CN105947653A - Medical blood collection tube preparation machine based on multi-joint robot - Google Patents
Medical blood collection tube preparation machine based on multi-joint robot Download PDFInfo
- Publication number
- CN105947653A CN105947653A CN201610451685.0A CN201610451685A CN105947653A CN 105947653 A CN105947653 A CN 105947653A CN 201610451685 A CN201610451685 A CN 201610451685A CN 105947653 A CN105947653 A CN 105947653A
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- CN
- China
- Prior art keywords
- rotary joint
- blood taking
- medical blood
- joint arm
- blood collection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a medical blood collection tube preparation machine based on a multi-joint robot. The medical blood collection tube preparation machine comprises a blood collection tube storage box, a mark printer, a control module and a rotary joint type mechanical selecting mechanism, wherein the blood collection tube storage box is used for accommodating medical blood collection tubes; the mark printer is used for performing label printing on the medical blood collection tubes; the control module is connected with the mark printer and controls the mark printer; the rotary joint type mechanical selecting mechanism is connected with the control module and used for selecting the medical blood collection tubes from the blood collection tube storage box and placing the medical blood collection tubes into the mark printer, and comprises a rotary joint arm, a mechanical clamping jaw, a joint and a sliding column, the rotary joint arm can horizontally rotate and vertically slide around the sliding column under the driving of an inner driving motor through the joint, and the mechanical clamping jaw is mounted on the rotary joint arm and used for selecting the medical blood collection tubes. With the adoption of the manipulator with the rotary type joint arm structure, the structure is simple, grabbing is flexible, and the efficiency is higher.
Description
Technical field
The present invention relates to mark print and labeling device, particularly relate to the one in medical field based on many
The medical blood taking pipe of articulated robot prepares machine.
Background technology
Medical blood taking pipe be present hospital for gathering a kind of mode that blood is the most frequently used, be that hospital is a large amount of
One of medical equipment used, brings conveniently to medical rings.But medical worker uses a large amount of
While Medical vacuum blood taking tube, there is a requisite job, it is simply that to each medical blood taking pipe
Stick a message identification, medical worker to select pipe, identify, the work such as distribution, be a loaded down with trivial details work
Making, therefore workload is big, and efficiency is low, easily make mistakes.
The Chinese invention patent of Application No. CN 200880106289.8 discloses a kind of for test tube
Labelling and preparation device, including at least one reservoir, in precalculated position, placement is mounted with one group of test tube
At least one support plate, at least one transport portion is arranged on the top of described reservoir, clamps or discharges institute
Stating in test tube, labeling section is arranged on the lower section of described transport portion, receives and transports from described transport portion
The test tube sent here, and the labelling with sample relevant information is sticked at the outer surface of each test tube.Row
Go out portion and be arranged on the lower section of described labeling section, test tube is discharged into outside.Controller controls described transport
Portion, labeling section and the driver in discharge portion., described transport portion includes: x-axis driver, this x-axis
Driver includes: a pair x-axis support, drive shaft and driven shaft and first drive motor, described
The x-axis length of a pair x-axis support is equal to the x-axis length of the described reservoir being arranged below, described
A pair x-axis support is spaced in parallel to each other to be opened, and described drive shaft and driven shaft are connected to by x-axis band
The contrary two ends of described x-axis support, with described x-axis band compounding practice, described first drive electricity
The outfan of machine is connected to described drive shaft；Y-axis driver, this y-axis driver includes: y-axis is propped up
Frame, driving pulley and driven motor by driving pulley and second, described y-axis support is fixed on described
X-axis band, with along the x-axis direction with described x-axis band compounding practice, the y-axis width of described y-axis support
Equal to the y-axis width of described reservoir being arranged below, described driving pulley and being led to by driving pulley
Cross y-axis band and be connected to the contrary two ends of described y-axis support, with described y-axis band compounding practice,
Described second drives the outfan of motor to be connected to described driving pulley.
Mechanical gripping mechanism of the prior art is to control mechanical hand at water by X-axis, Y-axis driver
Square move upward realize, the shortcoming of this mechanical gripping mechanism is that structure is complicated, ineffective
Live.
Summary of the invention
In order to solve deficiency of the prior art, it is an object of the invention to provide a kind of simple in construction and grab
Take medical blood taking pipe based on articulated robot flexibly and prepare machine.
To achieve these goals, provided by the present invention a kind of based on articulated robot medical adopt
Blood vessel prepares machine, including:
Blood taking tube case, is used for placing medical blood taking pipe；
Label printer, for carrying out printing label to medical blood taking pipe；
Control module, connects and controls described label printer；
Also include that mechanism chosen by rotary joint formula machinery, be connected with described control module, for from blood sampling
Choosing medical blood taking pipe putting identification printer in pipe case, described rotary machine chooses mechanism's bag
Including rotary joint arm, mechanical claw, joint and traveller, described rotary joint arm is driven interior by joint
Can rotate in the horizontal direction around described traveller under the driving of galvanic electricity machine and slide on vertical direction, described
Mechanical claw is arranged on described rotary joint arm, is used for choosing medical blood taking pipe.
Preferably, including two rotary joint arms, the i.e. first rotary joint arm and the second rotary joint arm,
Described first rotary joint arm is connected with described traveller, in the driving of interior driving motor by the first joint
Under can around described traveller rotate in the horizontal direction and vertical direction slide, described second rotary joint arm
One end be connected with described first rotary joint arm, under the driving of interior driving motor by second joint
Can rotate around second joint, the other end is connected with described mechanical claw.
Advantageously, described mechanical claw can slide up and down in the end of described second rotary joint arm.
Advantageously, described blood taking tube case arranges placement by the mode of upper and lower two-layer, two every layer.
Compared with the present invention drives mechanical hand mode with traditional use X/Y axle, rotary owing to have employed
Mechanism chosen by the machinery of joint arm structure so that simple in construction, capture flexible, in hgher efficiency.
Accompanying drawing explanation
Fig. 1 is the front view of the preferred embodiment of the present invention；
Fig. 2 is the top view of the preferred embodiment of the present invention.
Wherein,
1, blood taking tube case；
2, label printer；
3, mechanism chosen by rotary joint formula machinery；
4, rotary joint arm；
5, mechanical claw；
6, traveller；
7, the first rotary joint arm；
8, the second rotary joint arm；
9, medical blood taking pipe.
10, the first joint；
11, second joint.
Detailed description of the invention
As depicted in figs. 1 and 2, a kind of doctor based on articulated robot provided by the present invention
Machine is prepared with blood taking tube, including: blood taking tube case 1, it is used for placing medical blood taking pipe 9；Mark
Know printer 2, for medical blood taking pipe 9 is carried out printing label；Control module, connects also
Control described label printer 2；Also include that mechanism 3 chosen by rotary joint formula machinery, with described control
Molding block connects, and prints for choosing medical blood taking pipe putting identification from blood taking tube case 1
Machine 2, described rotary machine is chosen mechanism 3 and is included rotary joint arm 4, mechanical claw 5, closes
Joint and traveller 6, described rotary joint arm 4 can be around under the driving of interior driving motor by joint
Described traveller 6 rotates in the horizontal direction and vertical direction slides, and described mechanical claw 5 is arranged on
On described rotary joint arm 4, it is used for choosing medical blood taking pipe 9.
Here rotary joint arm can be with only one of which, in this case, owing to joint arm can only be
To move on the circumference of a length of radius of joint arm, so blood taking tube case now can be arranged to
Circular arc or the shape of circumference so that mechanical claw can catch medical blood taking pipe.
Rotary joint arm is connected with traveller by joint, is provided with interior driving motor on rotary joint arm,
Interior driving motor is also connected with control module, thus realizes control module control by interior driving motor
Rotary joint upper-arm circumference around articulation and along with sliding shoe slides up and down along traveller, on traveller with
Slide rail, the sliding shoe on joint can slide up and down along slide rail.
Preferably, including two rotary joint arms, the i.e. first rotary joint arm 7 and the second rotary joint
Arm 8, described first rotary joint arm 7 is connected with described traveller 6 by the first joint 10, drives interior
Can rotate in the horizontal direction around described traveller 6 under the driving of galvanic electricity machine and vertical direction slides, described
One end of second rotary joint arm 8 is connected with described first rotary joint arm 7 by second joint 11,
Can rotate around second joint 11 under the driving of interior driving motor, the other end and described mechanical claw 5
Connect.
In such an embodiment, rotary joint arm has two arms that is first rotary joint arm 7 and the second rotation
Turning joint arm 8 and two joints, two arms can be around pass under driving motor to drive in corresponding
Joint rotating 360 degrees, when two joints rotate, mechanical claw can be reached two brachium sums is
In the round territory of radius, mechanical claw can also be upper and lower in the end short distance of described second rotary joint arm
Slide, the first rotary joint arm 7 can also on traveller 6 vertical sliding motion so that mechanical claw 5 can
With the most movable in the space cylindrical at, implement to capture to the medical blood taking pipe in its space.
Medical blood taking pipe uses vertical multiple rows of multilamellar to place, and two-layer, the mode of two every layer arrange such as up and down
Placing, when needs capture certain medical blood taking pipe, joint arm slides on medical blood taking pipe in accordance with traveller
Portion, rotates two joints, makes the first rotary joint arm 7 and the second rotary joint arm 8 rotate, machine
Tool claw 5 forwards the positive anterior of medical blood taking pipe to, and mechanical claw 5 glides, then block and on carry doctor
With blood taking tube, it is achieved the crawl of medical blood taking pipe.After catching medical blood taking pipe, again rotate two passes
Joint, medical blood taking pipe is forwarded to the surface of the print position of label printer, as medical blood taking pipe from
Farther out, can glide print position the first rotary joint arm 7, decreased distance, then pine card, medical blood taking
Pipe falls in label printer 2, and medical blood taking pipe 9 is printed by label printer 2 and labeling is made
Industry, then medical blood taking pipe is fallen out in magazine, and staff can post target to going out to take away in magazine
Medical blood taking pipe.
The preferred specific embodiment of the present invention described in detail above.Should be appreciated that the general of this area
Logical technical staff without creative work just can according to the design concept of the present invention make many amendments with
Change.Therefore, all design concepts under this invention of technical staff in the art are in prior art
On the basis of by the available technical scheme of logical analysis, reasoning, or a limited experiment, all should be
Within the scope of the present invention and/or in the protection domain that is defined in the patent claims.
Claims (4)
1. medical blood taking pipe based on articulated robot prepares machine, including:
Blood taking tube case (1), is used for placing medical blood taking pipe (9)；
Label printer (2), for carrying out printing label to medical blood taking pipe (9)；
Control module, connects and controls described label printer；
It is characterized in that:
Also include that mechanism (3) chosen by rotary joint formula machinery, be connected with described control module, for from adopting
Blood vessel case (1) is chosen medical blood taking pipe putting identification printer (2), described rotary machine
Choose mechanism (3) and include rotary joint arm (4), mechanical claw (5), joint and traveller (6),
Described rotary joint arm (4) can be existed around described traveller (6) under the driving of interior driving motor by joint
Horizontal direction rotates and vertical direction slides, and described mechanical claw (5) is arranged on described rotary joint arm (4)
On, it is used for choosing medical blood taking pipe (9).
A kind of medical blood taking pipe based on articulated robot the most according to claim 1 prepares machine, its
It is characterised by: include two rotary joint arms, the i.e. first rotary joint arm (7) and the second rotary joint arm
(8), described first rotary joint arm (7) is connected with described traveller (6) by the first joint (10),
Can rotate in the horizontal direction around described traveller (6) under the driving of interior driving motor and vertical direction slides,
One end of described second rotary joint arm (8) is by second joint (11) and described first rotary joint arm
(7) connect, can rotate around second joint (11) under the driving of interior driving motor, the other end and institute
State mechanical claw (5) to connect.
A kind of medical blood taking pipe based on articulated robot the most according to claim 2 prepares machine, its
It is characterised by: described mechanical claw (5) can be upper and lower in the end of described second rotary joint arm (8)
Slide.
A kind of medical blood taking pipe based on articulated robot the most according to claim 3 prepares machine, its
It is characterised by: described blood taking tube case (1) arranges placement by the mode of upper and lower two-layer, two every layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610451685.0A CN105947653A (en) | 2016-06-21 | 2016-06-21 | Medical blood collection tube preparation machine based on multi-joint robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610451685.0A CN105947653A (en) | 2016-06-21 | 2016-06-21 | Medical blood collection tube preparation machine based on multi-joint robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105947653A true CN105947653A (en) | 2016-09-21 |
Family
ID=56907088
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610451685.0A Pending CN105947653A (en) | 2016-06-21 | 2016-06-21 | Medical blood collection tube preparation machine based on multi-joint robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105947653A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107555113A (en) * | 2017-09-21 | 2018-01-09 | 南京师范大学 | A kind of medical blood taking pipe snatch device |
| CN108792117A (en) * | 2018-08-01 | 2018-11-13 | 成都普什医药塑料包装有限公司 | A kind of manipulator and heparin tube applicator |
Citations (6)
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|---|---|---|---|---|
| EP2530025A1 (en) * | 2008-07-25 | 2012-12-05 | F. Hoffmann-La Roche AG | Alignment element for sample tube racks |
| US20120321427A1 (en) * | 2006-06-28 | 2012-12-20 | Genmark Automation, Inc. | Belt-Driven Robot Having Extended Z-Axis Motion |
| EP2148204B1 (en) * | 2008-07-25 | 2013-01-02 | F. Hoffmann-La Roche AG | A laboratory storage and retrieval system and a method to handle laboratory sample tubes |
| WO2014171586A1 (en) * | 2013-04-17 | 2014-10-23 | 주식회사 크레도웨이 | Automatic label-attaching device for test tubes |
| CN105197325A (en) * | 2015-09-16 | 2015-12-30 | 上海创司杰医疗科技有限公司 | Intelligent blood collection tube labeling device |
| CN205906699U (en) * | 2016-06-21 | 2017-01-25 | 杨辰 | Machine is prepared to medical heparin tube based on articulated robot |
-
2016
- 2016-06-21 CN CN201610451685.0A patent/CN105947653A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120321427A1 (en) * | 2006-06-28 | 2012-12-20 | Genmark Automation, Inc. | Belt-Driven Robot Having Extended Z-Axis Motion |
| EP2530025A1 (en) * | 2008-07-25 | 2012-12-05 | F. Hoffmann-La Roche AG | Alignment element for sample tube racks |
| EP2148204B1 (en) * | 2008-07-25 | 2013-01-02 | F. Hoffmann-La Roche AG | A laboratory storage and retrieval system and a method to handle laboratory sample tubes |
| WO2014171586A1 (en) * | 2013-04-17 | 2014-10-23 | 주식회사 크레도웨이 | Automatic label-attaching device for test tubes |
| CN105197325A (en) * | 2015-09-16 | 2015-12-30 | 上海创司杰医疗科技有限公司 | Intelligent blood collection tube labeling device |
| CN205906699U (en) * | 2016-06-21 | 2017-01-25 | 杨辰 | Machine is prepared to medical heparin tube based on articulated robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107555113A (en) * | 2017-09-21 | 2018-01-09 | 南京师范大学 | A kind of medical blood taking pipe snatch device |
| CN108792117A (en) * | 2018-08-01 | 2018-11-13 | 成都普什医药塑料包装有限公司 | A kind of manipulator and heparin tube applicator |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160921 |
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| WD01 | Invention patent application deemed withdrawn after publication |