 37 is filled with the headers, starting from the distance X again. The distance Y is the distance between the header and the second placing groove which are clamped by the clamp 36 in the first direction after the clamp 36 moves along the third direction by the preset distance.
The second control module is also used for starting the parallel gas claw 35 after the clamp 36 moves to the preset position, controlling the first clamping jaw and the second clamping jaw of the clamp 36 to move back to back, loosening the connecting pipe, enabling the clamp 36 to be in a loosening state at the moment, and enabling the connecting pipe to fall into the second placing groove to complete one-time blanking.
The second control module is also used for starting the sixth transmission assembly 32, the seventh transmission assembly 33 and the eighth transmission assembly 34 after the clamp 36 is released from the union pipe, and controlling the clamp 36 to move to the initial position.
The second control module is further used for counting the number of the blanking of the connecting pipes, counting is performed once after the clamps 36 loosen the connecting pipes, when the number of the blanking of the connecting pipes reaches a preset number, the connecting pipes are fully placed on the blanking box 37, and the preset number is the number of the connecting pipes which can be placed in the blanking box 37. In other embodiments, the second control module is further configured to generate a warning signal when the blanking box 37 is full of the headers.
The above are merely examples of the present invention, and the present invention is not limited to the field related to this embodiment, and the common general knowledge of the known specific structures and characteristics in the schemes is not described herein too much, and those skilled in the art can know all the common technical knowledge in the technical field before the application date or the priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date, and those skilled in the art can combine their own ability to perfect and implement the scheme, and some typical known structures or known methods should not become barriers to the implementation of the present invention by those skilled in the art in light of the teaching provided in the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several variations and modifications can be made, which should also be considered as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the utility of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (8)
1. An automatic allocation and storage assembly line comprises a transmission system and a separate injection system, wherein the transmission system comprises a connecting pipe transmission assembly and a connecting pipe placing disc, and the connecting pipe transmission assembly is used for transmitting the connecting pipe placing disc; the automatic feeding and discharging device is characterized by further comprising a feeding system, a discharging system and a transmission control system;
the transmission control system is used for controlling the connecting pipe transmission assembly to move at a preset speed;
the feeding system comprises a feeding device arranged above the conveying system, the feeding device comprises a feeding box, the feeding box is used for storing the connecting pipes to be fed, and the feeding device is used for placing the connecting pipes in the feeding box on a connecting pipe placing disc;
the separate injection system is used for injecting target liquid into the connecting tubes on the connecting tube placing disc;
the blanking system comprises a grabbing component and a plurality of transmission components, and the plurality of transmission components are used for controlling the grabbing component to move along a plurality of directions; the plurality of transmission assemblies are also used for controlling the movement speed and the movement direction of the grabbing assembly according to the transmission speed and the transmission direction of the connecting pipes, and the grabbing assembly is used for grabbing the connecting pipes in the transmission process after the movement speed and the movement direction are the same as the transmission speed and the transmission direction;
the feeding box comprises a box body, a plurality of vertical accommodating holes are formed in the box body, and the accommodating holes are used for storing stacked connecting pipes;
the device also comprises a feeding base, wherein the feeding base comprises a workbench, and a strip-shaped hole which is opposite to the header placing disc is formed in the workbench;
the feeding device also comprises a feeding transmission mechanism, and the feeding transmission mechanism is used for transmitting the feeding box to enable the accommodating hole to be over against the strip-shaped hole;
the feeding device further comprises a movable clamp, a fixed clamp and a fourth transmission assembly, wherein the movable clamp and the fixed clamp are used for clamping two adjacent connecting pipes, the fourth transmission assembly is fixedly connected with the movable clamp, and the fourth transmission assembly is used for moving the movable clamp to separate the two adjacent connecting pipes; the fourth transmission assembly is further used for moving the movable clamp, and when the distance from the bottom end of the connecting pipe clamped by the movable clamp to the connecting pipe placing disc is smaller than a preset distance threshold value, the fourth transmission assembly stops moving the movable clamp.
2. The automated inventory pipeline of claim 1, wherein: the feeding device also comprises a pipe connecting mechanism and a feeding auxiliary mechanism, wherein the pipe connecting mechanism comprises a telescopic block and a third transmission assembly, the free end of the third transmission assembly is fixedly connected with the telescopic block, when the telescopic block extends out, the telescopic block is positioned below the strip-shaped hole, and the upper surface of the telescopic block can abut against a connecting pipe falling from a feeding box;
when the accommodating hole is over against the strip-shaped hole, the feeding auxiliary mechanism is used for pushing out the connecting pipe in the feeding box; the feeding auxiliary mechanism comprises a second transmission assembly and a pushing and pressing piece, the pushing and pressing piece is fixedly connected with the free end of the second transmission assembly, the second transmission assembly is used for moving the pushing and pressing piece, and the pushing and pressing piece enables the connecting pipe to be pushed out from the feeding box.
3. The automated inventory pipeline of claim 1, wherein: the blanking system comprises three transmission assemblies, the three transmission assemblies are used for controlling the grabbing assemblies to move along three directions, and the three directions are mutually perpendicular.
4. The automated inventory pipeline of claim 3, wherein: any one of the three directions is parallel to the conveying direction of the union.
5. The automated inventory pipeline of claim 3, wherein: snatch the subassembly and include anchor clamps, anchor clamps include first clamping jaw and second clamping jaw, and the arc hole has been seted up to one side that first clamping jaw and second clamping jaw are relative, and when first clamping jaw and second clamping jaw offset, the pore wall in arc hole offsets with the lateral wall of antithetical couplet pipe.
6. The automated inventory pipeline of claim 5, wherein: the grabbing component further comprises a parallel pneumatic claw which comprises two pneumatic fingers capable of moving in opposite directions, and the two pneumatic fingers are fixedly connected with the first clamping jaw and the second clamping jaw respectively.
7. The automated inventory pipeline of claim 6, wherein: the blanking control system is used for counting the blanking number of the connecting pipes, counting once after the connecting pipes are loosened by the first clamping jaw and the second clamping jaw, and generating a reminding signal when the blanking number of the connecting pipes reaches a preset number.
8. The automated inventory pipeline of claim 2, wherein: the device also comprises a feeding control system, a receiving control system and a control system, wherein the feeding control system is used for detecting the connecting pipes on the connecting pipe placing disc and counting the feeding quantity of the connecting pipes;
the device is also used for counting the falling times of the connecting pipes in the feeding box, generating the quantity of the connecting pipes discharged according to the falling times of the connecting pipes, judging whether the quantity of the connecting pipes discharged is consistent with the quantity of the connecting pipes fed, and giving an alarm when the quantity of the connecting pipes discharged is inconsistent with the quantity of the connecting pipes fed.
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