CN114476664B - Feeding machine - Google Patents

Abstract

The invention discloses a feeding machine, which is used for feeding raw materials in a medicine synthesis process, and comprises the following components: a work table; a feeding robot; a storage area; a box opening area; and a code scanner; wherein the clamping head of the clamping jaw assembly of the loading robot is used for clamping at least one box-type object and at least one clamping head suitable for clamping the bottle-type object. The production cycle of the feeding machine based on the invention has better relative controllability.

Description

Feeding machine

Technical Field

The invention relates to a feeding machine suitable for feeding various raw materials.

Background

Since 2019, the prevalence of a new coronavirus pneumonia epidemic situation has attracted the attention of international society, and the efficacy and market potential of an mRNA vaccine as one of the main forces for preventing COVID-19 have also been proved. After the determination of the novel coronavirus antigen protein, the corresponding mRNA sequence needs to be designed for the amino acid sequence. Because the codon corresponding to each amino acid has multiple choices, a new challenge is provided for the codon screening, the manual screening has the defects of low speed, easy error and the like, and the substitution of mRNA high-throughput synthesis equipment is urgently needed. It is to be understood that for example synthetic drugs often need to be operated in a relatively clean environment, which is often adapted to a relatively closed chamber, and thus for example tips for pipetting, need to be arranged in boxes within said chamber, while tip boxes need to be adapted with magazine means in order to meet a cycle of production after a preparation.

Similarly, for other raw materials, consumables, etc. for drug synthesis, all the materials that satisfy one production cycle need to be prepared, and thus the configuration of the feeder becomes very necessary.

In some application scenarios, the feeding machine needs to complete feeding of multiple raw materials, and in conventional applications, an independent feeding mechanism is usually configured for each raw material, and it is obvious that the complete preparation of the feeding mechanism inevitably results in relatively large occupied space, and considering the possible motion interference among the feeding mechanisms, the design difficulty of the whole feeding machine and the whole assembly requirement have higher technical requirements. It should be noted that, in more and more applications, the production line needs to be disposed in a relatively clean environment, and therefore, the process equipment including the feeding mechanism needs to be disposed in a relatively closed environment, and generally, the greater the relatively closed environment is, the greater the uniformity of cleanness and the difficulty of maintenance are.

For example, chinese patent document CN214346302U discloses a pharmaceutical intermediate feeding device for drug synthesis, which is substantially equivalent to a mechanism for feeding a single raw material, and is provided with a stirring device, a dredging device, and the like in a barrel-shaped hopper, wherein the overall structure of the feeding device is relatively large even if the feeding device is used for feeding a single material, and if the feeding device is used for feeding a plurality of raw materials, the feeding device will occupy a larger space.

Compared with western medicines, the traditional Chinese medicine bulk drugs are relatively more, and chinese patent document CN113651088A discloses an automatic feeding system of a herbal piece blending machine and a method thereof, wherein the automatic feeding system of the herbal piece blending machine comprises an automatic blending module, a medicine hopper module and a feeding execution module, which are provided with a plurality of blending cabinets in an arrangement manner; wherein the feeding execution module comprises a track, a feeding mechanical arm runs on the track, and dispensing cabinets are arranged on two sides of the track. A temporary storage table is arranged at one end of the dispensing cabinet in the array direction, namely the end corresponding to the track, and the temporary storage table is used for temporarily storing the medicine hopper unit. When the medicine hopper unit is used, the feeding mechanical arm clamps the medicine hopper unit to the target dispensing cabinet so as to realize feeding. This kind of mode only need join in marriage a feed mechanism, through the commonality of arm to the hopper unit is the operation object, uses the cabinet of transferring the quick-witted as the purpose feeding direction and realizes the material loading. This patent document gives a thinking, through a arm that can move, carries out the batching in great scope, nevertheless because its material loading end, the medicine fill unit is placed to the mode that the platform that keeps in specifically based on the horizontal circulation, and then relies on the mode of sweeping yard and picking up the medicine fill unit in zero point position department, realizes the material loading of different medicines, in other words, every production cycle, the medicine fill unit all will be followed the back and rolled once, and the function is relatively single in the realization.

Disclosure of Invention

In the embodiment of the invention, the feeding machine with relatively better controllability of the production cycle is provided.

In an embodiment of the present invention, there is provided a feeder for feeding a raw material drug in a drug synthesis process, the feeder including:

the workbench is provided with a front-back direction and a left-right direction, and the left-right direction is taken as a feeding direction;

the multi-degree-of-freedom mechanical arm of the feeding robot is provided with a clamping jaw assembly with a plurality of clamping heads at the tail end;

the storage area is an assembly of a plurality of functional areas which are sequentially distributed on the workbench and is at least used for storing the raw material medicine bottles, the synthetic medicine bottles and the gun head boxes in a partition mode;

the box opening area is positioned on the workbench and is provided with a box opening mechanism so as to open the gun head box transferred by the feeding robot; and

the code scanner is positioned at the tail end of the feeding direction of the workbench and used for scanning and confirming the objects picked up by the feeding robot;

correspondingly, the clamping head matched with the clamping jaw assembly is used for clamping at least one box-type object and at least one bottle-type object.

Optionally, a first area of the functional area for storing the vial of ingredient is provided with a thermostatic device.

Optionally, the thermostatic device has a plurality of sub-zones to adapt to different drug substances.

Optionally, the second area for storing the gun head box is positioned at the foremost stage of the feeding direction of the workbench;

accordingly, the third zone for opening the box is provided with the box opening device, and the third zone is located at the rear stage of the second zone.

Optionally, in the second area, the gun head boxes are stored in a classified and partitioned manner, two types of corresponding liquid transfer gun heads are provided, and the liquid transfer gun heads are divided into large gun heads and small gun heads according to the relative size of the liquid transfer amount;

a rifle head box for splendid attire rifle head is placed in little rifle head box feed bin, and a rifle head box for splendid attire big rifle head is placed in big rifle head box feed bin.

Optionally, the storage capacity of the small gun head box bin is larger than that of the large gun head box bin;

wherein, the small gun head box feed bin is provided with a vertical feeding mechanism to vertically stack up the small gun head box feed of putting things in good order in the vertical direction.

Optionally, the large gun head boxes in the large gun head box storage bin are stacked in a single-row, single-column or row-column mode, and a detection device for detecting whether the large gun head boxes exist is arranged on a bin body of each large gun head box corresponding to the placement position of each large gun head box;

the small gun head box bin is vertically provided with a full bin level and an empty bin level detection device.

Optionally, the cartridge magazine comprises:

a frame;

the constraint assembly is used for enclosing a bin in the feeding and discharging direction on the rack;

the jacking component is used for jacking the small gun head box accommodated in the stock bin from the bottom of the stock bin to the outlet;

the driving mechanism is used for driving the jacking component to move in a given movement form in the feeding and discharging direction;

wherein the given movement form is a stroke for making the jacking component run by the height of the small gun head box every time of driving.

Optionally, the jacking component is configured to:

the first structure forms a movable bottom plate of the storage bin;

the second structure is a single or a plurality of jacking heads, if the single jacking head is single, the center of the jacking of the corresponding jacking head is matched with the center of the lower surface of the small gun head box positioned at the lowest part, if the single jacking head is multiple, the resultant force of the jacking heads is the force in the feeding and discharging direction, and the overturning moment of the resultant force acting on the small gun head box is 0;

in the third structure, the stock bin is provided with a static bottom plate, and the jacking component is positioned above the static bottom plate; or

The fourth structure is that the feed bin is provided with a static bottom plate, a groove or a through hole is formed in the static bottom plate, and the jacking part is a part accommodated in the groove or a part capable of passing through the static bottom plate in the feeding and discharging direction through the through hole; if the static bottom plate is provided with a groove, the jacking part forms a jacking plate which is completely accommodated in the groove in an initial state;

and when the groove is formed in the statically determined bottom plate in the fourth structure or the third structure is corresponded, the driving mechanism is inserted into the bin from one side of the bin to be connected with the jacking part.

Optionally, in the fourth structure, the through hole and the stationary base plate are used for supporting the surface part of the small gun head box to share a central axis; or

Under the condition that the action line of the jacking plate on the jacking force of the small gun head box is superposed with the gravity line of the small gun head box, a side hole is formed in one side of the through hole and is located on the side where the driving mechanism is located, so that movement interference is avoided.

Optionally, the static bottom plate is a static bottom plate provided with a U-shaped via hole;

the U-shaped opening of the U-shaped via hole forms the side hole.

Optionally, the large and small gun head magazine are both equipped with fool-proof structures.

Optionally, the jaw assembly comprises:

the base plate is used for connecting the clamping jaw assembly on the feeding robot;

the first electric clamping jaw has a first working stroke, is arranged at one end of the base plate in the preset direction and is used for clamping the box-like objects; and

the second electric clamping jaw has a second working stroke and is arranged at the other end of the base plate in the preset direction, a cylindrical surface profile part positioning structure is arranged in the middle of the working surface of the second electric clamping jaw and is used for clamping bottle-like objects, and the axis corresponding to the cylindrical profile is a vertical line;

wherein the first working stroke is larger than the second working stroke.

Optionally, the cylindrical surface profile positioning structure is a V-groove or a cylindrical surface groove with a central angle smaller than 180 degrees.

Optionally, the clamping jaw body of the first electric clamping jaw is provided with a pair of involutory clamping plates, and the working surfaces of the two corresponding clamping plates are provided with elastic linings.

In the embodiment of the invention, by utilizing the multi-degree-of-freedom property of the mechanical arm of the robot, the clamping jaw assembly with a plurality of clamping heads is arranged at the tail end of the mechanical arm, the clamping jaw assembly is provided with a plurality of clamping heads, and the clamping heads are matched for clamping at least one box-type object and at least one bottle-type object, so that the loading of different materials is adapted. Furthermore, materials are placed in a partition mode within the movement range of the mechanical arm by utilizing the multi-degree-of-freedom property of the mechanical arm, and then related materials can be picked in sequence according to a set feeding sequence to be fed. In the range that the workstation storage area bore, a production cycle is confirmed based on bearing capacity to make holistic production cycle obtain better control under the circumstances of batching in advance, and then relevant material loading machine etc. can be located a holistic cabin, and do benefit to the relative cleanliness of control production environment.

Drawings

Fig. 1 is a schematic structural diagram of a front side of a feeding machine in an embodiment.

Fig. 2 is a schematic diagram of a rear side structure of the feeding machine in one embodiment.

Fig. 3 is a schematic structural diagram of a magazine of a large gun head magazine in one embodiment.

FIG. 4 is a schematic diagram of a magazine of the cartridge according to an embodiment.

FIG. 5 is a schematic view of an embodiment of a jaw.

In the figure: 1. the automatic feeding device comprises a bottom frame, 2 casters, 3 spiral support legs, 4 an electric control cabinet, 5 a circulating pump, 6 an upright column, 7 a box opening area, 8a large gun head box bin, 9 a first box opening device, 10 a first raw material loading area, 11 a small gun head box bin, 12 a second box opening device, 13 a workbench, 14 a second raw material loading area, 15 a third raw material loading area, 16 a clamping jaw assembly, 17 a loading robot, 18 a display device, 19 a fourth raw material loading area, 20 a third raw material loading area, 21 a code scanner, 22 an upper frame, 23 a controller, 24 a heat dissipation water discharge area, 25 a cabin body, 26 a sensor, 27 a large gun head box, 28 a partition board, 29 a foolproof groove, 30 a base, 31 a slide block, 32 a lower photoelectric sensor, 33 a sensing piece, 34 a linear guide rail, 35 a first reinforcing plate, 36 a first base plate, 37. the structure of the automobile exhaust pipe comprises a first load reducing hole, a second reinforcing plate, a first mounting plate, a second load reducing hole, an upper photoelectric sensor, a third reinforcing plate, an exhaust pipe joint, a guide limiting rod, a through hole, a supporting plate, a jacking plate, a lifting motor, a servo motor, a lifting jaw, a.

Detailed Description

In the field of machinery, a robot system, called a robot for short, is composed of a vision sensor, a mechanical arm system (called a mechanical arm for short) and a main control computer, wherein the mechanical arm matched with the robot is a complex system with high precision, multiple input and multiple output, high nonlinearity and strong coupling. It is widely used in the mechanical field because of its unique operational flexibility.

The mechanical arm is generally a multi-degree-of-freedom mechanical arm, and the pose of the tail end is adjusted based on the coupling among the multi-degree-of-freedom. The multiple degrees of freedom are usually represented by cascaded mechanical arm joints, and the basic structure of the mechanical arm is not described herein in detail in view of the fact that the mechanical arm is a mature technology in the field.

In the embodiment of the invention, the robot and the multi-degree-of-freedom attribute of the mechanical arm matched with the robot are adopted, the end pose is adjusted by utilizing the strong coupling attribute among the multiple degrees of freedom, theoretically, the end of the robot can stop at any position within the range reached by the mechanical arm, and the embodiment of the invention is basically applied to the robot, and the attribute of the multi-degree-of-freedom mechanical arm is utilized to divide multiple areas on a workbench, so that when in use, materials are regularly placed in the corresponding areas in advance, and the mechanical arm picks up the related materials one by one according to a preset algorithm matched with the materials. Therefore, in one production cycle, the materials are prepared according to a preset scheme, and after the materials are completely consumed, the next production cycle is carried out, and then the materials are prepared manually.

It should be noted that there will generally be a defined feeding direction for feeding, but in embodiments of the invention, such as the table 13, the table top of which is used for storing material, box opening devices, etc., the end defined in one direction of the table will generally be the feeding side (feeding end), so that different functional areas will have a defined positional relationship in the feeding direction based on the feeding side. The determined position relation is in one-to-one correspondence with the action sequence of the robot, and the correspondence belongs to the conventional mode of the robot and is obtained without creative labor.

It should be noted that, for the work table 13, the management of the material is determined under a given algorithm, and the control of the robot arm is adapted to facilitate the sequential feeding of the material.

Furthermore, the amount of material to be prepared in a production cycle is determined for a given amount of material to be fed and for the quantitative relationship between the materials.

Furthermore, the position of the tips of the current set is also determined, in the case of sequential picking, for example with regard to the amount of use of tips and their stacking position within the tip magazine.

In an embodiment of the present invention, the provided feeding machine is suitable for feeding raw material medicines in a medicine synthesis process, and in a more specific embodiment, the condensed form of the raw material medicines is liquid, the raw material medicines are correspondingly liquid raw material medicines, so as to facilitate quantitative medicine taking by using a liquid transfer gun, and further, a gun head box is also used as a component of the material, and the gun head box (with a liquid transfer gun head installed therein, referred to as a gun head for short) adapted to the liquid transfer gun is one of necessary materials.

The basic structure of the feeding machine comprises a main frame, a feeding robot 17 arranged on the main frame, a control cabinet, a heat dissipation device, a constant temperature device and the like which are matched. The main frame is a mounting base for other components, and in the structure illustrated in fig. 1, it includes a main frame and a workbench 13 mounted on an upper frame 22 of the main frame, and regarding the main frame of the frame structure, at the same time, the upper frame 22 and the bottom frame 1 are connected by using an upright post 6 to form a rigid frame, which belongs to the conventional configuration in the mechanical field, and is clearly shown in the structures illustrated in fig. 1 and 2, and will not be described again.

Further, the main frame of the main frame is an assembly formed by welding, riveting or bolting profiles or pipes, the profiles used may be steel profiles (section steel), aluminum profiles, engineering plastic profiles, and the like, and the pipes are preferably square pipes or rectangular pipes, such as square steel pipes.

In the structure illustrated in fig. 1, a cabinet is formed below the table 13, and the cabinet may be closed, open, or semi-open.

The cabin formed by the cabinet body can be used for arranging an electric control cabinet 4, a heat dissipation water discharge area 24, a controller 23, a circulating pump 5 and the like shown in figure 1.

Correspondingly, a bottom cabinet plate for supporting the bottom of the cabinet body part is arranged at the lower part of the main frame.

Correspondingly, the lower portion of the main frame for supporting the cabinet floor is the bottom frame 1 illustrated in fig. 1.

The lower part of the main frame is provided with screw legs 3 for supporting the main frame and further for e.g. levelling of the table 13.

In addition, in the structure illustrated in fig. 1, casters 2 are further installed at the lower portion of the main frame to facilitate movement of the feeder.

In a calm state, for example adjusting the helical feet 3, the main frame is lifted so that the caster 2 is free from the ground, for example, on which it is supported, to guarantee the relative stability of the feeder. When the feeding machine needs to be moved, the spiral supporting legs 3 are adjusted to enable the trundles 2 to be supported on the bottom surface, and the spiral supporting legs 3 are separated from the ground, so that the feeding machine can be moved by the trundles 2.

The working table 13 is a main supporting body of the material, and for convenience of description, the working table 13 is described in front, back, left and right, that is, the working table 13 has a front-back direction and a left-right direction. Further, the left-right direction is taken as the feeding direction. It should be noted that, in the embodiment of the present invention, the description of the positional relationship between the table 13 and the objects, other components, etc. on the table 13 is only used for convenience of description, and it does not mean that the actual orientation of the table 13 coincides with the orientation used for description of the positional relationship between the components of the table 13.

Further, in order to describe the positional relationship, in the configuration illustrated in fig. 1, the left and right in fig. 1 correspond to the left and right of the table 13 after the position of the loading robot 17 on the table 13 is set.

In fig. 1, the loading robot 17 is offset to the rear side, or forward or backward in the front-rear direction, as a basic orientation, where the front-rear direction is perpendicular to the aforementioned left-right direction.

In the structure illustrated in fig. 1, the workbench 13 is divided into a plurality of functional areas, wherein the functional area located at the front side of the feeding robot 17 mainly includes a first raw material feeding area 10, a second raw material feeding area 14, a third raw material feeding area 15, a fourth raw material feeding area 19, and a fifth raw material feeding area 20, and the feeding operation of the feeding robot 17 is facilitated under the condition that the positions of the functional areas are determined.

The arrangement of the feeding robot 17 in the offset manner is beneficial to the continuity of the positions of all functional areas on the workbench 13, reduces the movement interference and also conforms to the movement rule of the mechanical arm on the feeding robot 17.

The mechanical arm with multiple degrees of freedom of the feeding robot 17 is used for controlling the pose of the clamping jaw assembly 16, so that the carrying clamping jaw assembly 16 moves to the position above the small gun head box storage bin 11, descends, clamps a small gun head box, ascends, transfers to the small gun head box unpacking device, descends, resets, unpacks the small gun head box unpacking device, and transfers the unpacked small gun head box to other positions, so that a liquid transfer gun can directly pick up a gun head.

With respect to the gripper assembly 16, it is primarily used for gripping two types of materials, one of which is a box type material, such as a gun head box, and the other of which is a bottle type material, such as a bulk drug bottle. For example, the gun head box has a regular rectangular box structure, and the raw material medicine bottle has a cylindrical surface outline, which all belong to the appearance of the most common objects in the mechanical field, so that the clamping jaws can be adapted correspondingly, and the adapted clamping jaws also belong to mature products in the mechanical field, and are not described herein again.

Further, the loading robot 17 is fixedly mounted on the table 13 by, for example, anchor bolts. The fixed arrangement of the feeding robot 17 is that in most dispensing applications, the feeding machine is only used for dispensing a single drug for a longer time, e.g. only for preparing the same drug for 10 years, so that there is no need to adjust the mounting position of the feeding robot 17 on the table 13 for a longer time.

The ordering is a precondition that the feeding robot 17 sequentially feeds materials in a preset manner, and therefore, in the embodiment of the present invention, the carrying portion of the workbench 13 is partitioned to form a storage area, and a unit for storing different materials is marked as a functional area, or the storage area is an assembly of functional areas. The functional area can be matched in quantity and position according to the raw material medicines, the target synthetic medicines and the matched consumable materials.

The functional area includes at least a region for storing the raw material medicine bottles, a synthetic medicine bottle region for storing the synthetic medicine bottles for the purpose, and a consumable part such as a region for storing the cartridge as necessary components.

And a box opening area 7 is further designed on the workbench and used for arranging a box opening mechanism, and the box opening mechanism is used for opening the gun head box transferred by the feeding robot 17.

Since the position of the material may be misplaced during manual dispensing, a scanner 21 is provided at the end of the loading direction of the table 13, e.g. at the right end of the table 13 in fig. 1, for scanning confirmation of the object picked up by the feeder robot 17, and if the correct material is not obtained in sequence, an error in manual dispensing on the table 13 is indicated, e.g. by an alarm.

Correspondingly, a separate alarm or an alarm device integrated on other output equipment is arranged at a certain position of the feeding machine or the production line, and a device capable of outputting signals, data and the like identified by an operator, such as the display device 18 illustrated in fig. 1.

In the dispensing process, part of the drug has a relatively high ambient temperature requirement, so in an embodiment of the invention, a first area for storing the vial of raw material in the functional area is provided with a thermostatic device.

In addition, the thermostat device may be, for example, a water bath device, and a closed-loop temperature control device is configured for the thermostat device, for example, a temperature sensor is disposed in a bath of the water bath, and an accessed controller adjusts, for example, power or on/off of an electric heater according to a preset temperature interval, so as to maintain the temperature of water in the water bath within a preset range.

The water bath may also be a refrigeration mode, and since some of the bulk drugs need to be stored in a relatively low temperature environment, e.g., 2-5 ℃, a corresponding cooling cycle needs to be configured, and thus a coolant circulation system may be configured to be used as a radiator portion of the coolant circulation system in cooperation with the heat-dissipating water discharge area 24 as shown in fig. 1.

Whereas the feeder is only a part of the production line, the heat sink drain area 24, such as described above, may be adapted to other components that require heating, such as the location of the drug mixing reaction, to improve overall heat utilization. Specifically, the heat of the region of the raw material drug to be cooled is transferred to the reaction region or the target drug preparation region to be heated through the refrigerant circulation system, that is, the heat sink part can be arranged at the position of synthesizing the target drug.

Furthermore, in view of the fact that the appropriate storage temperatures of different raw material medicines may be different, for example, the temperature zones in which some raw material medicines are appropriate to be stored are 2-5 ℃, some are 4-6 ℃, some are possibly 1-3 ℃, and the difficulty of controlling by adopting a single temperature zone is relatively large, so that the constant temperature device is distributed into a plurality of sub-zones to be adapted to different raw material medicines.

To obtain a relatively small circulation path, and a short path, the second area where the cartridge is stored is located at the most preceding stage in the feeding direction of the table 13.

Accordingly, a third area for opening the box (such as the box opening area 7 illustrated in fig. 1) is provided with the box opening device, and the third area is located at the rear stage of the second area.

In order to reduce the waste of consumables, the gun head boxes are stored in a classified and partitioned manner in the second area, two types of corresponding liquid transfer gun heads are provided, and the liquid transfer gun heads are divided into large gun heads and small gun heads according to the relative size of the liquid transfer amount;

a gun head box for containing small gun heads is placed in the small gun head box bin 11, and a gun head box for containing large gun heads is placed in the large gun head box bin 8.

It should be noted that, with regard to the tip box, it adapts to the height of the tip and has a height slightly greater than the height of the tip; the side of the gun head box is a cylindrical surface, the cylindrical surface has four relatively obvious plane characteristics, namely four side surfaces, and one relatively obvious characteristic which is beneficial to realizing fool-proofing, namely a box cover buckle for opening the gun head box, and meanwhile, the front surface and the back surface of some gun head boxes are slightly different in shape, and the difference is also beneficial to the design of the fool-proofing structure. The front surface of the gun head box is the surface where the box cover buckle is positioned.

Furthermore, it should be understood that for the cartridge, stacking or stacking based stacking can be used, whether there is a feature directly above or below adjacent articles. Also, in most applications, the magazine 11 is based on a small magazine, the magazine being typically based on a last-in-first-out discharge.

With respect to constraints, it is a theoretical physical term that refers to surrounding objects that act as a restriction on some displacement of a non-free body, acting as a mechanical constraint or limiter in the mechanical field; it should be noted that in the embodiment of the present invention, the constraint assembly limits the degree of freedom of the lance tip box in the horizontal direction, and basically has a function of enclosing the lance tip box. Therefore, it can be understood that the limitation of the degree of freedom of the horizontal direction of the gun head box is satisfied, and the sealing of the lateral direction formed by the plate body is not meant.

In the embodiment of the invention, for the convenience of description, for example, the direction in which the small gun head boxes are sequentially stacked is referred to as the feeding and discharging direction, and it should be noted that, in the case of satisfying the sequential stacking, the feeding and discharging direction is not required to be the vertical direction, and is actually the oblique upward direction just like the upward driving when the vehicle climbs a slope, but the description of the upward driving is not misunderstood.

Also, as a matter of facilitating the description, the horizontal degree of freedom of the cartridge restricted by the constraint is more accurately expressed as a degree of freedom in a plane perpendicular to, for example, the direction in which the cartridges are sequentially stacked. If fool-proofing is considered, the degrees of freedom include rotational degrees of freedom, and if fool-proofing is not considered, the degrees of freedom may include only translational degrees of freedom.

In the mechanical field, a machine frame can be used as an abstract concept which is used as a relatively statically defined component in a mechanism, and a concrete concept which is used as a basic framework in a device, equipment or machine, such as a box body of a reduction gearbox. In the embodiment of the invention, unless otherwise specified, the frame refers to a basic frame of the small-tip magazine 11, such as the first mounting plate 39 illustrated in fig. 4.

The attachment structure of the first attachment plate 39, for example, a third reinforcing plate 42 for structurally reinforcing the first attachment plate 39, also constitutes a part of the frame.

The third reinforcing plate 42 is provided with a second relief hole 40 in the structure illustrated in fig. 4, so that the small-tip magazine 11 can have a relatively small weight when the first mounting plate 39 is structurally reinforced.

Based on the same concept, there are several reinforcements in the structure illustrated in fig. 4, such as the second reinforcement plate 38 for reinforcing the connection structure between the first seat plate 36 and the first mounting plate 39, the first reinforcement plate 35 for reinforcing the connection structure between the lifting plate 47 and the adapter plate 48, and the first reinforcement plate 35 and the second reinforcement plate 38 may also be provided with structures for reducing the amount thereof, such as the first relief hole 37 shown in fig. 1.

As a constituent of the base of the cartridge magazine 11, for example, the frame, the restraining assembly, the jacking member, and the driving mechanism are arranged in order at a reasonable position of the cartridge magazine 11. In this regard, with respect to the rack, as mentioned above, as a basic framework of the magazine 11 of the muzzle magazine in the embodiment of the invention, it should be understood that the first seat plate 36, for example, shown in fig. 4, may also be essentially a component of the rack, but for convenience of description, it is described separately in a manner that does not affect the general understanding of the rack in the art.

It should be noted that, in the embodiment of the present invention, the containing structures of the large and small gun head box bins are distinguished, but it should be understood that the large gun head box is only changed in size and specification with respect to the small gun head box, and therefore, the small gun head box bin 11 feeding in the vertical direction can also meet the containing requirements of the large gun head box after the specification adaptability is adjusted. Similarly, be applicable to big rifle head box feed bin 8 of big rifle head box splendid attire, under the condition of specification adaptation, also be applicable to the splendid attire of small gun head box.

In fig. 4, the first mounting plate 39, which is a main structure of the frame, is in a vertically disposed state to satisfy the vertical mounting of a dust-free module, such as a dust-free electric slide table. Such as a clean module, maintains a relatively high static stiffness by virtue of the first mounting plate 39 being relatively rigid, thereby ensuring the accuracy of the operation of the clean module.

Based on the foregoing description, it can be inferred that if, for example, the restraint assembly itself has a good rigidity and the operation of the jacking member is not dependent on, for example, the vertical state of the first mounting plate 39, the first mounting plate 39 may not have the aforementioned vertical state and may be represented as a seat as a whole.

In the structure illustrated in fig. 4, since the jacking plate 47 as the jacking component is mounted in a suspended manner, the driving mechanism for realizing jacking is a screw mechanism, and in order to ensure that the screw has relatively good static rigidity, the first mounting plate 39 arranged vertically is adopted.

Furthermore, the screw spindle mechanism of fig. 4 uses a kit, i.e., a commercially available dust-free module (equipped with an exhaust pipe connector 43) having a relatively high rigidity by itself, which is fixed to the first mounting plate 39.

With regard to the restraining assembly, it is known from the foregoing description to primarily limit the degree of freedom, in particular the degree of freedom of movement, for example in the horizontal direction of the cartridge, while in the preferred embodiment simultaneously limiting the degree of freedom of rotation in the horizontal plane. The rotational degree of freedom is axial in the direction of feed and discharge of the cartridge, for example.

As an orientational feature, the restraining assembly creates a limit around the cartridge so that the freedom of movement of the cartridge in, for example, a horizontal plane is limited. If the object is a hexahedron, for example, a box with the overall characteristic of a cuboid shape, the constraint can be realized by using a surface-surface matching mode, for example, the side surface of the box is limited by using a plate body, under the condition, the degree of freedom of rotation of a small gun head box is limited at the same time, and finally, the reserved degree of freedom is the degree of freedom of the feeding and discharging directions of the storage bin.

Even if the side surface is irregular, such as a non-cylindrical side surface, a quadrangular side surface with a rectangular bottom surface, etc., the small gun head box, for example, is still limited by the aforementioned orientation characteristic, and is not limited by the basic orientation characteristic of a square shape because it is a special shape.

Since in most applications the direction of feed and discharge of the magazine 11 for cartridges, for example, is vertical, reference is made to this in the exemplary embodiment of the invention, which is only used for a clear description of the positional relationship between the relevant components and does not constitute a limitation of the basic orientation.

Specifically, for example, a jacking component, which is based on "jacking" and literally has the meaning of up and down direction, but in the invention, the feeding and discharging direction is determined based on jacking, and the direction includes but is not limited to the vertical direction.

Furthermore, the jacking component is arranged at the bottom of the storage bin, and correspondingly, the jacking component is used for jacking up a small gun head box contained in the storage bin from the bottom of the storage bin; "jacking up" herein includes, but is not limited to, vertically jacking up.

Furthermore, the jacking member has its own bearing capacity, but does not mean that it is necessary to perform its own bearing function independently, for example, in the structure shown in fig. 4, when the tip magazine is loaded into the magazine, the jacking plate 47 serving as the jacking member does not come into contact with the lowermost tip magazine, so that a relatively high initial positional accuracy of the tip magazine is obtained. At this point, the initial positional accuracy of the tip magazine is provided by the backing plate 46. In other embodiments, however, the pallet 46 may be omitted so that the initial positional accuracy is provided by the jacking plate 47 after the cartridge is loaded into the magazine.

And the driving mechanism is used for driving the jacking component to move in a given movement form in the feeding and discharging direction. Wherein the given movement is in the form of a stroke which causes the jacking members to travel one article height at a time, such that after, for example, a cartridge has been removed one, the drive mechanism drives the jacking members to jack the group of articles such that the topmost current cartridge is in a position suitable for gripping by, for example, a robotic arm.

As a general feature, for example, the underside of the tip magazine is of a certain area so as to be suitable for jacking in a variety of ways, typically directly using for example a plate body, such as the jacking plate 47 shown in fig. 4.

As a number of options available, in some embodiments the jacking member is configured as a first structure as a movable floor of the silo, in other words, when the jacking member constitutes both the floor of the silo and the jacking plate 47.

As a further consideration, if the jacking component constitutes a movable bottom plate of the silo, in some embodiments, the initial state of the jacking component may be limited, specifically, the lower stop point, and a rigid constraint may be adopted to obtain a relatively high parking accuracy, for example, a limiting plate is provided on the rack to support the jacking component corresponding to the preset lower stop point.

In some embodiments, the jacking component may be configured as a jacking head, and the jacking head may be one or more. As can be seen from the structure illustrated in fig. 4, in some embodiments, the constraint may employ a component having a guiding function, such as the guiding limiting rod 44 shown in fig. 4, and the constraint has a certain guiding performance, so that even if the area of the jacking component for jacking the lowermost steel plate is relatively small, the small gun head box can be smoothly jacked out.

Further, if the holding heads are single, the center of the holding of the corresponding holding head is matched with the center of the lowermost face of, for example, the small cartridge. The term "core" as used herein means a core that holds the contact surface. If the upper end surface of the propping head is a circle, the core of the propping head is the center of the circle. In the case of a square, the core is the center of the square.

If the holding head is single, the part for directly contacting with the small gun head box is preferably end face structure, and the area of the end face is not small enough, so as to avoid the damage or unrecoverable position change of the article contained in the box body caused by excessive deformation of the box body.

However, in summary, when the tip is held against the object, the principle is that no turning moment is generated, i.e., the force acting on the tip magazine is exactly the force in the feeding and discharging direction, and the turning moment acting on the tip magazine is 0.

Correspondingly, if a plurality of jacking heads are arranged, the resultant force of jacking of the jacking heads is the force in the feeding and discharging direction, and the overturning moment of the resultant force acting on the object is 0.

Meanwhile, as a selection of correspondence, when the supporting head is multiple, the requirement on the supporting area of a single supporting head is relatively low.

A first structure of the supporting member, which is reused as a supporting member in addition to the actuating member for supporting; the second structure of the supporting component can have the dual-purpose of the first structure, and can also be matched with other independent supporting components. With respect to whether or not separate support members are provided, preference is given to the third and fourth configurations of the top support member, in which case the silos are provided with separate stationary floors, such as the support plates 46 illustrated in figure 4.

Wherein, about jacking part's third structure, the feed bin is corresponding to be furnished with independent statically determinate bottom plate, and jacking part is located the top of this statically determinate bottom plate this moment, and statically determinate bottom plate can constitute jacking part's rigidity spacing part, and jacking part is equivalent to the bottom that is located the feed bin during initial condition.

The fixed bottom plate is corresponding to the third structure of the jacking part and has relatively low requirements on the shape of the fixed bottom plate, so that the fixed bottom plate is not limited by the literal meaning of 'plate' in the third structure and is only used for naming terms.

In order to reduce the position interference affecting, for example, the position accuracy (up-down position accuracy) of the tip magazine, in some embodiments a fourth structure of the lifting member is used, which, as mentioned above, is also provided with a separate static bottom plate, and in contrast to the third structure, the static bottom plate is provided with a slot or via 45, and it should be noted that the slot or via 45 is used to accommodate the lifting member, so that the interference between the lifting member and the static bottom plate is reduced to affect the position accuracy of the object in the magazine, and does not mean that the static bottom plate corresponding to the third structure cannot be slotted or holed, and the slotted or holed is functionally different from the slotted or via corresponding to the fourth structure.

Corresponding to the fourth structure of the jacking component, the jacking component can be a component accommodated in the groove or a component capable of passing through the static bottom plate in the material inlet and outlet direction through the through hole 45; if the bottom plate is provided with the groove, the jacking component is completely accommodated in the groove in the initial state, so that the situation that the jacking component interferes with a small gun head box or the supporting and positioning of the small gun head box relative to a statically fixed bottom plate are influenced in the initial state is avoided, in other words, the initial position accuracy of the small gun head box is determined by the statically fixed bottom plate, and the relatively high position accuracy of the statically fixed bottom plate relative to the movable jacking component is easy to realize.

In view of the fact that the driving mechanism is relatively difficult to be disposed under the bin in the example of the slotting of the statically determined bottom plate in the third structure and the fourth structure, the driving mechanism is inserted into the bin from the side of the bin to be connected with the jacking component corresponding to the example of the slotting of the statically determined bottom plate in the fourth structure or the third structure.

In some implementations of the fourth structure of the jacking component, the via 45 and the statically determinate bottom plate are used to support, for example, a portion of the surface of the tip box that is co-axial, whereby the jacking component supports the tip box bottom center with ease. In other implementations, under the condition that the action line of the jacking component on the jacking force of the small gun head box coincides with the gravity line of the small gun head box, a side hole is formed in one side of the through hole and is located on the side where the driving mechanism is located so as to avoid movement interference, and the side hole can be regarded as an intervention hole so as to avoid movement interference.

In the configuration illustrated in fig. 4, the bracket 46 is formed with a through hole 45 so that the bracket 46 as a whole appears as a U-shaped plate, and the side opening of the through hole 45 is used for connecting the lift plate 47 with the slider 31.

For example, the support plate 46 is configured as a U-shaped plate, the forming difficulty of the via hole 45 is relatively low, if the rigidity of the whole is considered, the side opening of the U-shaped plate can be narrowed, so that a slit is formed, and the slit can meet the connection between the lifting plate 47 and the slider 31.

For ease of description, a U-shaped plate, such as plate 46, may still be considered a U-shaped hole as a whole, although it is shaped as a rectangular opening.

The part associated with the jacking member and the statically determinate bottom plate is the drive mechanism, which in the embodiment of the invention provides the linear motion.

In some embodiments, the first mechanism as a preferred embodiment of the driving mechanism is a nut screw mechanism, which belongs to one of precision mechanisms, such as a ball screw mechanism commonly used in a numerical control machine tool as a main mechanism. Correspondingly, the jacking component is correspondingly arranged on a screw nut of the screw nut screw mechanism, and the screw nut and the jacking component can be directly connected. In more applications, the screw nut and screw mechanism is provided with a guiding structure, such as a guide rod or a guide rail, and a sliding block 31 (called a carriage in the field of machine tool technology) which is matched with the guide rod or the guide rail to form a moving pair is provided, the screw nut is installed on the sliding block 31, the sliding block 31 is a carrier, and a lifting plate 47 is installed on the sliding block 31.

In some embodiments, a relatively smooth-running, relatively high-precision hydraulic cylinder may be used as the driving mechanism, denoted as the second mechanism. The hydraulic cylinder generates corresponding movement amount based on the amount of hydraulic oil, and the hydraulic compression ratio can be almost ignored, so that the hydraulic cylinder has relatively high precision, and the movement stroke of the push rod of the hydraulic cylinder can be accurately controlled through the liquid supply amount of the hydraulic circuit. In such applications it is often necessary to configure the flow meter as a feed element.

Furthermore, a hydraulic lock can also be provided for the hydraulic cylinder, in order to facilitate a relatively stable parking position.

Correspondingly, in the second mechanism, the jacking part is installed on the push rod of pneumatic cylinder, and the pneumatic cylinder can be installed in the below of feed bin vertically, also can the biasing in one side of feed bin, and when the biasing was in feed bin one side, the pneumatic cylinder can promote two jacking boards 47 work simultaneously, is equipped with two feed bins promptly, and the axis symmetry about the pneumatic cylinder push rod between two feed bins to balanced upset moment.

Accordingly, in the aforementioned symmetrical arrangement, the two lifting plates 47 may be driven by a single driving mechanism, and the moments acting on, for example, the sliders 31 from the two lifting plates 47 may be cancelled out.

The advantage of independent actuation is that if the downstream process equipment takes one cartridge at a time, for example, the actuating mechanism can move up one cartridge distance in direct response.

Correspondingly, if one driving mechanism drives two lifting plates 47, two e.g. gunhead boxes at the same height as the two lifting plates 47 are required to be removed before the driving mechanism can respond.

In some embodiments, a relatively less accurate third mechanism, represented by a chain mechanism and a timing belt mechanism, may also be employed, with relatively less accuracy in that the fit clearance is relatively large, but with a relatively more accurate power machine, still available accuracy may be obtained.

Correspondingly, a connecting part is arranged on the chain or the synchronous belt, and the jacking part is arranged on the corresponding chain or the synchronous belt through the connecting part.

In the structure illustrated in fig. 4, if the driving mechanism is located at one side of the silo, the corresponding jacking member is suspended from the driving mechanism to the other side of the silo, and as can be seen in fig. 4, a jacking plate 47 serving as the jacking member is fixed on the slide block 31; the overhang causes a natural deflection and for this purpose, as can be seen in fig. 4, a first reinforcing plate 35 is provided between the lower surface of the lifting plate 47 and the slider 31.

The first reinforcing plate 35 may also be embodied as a diagonal brace, which may be a rod member, supported between the lower surface of the lifting plate 47 and the slider 31.

In some embodiments, the lifting plate 47 may also exhibit an increase in its stiffness, for example, the lower surface of the lifting plate 47 may be provided with ribs.

The direction of the reinforcing rib can be the length and breadth direction, can also be the reinforcing rib of the overhanging direction of the independent jacking plate 47, and can also be the tilted rib, namely the tilted rib which forms an included angle of 15-75 degrees with the overhanging direction of the jacking plate 47.

The above reinforcement of the jacking plates 47 is also applicable to the first mounting plate 39, as shown in more detail in fig. 4. In addition, for example, a third reinforcing plate 42 for reinforcing the first mounting plate 39 is provided with a second relief hole 40 to reduce the overall weight.

For example, the jacking plate 47 is a rectangular plate in the form of fig. 4, and is a rectangular plate structure as a whole, while for the support of, for example, a gun head box, as can be seen from the foregoing description of various structures of the jacking member, the jacking plate 47, even if configured in a plate shape, has more options, such as a rectangular solid plate shown in fig. 4, and also can be selected as a structure having an equivalent relatively large support area, such as a U-shaped shovel plate, a perforated plate, or a circular plate.

As mentioned above, for example, the opposing sides of a cartridge, particularly the front side (the side with the cartridge catch) and the rear side (the side with the hinge), tend to differ, which is advantageous for fool-proofing.

The fool-proof is a common term in the mechanical field, which refers to a behavior restriction means for preventing and correcting, and by using a limiting method for avoiding errors, an operator can directly and correctly complete correct operation without paying attention and without experience and professional knowledge, for example, a common SIM card with a broken corner in a mobile phone has a fool-proof notch, and if the insertion is reversed, the insertion cannot be performed.

Thus, as a preferred construction, the cartridge has a fool-proof construction.

The fool-proof structure will be described with reference to the structure enclosing the silo.

As mentioned above, the silo does not necessarily have to be a structure with strict lateral confinement, and thus can have various configurations. In the structure illustrated in fig. 4, there are six guide position restricting rods 44, and the lower ends of the guide position restricting rods 44 are fixed to a pallet 46 in sequence to enclose the silo. Accordingly, the enclosure is designed according to the side profile of the object. Generally, for example, the box cover buckle usually has a front surface protruding out of the box body, if a structure on the rear side is provided with, for example, a guiding limiting rod 44 corresponding to the position of the box body when the box body is reversely mounted, the designed position of the guiding limiting rod 44 is tangent to the rear side surface of the box body, and the box cover buckle and the guiding limiting rod 44 will interfere with each other and cannot be mounted when the box body is reversely mounted, thereby realizing fool-proofing.

The second structure of the storage bin is marked as a second structure, the whole storage bin adopts a vertical tube structure, for example, a vertical groove is formed in the front panel of the storage bin corresponding to the position of the box cover buckle, and if the box body is reversely arranged, the rear panel of the storage bin cannot be arranged due to the fact that the vertical groove is not formed in the rear panel of the storage bin.

The third structure of the storage bin is a batten structure, which is equivalent to replacing the panel in the second structure with battens, and because the objects are integral objects, but not powder, liquid and the like, the installation of the objects is not influenced by gaps among the battens, and the principle is the same as that of the first structure.

In some embodiments, the combination of the lath and the rod can be used, and the fourth structure of the storage bin is marked as the first structure.

The power machine provided in the driving mechanism is preferably a servomotor capable of performing accurate output, and the driving amount of the driving mechanism can be accurately controlled based on the number of output pulses.

In the foregoing embodiments, a driving manner using a hydraulic cylinder is included, and if the hydraulic cylinder is used, the power machine is a hydraulic station.

In some embodiments, a detection component for detecting the top dead center position and/or the full stroke position of the jacking component is arranged on the machine frame.

In the structure illustrated in fig. 4, two photoelectric sensors are provided, one lower photoelectric sensor 32 for detecting that the slide block 31 is moved downwards to the right position and one upper photoelectric sensor 41 for detecting that the slide block 31 is moved upwards to the right position, wherein after the upper photoelectric sensor 41 detects that the slide block 31 is moved upwards to the right position, an alarm can be driven to alarm, and loading is required, that is, the upper photoelectric sensor 41 is used for detecting whether the bin is empty. The lower photosensor 32 detects that the slider 31 is in position, indicating that the bin is full.

Another detection element for in-position detection is a travel switch, which is located with a photosensor.

In fig. 4, in order to facilitate the detection of the photoelectric sensor, a sensing piece 33 is further mounted on the sliding block 31, and the sensing piece 33 is inserted into the mouth of the photoelectric sensor to block light for the photoelectric sensor to sample. Similarly, the sensing piece 33 has a certain rigidity, and can directly push, for example, the travel switch to reverse the state of the travel switch.

The detection part can also carry out whole-course detection, and the whole-course detection mainly adopts two modes, one mode adopts a grating ruler, and the other mode adopts, for example, a rotary encoder which can be arranged on a part with rotary motion capability in a driving mechanism.

The whole-course detection and the dead point detection can be used in a matched mode, and it can be understood that the whole-course detection can also complete the dead point detection.

Fig. 3 illustrates a loading state of the magazine 8 for the large gun head magazine, and the front and back of the magazine may use the same reference system or different reference systems, which may be considered according to the position of the magazine device on the production line and the overall layout of other process equipment, and will not be described herein again. With the structure illustrated in fig. 3, the front panel in fig. 3 does not coincide with the front and rear of the large head cartridge 27 in the drawing.

In the embodiment of the present invention, different reference frames are used for describing, for example, the large cartridge 27 and the corresponding magazine device.

In general, for example, the large tip box 27 contains the functional part mainly in the box body, so that the box body generally has a greater depth relative to the box cover.

Fig. 3 illustrates a magazine apparatus as a whole having a trough-like structure, and three large tip cases 27 are accommodated in the trough, and there are various ways in which the large tip cases 27 can be positioned, for example, without being limited to the structure illustrated in fig. 3, and therefore, the structure of the magazine apparatus as a whole is divided into three main bodies, i.e., front-rear restraint, left-right restraint, and support portions, and a basic reference system of the magazine apparatus is determined therefrom, i.e., front-rear restraint at front and rear of a position, left-right restraint at left and right of a position, and up and down of a position of the support portions, thereby determining up, down, left, right, and front and rear of the position.

It should be noted that "feeding" literally has an "active" meaning, but in the embodiment of the present invention, it is only used to mean that "feeding" is provided, not feeding by a feeding mechanism.

With respect to front-to-back constraints, to define the row direction of single or double row arranged magazines, such as the front panel shown in fig. 3; it will be appreciated based on this section that the "row direction" is defined by the fore-aft constraint and does not mean that in the double row embodiment the fore-aft constraint of the grain bin assembly has only a front panel, a rear panel, for example, and that the fore-aft constraint may also include an intermediate panel for the inter-row spacing.

Likewise, based on the above concept, the spacing between rows is not necessarily selected to be a plate, as long as it is effective to separate two rows of cartridges, such as a stop pin, a block, or other means capable of separating two rows of cartridges.

As a whole, the structure determination of the front-rear restriction and the left-right restriction is performed based on the realized function, and although the structure illustrated in fig. 3 is a structure in which the side panel and the front panel are two panels, it is understood that the positioning of the case may be performed using, for example, corner pieces, or may be performed using only two corner pieces arranged diagonally, and one corner piece substantially includes the structure of the left-right restriction and the structure of the front-rear restriction, in other words, in the embodiment of the present invention, the front-rear restriction and the left-right restriction are not member features but structural features.

Similarly, the left and right constraints are used to limit the maximum number of cartridges contained in the magazine device, in other words, the distance between the left constraint and the right constraint in the left and right constraints determines the single-row containing amount of cartridges contained, thereby limiting the maximum number of cartridges contained in the discharge magazine device.

For examples of the remaining structure, location, assembly, etc. of the left and right constraints, reference may be made to the front and rear constraints, which are not described in detail herein.

The basic function for the receptacle is to hold a cartridge, such as the large cartridge 27 shown in fig. 3. The basic function of the support is to support or support, and it is also only necessary to limit the height of the position of the large cartridge 27, or the height of the cartridge pick-up station in the magazine, for example, the bottom plate of the large cartridge 27 is usually a flat plate or a concave plate with relatively high periphery and relatively low middle, and the stability of the support is better when the plate is used to support the cartridge. But for the support of, for example, a large cartridge 27, a planar support is preferred, and a multi-point support is an alternative.

The supporting part is made of steel plate or other metal plate, engineering plastic plate directly in some embodiments, in order to reduce the overall weight, the supporting part can use, for example, a mesh plate (a kind of porous plate) or a plate body with load reducing holes on the steel plate, for example, the box body can be supported by four corners or two diagonal corners, therefore, the supporting part can also use a ring-shaped part, and only the periphery of the big gun head box 27 needs to be supported on the ring-shaped part to form reliable support.

For convenience of description, a structural body formed by combining the supporting part with the front and rear constraint and the left and right constraint is called a positioning assembly, and is used for positioning the material box as a whole.

As a process device on an automatic production line, a detection element is assembled on a bin device so as to be integrated into a control system of the production line.

It should be noted that, in the embodiments of the present invention, the foregoing detecting elements only constitute a part of an automatic production line, but not all of the detecting elements, and therefore, the present arrangement and the position arrangement of the detecting elements are focused on in the embodiments of the present invention, and nothing is related to any control aspect.

The detection element is arranged to detect the existence of the material box and is integrated into a control system of an automatic production line so as to be used as a basis for material box circulation.

Fig. 3 illustrates a configuration in which the presence of the large tip magazine 27 is detected by using sensors 26 corresponding one-to-one to the large tip magazine 27, the sensors 26 being mounted on a front plate having positioning grooves formed at predetermined positions for positioning the sensors 26 and for interposing sensitive elements on the sensors 26.

The sensor 26 may be, for example, a photoelectric sensor, a travel switch, or an ultrasonic sensor.

For example, the position of the travel switch may be set on the front panel as shown in fig. 3 or on the support portion, for example, the push rod of the travel switch protrudes from the lower surface of the support portion, and when the magazine exists, the push rod is pressed down by the magazine, and when the magazine is removed, the push rod is reset, thereby detecting the existence of the magazine.

The magazine device is typically located at the very front end of the entire production line, and the accuracy of the position of the large cartridge 27, for example, can affect the difficulty of operating the subsequent processing equipment.

Fool-proofing usually makes use of, for example, the self-profile of the magazine, as previously mentioned the protrusion of the clasp, hinge with respect to the front or rear panel of the magazine. In an embodiment of the invention, the fool-proof structure is a relief groove or a relief hole corresponding to the box buckle and/or the hinge of the magazine.

In the structure illustrated in fig. 3, the fool-proof groove 29 is formed in the partition plate 28, the fool-proof groove 29 is aligned with the box buckle at a position in the front-rear direction, and the other plate opposed to the partition plate 28 is a flat plate.

The arrangement of the fool-proof structure in the embodiment of the invention is also relatively flexible, since the magazine generally has two distinct features, namely a magazine catch and a hinge, and for example the large lance tip magazine 27 has a plurality of loading modes based on the structural features of the magazine arrangement.

Further, if the single long storehouse is determined to the location assembly, prevent slow-witted structure can set up on controlling the restraint or retraining from beginning to end, single long storehouse needs the magazine to arrange in proper order, and its total length has decided the problem that the placing of magazine has produced just can not pack into last magazine by mistake, consequently can only set up on left restraint or right restraint and prevent slow-witted structure.

At the same time, in the case of only one magazine, a fool-proofing structure can be provided, for example on the front panel, for each magazine.

Theoretically, compared with a single material box, the fool-proof structure can meet the fool-proof requirement, but two materials are still optional.

If the positioning assembly defines an elongated bin, a given number of longitudinal partitions 28 are provided in the elongated bin to divide the elongated bin into a plurality of sub-bins, in which case one, some or all of the sub-bins are provided with foolproof structures corresponding to the sub-bins. Wherein all the sub-bins are provided with the fool-proof structures which are relatively easy to understand, and one sub-bin and part of the sub-bins are provided with the fool-proof structures, so that when workers load the material boxes, the workers can load the material boxes one by one, and the correct loading direction can be found very easily based on the loading of the fool-proof sub-bins, therefore, the fool-proof structures can be arranged on the part of the sub-bins only.

In the configuration illustrated in fig. 3, the number of the large cartridge 27 is 3, which is suitable for the application of the planar cartridge, the amount of the cartridge used in one process cycle is relatively small, and if the number of the required cartridges is large, the cartridge is recommended to be fed in a stacking manner, so that the cartridges occupy a large space in the planar layout.

Generally, the number of the material boxes in one row is preferably 3 to 5, and if the number of the material boxes in two rows is preferably 3 to 5.

Alternatively, one of the left and right constraints is a floating constraint and is adapted with a locking structure for locking the left and right constraints on the front and rear constraints or the bearing parts to adjust the maximum accommodation amount.

Further, the locking structure is configured to:

a plurality of groups of adjusting screw holes are arranged on the front and rear constraint or bearing parts, and auxiliary holes are correspondingly arranged on the floating constraint so as to lock the floating constraint through the adjusting screws;

accordingly, each set of set screw holes defines a location of the swimming restraint.

Fig. 3 illustrates a configuration in which 4 circular holes, denoted as countersunk screw holes, can be seen in the front panel, the countersunk screw holes in the figure constituting the aforementioned set screw holes, the maximum accommodation of the silo being defined by adjusting the position of one side plate in an embodiment in which no partition 28 is present.

To facilitate, for example, the handling of the robot, the height of the at least front-to-back constraint is lower than the height of the cartridge case. As is apparent from the structure illustrated in fig. 3, for example, the height of the front panel is lower than the position of the middle joint line of the large head cartridge 27, which represents the joint position where the cartridge cover is fastened to the cartridge body, and the larger the portion of the exposed slot is, the more advantageous the picking up of the large head cartridge 27 by, for example, a robot is.

Motorized jaws are a wide variety, and translational motorized jaws are preferred in embodiments of the present invention.

The electric clamping jaw matched with the clamping jaw assembly 16 matched with the designed and shaped feeding robot 17 is an electric clamping jaw produced by Daantoan robot technology Limited in Shenzhen city, and it can be understood that the basic motion form of the electric clamping jaw is not different due to different manufacturers.

It will be appreciated that the direction of the powered jaw engager is generally oriented inwardly and vice versa.

In addition, the motorized gripper is generally provided with structures for its fixation all around to improve adaptability to different robot arm end structures, and in most cases, the structures for motorized gripper fixation are generally screw holes.

In general, the jaws of the power jaws are often disposed at their lower ends in a suspended state as shown in fig. 5, in other words, a seat for mounting the power jaws, a second seat plate 56 as shown in fig. 5, is located on the upper side of the power jaws.

As for the second seat plate 56, for example, it does not necessarily have the property of a plate, but is merely used to indicate its constituent seat. However, as an essential feature for defining the predetermined distance between the two electrically operated jaws, the second seat plate 56 should have a suitable extension space, at least in the selected direction, to adapt to the respective process equipment, avoiding the occurrence of movement interferences. Based on this, the person skilled in the art can obtain corresponding design basis which is easily implemented according to the present invention.

The aforementioned suitable extension space is determined in a selected direction, which is a predetermined direction in the claims, and hereinafter, for convenience of description, a "left-right direction" is used instead with reference to fig. 5 in a unified manner.

It is noted that, regarding the electric chuck, an important parameter is the effective working stroke, and the clamping force for clamping the object in the effective working stroke is approximately a constant force, i.e. the clamping force (one of the working parameters), and therefore, the clamping force is also one of the selection parameters of the electric chuck. For example, for grasping a bottle, excessive gripping force can result in the body breaking.

Generally, the effective working stroke of the powered jaws is directly related to the clamping force, or the larger the powered jaws, the greater the clamping force provided.

For convenience of description, the working stroke is used hereinafter to refer to the effective working stroke of the power jaws.

Figure 5 illustrates a robot jaw assembly whose basic structure includes a second seat plate 56 and two motorized jaws mounted on the second seat plate 56. Wherein the second seat plate 56 is the basis for mounting the robot gripper assembly on the robot arm end mounting structure, it can be understood that the shape of the second seat plate 56 is influenced by the designed distance between the two electric grippers, and the adaptability to the robot arm end mounting structure is also considered, therefore, the second seat plate 56 does not necessarily have the plate property, although the plate body is the preferred structure of the second seat plate 56.

The second seat plate 56 may be made of metal or engineering plastic, especially if the engineering plastic can replace metal in more applications, because the engineering plastic has strength not weaker than that of metal and usually has lower density.

In the configuration illustrated in fig. 5, the two electric jaws are shown as a first electric jaw 50 and a second electric jaw 58 in fig. 5, and the two electric jaws are respectively located on the left and right of a second base plate 56, wherein the working stroke of the first electric jaw 50 is relatively small, and the working stroke of the second electric jaw 58 is relatively large. The clamping jaws of the two electric clamping jaws are positioned at the lower ends and are in an overhanging state integrally during working, and the clamping jaws are used for clamping and transferring workpieces.

It should be noted that, with the development of the technology, electric jaws with adjustable working stroke have appeared, but the application range is still limited, in that if a specific process needs a relatively small clamping stroke, only a relatively small specification of electric jaws needs to be selected, and it is not necessary to select an electric jaw with a relatively large working stroke. The adjustable working stroke of the electric clamping jaw is more applicable to the relatively unstable scene of the feeding side of the production line.

It should be noted that the above description does not exclude the application of an adjustable working stroke and an adjustable clamping force electric clamping jaw in the embodiments of the present invention. However, for the workpiece to be clamped, the two electric jaws with the "relatively large" working stroke provide a certain specification margin in view of the working stroke itself, and the two electric jaws can meet more applications, so that the necessity of adjusting the determined working stroke is relatively low. And the two electric clamping jaws are separated by a certain distance, so that mutual interference is avoided.

The distance between the two electric jaws is preferably 100mm to 200 mm. In addition, it should be noted that for an object to be gripped by the electric clamping jaws, the object is often located in a feeding area of the processing equipment, and the area is usually defined by specifications, so that the two electric clamping jaws can avoid interference with other parts of the feeding area when the object is gripped based on the adaptive spacing.

Further, the first electric chuck 50 and the second electric chuck 58 may have a clamping direction parallel to each other, and this is considered to be mainly due to the fact that the electric chuck may have a relatively large size in the opening/closing direction and the size of the electric chuck may vary in the opening/closing direction due to the opening/closing.

With respect to the second seat plate 56, in the structure illustrated in fig. 5, the seat hole 55 of the second seat plate 56 is offset to the left, and the seat hole 55 of the second seat plate 56 is centrally disposed in some embodiments. The seat holes 55 are holes adapted to the end of the robot arm for alignment for assembly, bearing seat holes, and second seat plate 56 with freedom to rotate about the axis of the seat holes 55, and lightening holes to reduce the total weight of the robot gripper assembly.

When the seat hole 55 is used as a bearing seat hole, the position of the first electric clamping jaw 50 and the second electric clamping jaw 58 can be changed by rotating 180 degrees around the axis of the seat hole 55, and the working position can be changed, wherein one clamping jaw is in a standby state, and the other clamping jaw is in a working state. With the structure, the burden of the mechanical arm can be effectively reduced.

For the configuration illustrated in fig. 5, the offset of the seat hole 55 to the left in fig. 5 can be used to distinguish between the two jaws, which is not prone to programming errors. And in most applications the two jaws can be adapted to each other with their own modality, without having to change position, corresponding to different loading zones.

Since the electric jaws are provided with screw holes for assembly, for example, at the periphery and the upper end face thereof, the assembling flexibility is good, and in view of the overall compactness, the second electric jaw 58 is mounted on the right end side face of the second seat plate 56 in fig. 5, and similarly, if the first electric jaw 50 is mounted on the left end side face of the second seat plate 56, the two electric jaws can have a relatively large interval under the condition that the left-right span is relatively small.

The accuracy of the positioning of the end face or the side face is determined by the machining accuracy of the second seat plate 56, and in the structure illustrated in fig. 5, the positioning groove 52 is formed on the lower surface of the second seat plate 56, thereby improving the assembling accuracy of the first electric jaw 50, for example.

It is also possible for the second powered jaw 58 to be mounted in place using detents 52 or similar structures.

Regarding the positioning of the first and second electric jaws 50, 58, positioning grooves 52 are mentioned in the foregoing, and the positioning may be direct positioning or indirect positioning, where indirect positioning means that the assembly is performed by using connecting plates, such as the second and third mounting plates 51, 57 shown in fig. 5, where both mounting plates are vertical plates, and the second seat plate 56 is a horizontal plate, and the vertical plate and the corresponding electric jaw are connected laterally, that is, the lateral surface of the vertical plate and the lateral surface of the electric jaw are assembled in alignment.

Regarding the working surface of the electric clamping jaw, in most applications, the working surface of the electric clamping jaw is a planar structure, and the planar structure has wide adaptability, for example, if the workpiece is a cylinder, the clamping pick-up body can ensure the clamping and the stability of the posture of the workpiece in the clamping state under the condition that the initial state of the workpiece is determined. The planar structure is also relatively good for, for example, rectangular boxes, based on the clamping of a face-to-face fit.

In some embodiments, a cylindrical profile positioning structure is provided in the middle of the working surface of the first electric clamping jaw 50 and/or the second electric clamping jaw 58, and the axis corresponding to the cylindrical profile is a vertical line; in a preferred embodiment, the cylindrical profile positioning structure is a V-groove 60, the V-groove 60 having a good adaptation to the cylindrical diameter. While in some embodiments the cylindrical profile positioning structure is a cylindrical surface structure, which is less adaptable. If the two oppositely combined working surfaces are provided with the V-shaped grooves 60, the cylindrical surface workpiece can be easily and accurately picked up, and the axes of the cylindrical surface workpiece can approximately form a symmetrical axis of the two working surfaces by clamping the cylindrical surface workpiece through the V-shaped grooves 60 of the two oppositely combined working surfaces.

If only one electric clamping jaw is provided with the cylindrical profile positioning structure, the electric clamping jaw is the electric clamping jaw with relatively smaller working stroke in the two electric clamping jaws, and the requirement of a workpiece with a cylindrical surface structure on the working stroke is relatively lower compared with a box.

In addition, if the cylindrical surface profile is positioned by the cylindrical surface groove, the central angle of the cylindrical surface groove is less than 180 degrees, so that the influence on the reliability of the clamp due to the interference of the clamp is avoided.

Further, if the working surface of the first or second electric jaw 50 or 58 is a flat surface, the flat surface is provided with an elastic lining, such as a rubber lining 59 shown in fig. 5.

Regarding the opening devices, such as the first opening device 9 and the second opening device 12, the opening principle is completely the same, and both are based on the structural characteristics of, for example, a gun head case, which is a generally rectangular case having a case body and a lid, which are connected at the rear side by a hinge, so that the lid has a degree of freedom of rotation about the hinge axis with respect to the case body, and on the basis of this rotation the lid can be snapped onto the mouth of the case body or flipped backwards to be disengaged.

The aforementioned hinges may be separate hinge members or may be creases, by means of which the construction of the hinge is also one of the more common means of plastic cases. And because the hinge that the crease formed has certain resilience force to after the box buckle is tripped, the lid opens an angle for the box body can be natural, if the box body is kept flat, this angle is the contained angle for the horizontal plane promptly.

In some embodiments, the case opening device consists essentially of three parts, in order, a positioning assembly, a case opening part, and a flip part. Wherein the location assembly is simple relatively, only need with the fit part embedding of box can, generally adopt the rectangular channel can.

And for the box opening part, the lock catch of the gun head box can be pushed upwards to be unlocked.

And for the flip part, the flip can be turned by directly using a push plate or a swing arm capable of pushing and holding the lower edge of the box cover.

As a part which can be easily understood with reference to the drawings, the cartridge body 25, the base 30, the linear guide 34, the servo motor 49, the first mounting hole 53 and the second mounting hole 54 are not described in detail.

Claims (14)

1. A feeder for feeding raw material medicines in a medicine synthesis process, the feeder comprising:

the workbench is provided with a front-back direction and a left-right direction, and the left-right direction is taken as a feeding direction;

the multi-degree-of-freedom mechanical arm of the feeding robot is provided with a clamping jaw assembly with a plurality of clamping heads at the tail end;

the storage area is an assembly of a plurality of functional areas which are sequentially distributed on the workbench and is at least used for storing the raw material medicine bottles, the synthetic medicine bottles and the gun head boxes in a partition mode;

the box opening area is positioned on the workbench and is provided with a box opening mechanism so as to open the gun head box transferred by the feeding robot; and

the code scanner is positioned at the tail end of the feeding direction of the workbench and used for scanning and confirming the objects picked up by the feeding robot;

correspondingly, the clamping head matched with the clamping jaw assembly is at least suitable for clamping box-type objects and at least suitable for clamping bottle-type objects;

the clamping jaw assembly comprises:

the base plate is used for connecting the clamping jaw assembly on the feeding robot;

the first electric clamping jaw has a first working stroke, is arranged at one end of the base plate in the preset direction and is used for clamping the box-like objects; and

the second electric clamping jaw has a second working stroke and is arranged at the other end of the base plate in the preset direction, a cylindrical surface profile part positioning structure is arranged in the middle of the working surface of the second electric clamping jaw and is used for clamping bottle-like objects, and the axis corresponding to the cylindrical profile is a vertical line;

wherein the first working stroke is larger than the second working stroke.

2. The feeder according to claim 1, characterized in that the first zone of the functional zone for storing the raw material bottles is provided with a thermostatic device.

3. The feeder according to claim 2, characterised in that the thermostatic device has a plurality of sub-areas to adapt to different bulk drugs.

4. The feeder according to claim 1, wherein the second area for storing the cartridge is located at the foremost stage in the feeding direction of the table;

accordingly, the third area for opening the box is provided with the box opening device, and the third area is located at the rear stage of the second area.

5. The feeder according to claim 4, characterized in that in the second area, the gun head boxes are stored in different classification areas, two types of corresponding pipette heads are provided, and the pipette heads are divided into large gun heads and small gun heads according to the relative size of the liquid transfer amount;

a rifle head box for splendid attire rifle head is placed in rifle head box feed bin for the rifle head box of big rifle head is placed in big rifle head box feed bin.

6. The feeder according to claim 5, wherein the storage capacity of the magazine for small tips is greater than the storage capacity of the magazine for large tips;

wherein, the rifle head box feed bin is furnished with vertical feed mechanism to the rifle head box feed of piling up the pile up in vertical direction.

7. The feeding machine according to claim 6, characterized in that the big gun head boxes in the big gun head box storage bin are stacked in a single-row, single-column or row-column manner, and a detection device for detecting whether the big gun head boxes exist is arranged on the bin body of the big gun head boxes corresponding to the placement position of each big gun head box;

the small gun head box bin is vertically provided with a full bin position and an empty bin position detection device.

8. The feeder according to claim 5, wherein the small-muzzle magazine comprises:

a frame;

the constraint assembly is used for enclosing a bin in the feeding and discharging direction on the rack;

the jacking component is used for jacking the small gun head box accommodated in the stock bin from the bottom of the stock bin to the outlet;

the driving mechanism is used for driving the jacking component to move in a given movement form in the feeding and discharging direction;

wherein the given movement form is a stroke for making the jacking component run by the height of the small gun head box every time of driving.

9. The feeder according to claim 8, wherein the jacking member is configured to:

the first structure forms a movable bottom plate of the storage bin;

the second structure is a single or a plurality of jacking heads, if the single jacking head is single, the center of the jacking of the corresponding jacking head is matched with the center of the lower surface of the small gun head box positioned at the lowest part, if the single jacking head is multiple, the resultant force of the jacking heads is the force in the feeding and discharging direction, and the overturning moment of the resultant force acting on the small gun head box is 0;

in the third structure, the storage bin is provided with a static bottom plate, and the jacking component is positioned above the static bottom plate; or

The fourth structure is that the feed bin is provided with a statically determinate bottom plate, a groove or a through hole is formed in the statically determinate bottom plate, and the jacking component is a component accommodated in the groove or a component capable of penetrating through the statically determinate bottom plate in the feeding and discharging direction through the through hole; if the statically determinate bottom plate is provided with the groove, the jacking component forms a jacking plate which is completely accommodated in the groove in the initial state;

and when the groove is formed in the statically determined bottom plate in the fourth structure or the third structure is corresponded, the driving mechanism is inserted into the bin from one side of the bin to be connected with the jacking part.

10. The feeder according to claim 9, wherein in the fourth configuration, the through hole and the static bottom plate are used for supporting the surface part of the small gun head box to share the same central axis; or

Under the condition that the action line of the jacking plate on the jacking force of the small gun head box is superposed with the gravity line of the small gun head box, a side hole is formed in one side of the through hole and is located on the side where the driving mechanism is located, so that movement interference is avoided.

11. The feeding machine according to claim 10, wherein the statically determinate bottom plate is a statically determinate bottom plate with U-shaped through holes;

the U-shaped opening of the U-shaped through hole forms the side hole.

12. The feeder according to claim 5, characterized in that the big and small gun head magazine are equipped with fool-proof structures.

13. A feeder according to claim 1, characterised in that the cylindrical profile positioning structure is a V-groove or a cylindrical groove with a central angle of less than 180 degrees.

14. The feeder according to claim 13, wherein the jaw body of the first electrically powered jaw has a pair of opposed jaws, the respective jaws having respective working surfaces provided with a resilient lining.

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