CN106564752B - Intelligent heparin tube positioning fetching device and its control method - Google Patents
Intelligent heparin tube positioning fetching device and its control method Download PDFInfo
- Publication number
- CN106564752B CN106564752B CN201610909133.XA CN201610909133A CN106564752B CN 106564752 B CN106564752 B CN 106564752B CN 201610909133 A CN201610909133 A CN 201610909133A CN 106564752 B CN106564752 B CN 106564752B
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- heparin tube
- axis moving
- moving portion
- fixture
- objective table
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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
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C3/00—Labelling other than flat surfaces
- B65C3/06—Affixing labels to short rigid containers
- B65C3/08—Affixing labels to short rigid containers to container bodies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/26—Devices for applying labels
Abstract
The invention discloses a kind of intelligent heparin tube positioning fetching device and its control methods.Intelligent heparin tube positioning fetching device includes frame, multiple hoistable platforms, three-dimensional mobile module and printing label mechanism；Three-dimensional mobile module includes X-axis moving portion, Y-axis moving portion and Z axis moving portion, fixture is provided in Z axis moving portion, multiple hoistable platforms are arranged side by side in the frame, hoistable platform includes telescoping mechanism and objective table, telescoping mechanism is fixed on frame, objective table is fixed on telescoping mechanism, objective table is located at the lower section of fixture, wherein dismountable support of blood collecting pipe is provided on an objective table, heparin tube jack is offered on support of blood collecting pipe, printing label mechanism has printing jack, and printing label mechanism is fixed on the side on frame and being located at hoistable platform.It realizes the waiting time for shortening intelligent heparin tube positioning fetching device, simplifies the movement routine of fixture, improve the printing label efficiency of heparin tube.
Description
Technical field
The present invention relates to the field of medical instrument technology more particularly to a kind of intelligent heparin tube positioning fetching device and its controls
Method.
Background technique
Currently, medical institutions need to acquire people in carrying out various types of tests relevant to patient's diagnosing and treating
The biological fluid sample (such as blood) of body or animal patient is tested and analyzed, and is generally flowed using heparin tube to these biologies
Body sample is loaded storage.And when detecting, since detection project difference needs that heparin tube is marked differentiation, usually adopt
With printing bar code and related text information on label and label is pasted on heparin tube.And with science and technology into
Step, heparin tube labelling apparatus is widely used, heparin tube labelling apparatus generally include casing, label machine and
Heparin tube storage rack, label machine setting are provided with blood sampling tube inlet in casing, on casing, and heparin tube storage rack is mounted on
On casing, the heparin tube whereabouts mouth of heparin tube storage rack is oppositely arranged with tube inlet of taking a blood sample on casing and is used cooperatively.Chinese patent
Application number 201510589877.3 discloses a kind of intelligent heparin tube device for labeling, adopts configured with multilayer for placing in the device
The rack of blood vessel, and drive fixture to be moved at the rack of different layers by elevating mechanism and carry out heparin tube of taking away, then
Fixture is moved at delivery pipe in the drive of elevating mechanism, and heparin tube is sent to printing label mechanism via delivery pipe.But
In actual use, since fixture needs are frequently moved on the rack of different layers heparin tube of taking away, fixture
Movement routine is longer, also, fixture needs frequently to carry out in moving process the change of moving direction, the movement routine of fixture
Longer, operating process is relatively complicated and takes a long time.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of intelligent heparin tube positioning fetching device and its controlling party
Method realizes the waiting time for shortening intelligent heparin tube positioning fetching device, simplifies the movement routine of fixture, improve beating for heparin tube
Print labeling efficiency.
Technical solution provided by the invention is that a kind of intelligence heparin tube positioning fetching device, including frame, multiple liftings are put down
Platform, three-dimensional mobile module and printing label mechanism；The three-dimensional mobile module includes that X-axis moving portion, Y-axis moving portion and Z axis move
Dynamic portion is provided with fixture in the Z axis moving portion, and multiple hoistable platforms are arranged side by side in the frame, the lifting
Platform includes telescoping mechanism and objective table, and the telescoping mechanism is fixed on said frame, and the objective table is fixed on described stretch
In contracting mechanism, the objective table is located at the lower section of the fixture, wherein being provided with dismountable heparin tube on an objective table
Frame, heparin tube jack is offered on the support of blood collecting pipe, and the printing label mechanism has printing jack, the printer-labeler
Structure is fixed on said frame and positioned at the side of the hoistable platform.
The present invention also provides a kind of control method of intelligent heparin tube positioning fetching device, the intelligence heparin tube positioning is taken
Putting device includes frame, multiple hoistable platforms, three-dimensional mobile module and printing label mechanism；The three-dimensional mobile module includes X
Axis moving portion, Y-axis moving portion and Z axis moving portion are provided with fixture in the Z axis moving portion, and multiple hoistable platforms are side by side
It is arranged in the frame, the hoistable platform includes electric elevator and objective table, and the electric elevator is fixed on described
On frame, the objective table is fixed on the electric elevator, and the objective table is located at the lower section of the fixture, wherein an institute
It states and is provided with dismountable support of blood collecting pipe on objective table, heparin tube jack, the printing label are offered on the support of blood collecting pipe
Mechanism has printing jack, and the printing label mechanism is fixed on the side on the frame and being located at the hoistable platform, institute
It states and is additionally provided with camera and laser ruler in Z axis moving portion；
Wherein, it is placed with the different heparin tube of length in the support of blood collecting pipe, and is placed in the support of blood collecting pipe
Heparin tube is vacantly arranged, and the identical heparin tube group of length is placed on remaining described objective table；
The control method includes initialization pattern and takes object printing model；
Initialization pattern is to position fetching device initial start-up in intelligent heparin tube or be put into new heparin tube or heparin tube
When group, three-dimensional mobile module drive laser ruler to be moved horizontally to the top of printing jack and detect laser ruler and print jack away from
From L, then, three-dimensional mobile module drive laser ruler is moved to the top of different hoistable platforms, and electric elevator drives loading
Platform rises or falls until heparin tube or heparin tube group on the objective table are L at a distance from laser ruler；
Taking object printing model is to be identified by the different colours that camera acquires tube end of taking a blood sample on support of blood collecting pipe, control X
Fixture is moved horizontally to above heparin tube to be printed by axis moving portion and the movement of Y-axis moving portion, and Z axis moving portion moves down full
Stroke makes fixture clamp the heparin tube, and then, Z axis moving portion moves up full stroke and by X-axis moving portion and Y-axis moving portion
Fixture is moved to above printing jack by cooperation, and fixture release heparin tube is inserted into heparin tube in printing jack.
Compared with prior art, the advantages and positive effects of the present invention are: intelligence heparin tube positioning provided by the invention takes
Device and its control method are put, heparin tube is placed by the objective table of hoistable platform, objective table in adjustable hoistable platform
Highly, so that the height of the heparin tube on different objective tables is consistent, during clamping heparin tube is printed, it is only necessary to essence
Really control X-axis moving portion and the movement of Y-axis moving portion, so that fixture is moved to the top of heparin tube to be printed, Z axis moving portion is driven
The movement of fixture full stroke can accurately clamp heparin tube, and the shift motion of Z axis moving portion immobilizes, and be convenient for program control
System, also, the movement routine of fixture is very simple, is accurately positioned at different height position without Z axis moving portion, realizes and shortens
The waiting time of intelligent heparin tube positioning fetching device, simplifies the movement routine of fixture, improve the printing effect of heparin tube.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without any creative labor, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the perspective view that the intelligent heparin tube of the present invention positions fetching device embodiment；
Fig. 2 is the main view that the intelligent heparin tube of the present invention positions fetching device embodiment；
Fig. 3 is the assembling that the intelligent heparin tube of the present invention positions Z axis moving portion, fixture and camera in fetching device embodiment
Figure.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1-Figure 3, the present embodiment intelligence heparin tube positions fetching device, including frame 1, multiple adopts for holding
The hoistable platform 2 of blood vessel 10, three-dimensional mobile module 3 and printing label mechanism 4；The three-dimensional mobile module 3 includes X-axis moving portion
31, Y-axis moving portion 32 and Z axis moving portion 33 are provided with fixture 5 in the Z axis moving portion 33, and multiple hoistable platforms 2 are simultaneously
Row is arranged in the frame 1, and the hoistable platform 2 includes telescoping mechanism 21 and objective table 22, and the telescoping mechanism 21 is fixed
On the frame 1, the objective table 22 is fixed on the telescoping mechanism 21, and the objective table 22 is located at the fixture 5
Lower section offers blood sampling on the support of blood collecting pipe 23 wherein being provided with dismountable support of blood collecting pipe 23 on an objective table 22
Pipe jack (not shown), the printing label mechanism 4 have printing jack 41, and the printing label mechanism 4 is fixed on the frame
Side on frame 1 and positioned at the hoistable platform 2.
It is put down specifically, the present embodiment intelligence heparin tube positioning fetching device is arranged side by side with multiple liftings on frame 1
Platform 2, hoistable platform 2 is for holding heparin tube 10, wherein the support of blood collecting pipe 23 on an objective table 22 is smaller for holding usage amount
Less heparin tube 10, and due to the type difference of the few heparin tube 10 of usage amount cause heparin tube 10 height exist it is poor
It is different, by designing the height of support of blood collecting pipe 23, so that the hanging setting of the heparin tube 10 inserted on support of blood collecting pipe 23, and due to adopting
The blood sampling pipe cap of blood vessel 10 is that same calibrated altitude is identical, so that the heparin tube for the heparin tube 10 placed on support of blood collecting pipe 23
The height of cap is in same plane, and the heparin tube group of sustained height is then placed on remaining objective table 22, and heparin tube group is
The height of the finished product of outsourcing, the heparin tube in heparin tube group is identical, and just has the pedestal for holding support heparin tube in heparin tube group,
Heparin tube group can be stably placed on objective table 22.In actual use, it is being adjusted by adjusting telescoping mechanism 21
The height of objective table 22, so that the height of the blood sampling pipe cap of the heparin tube 10 on different objective tables 22 is identical.It was actually using
Cheng Zhong, fixture 5 is mobile by X-axis moving portion 31 and Y-axis moving portion 32, realizes the planar movement in the horizontal direction of fixture 5, and when folder
After tool 5 is moved to the top of heparin tube 10 to be printed, Z axis moving portion 33 then drives fixture 5 to move down, so that fixture 5 presss from both sides
Handle heparin tube 10；After fixture 5 clamps heparin tube 10, Z axis moving portion 33 is driving fixture 5 to move up, also, X-axis
Moving portion 31 and the cooperation of Y-axis moving portion 32 are mobile towards printing 41 locality of jack with fixture 5 together, mobile in fixture 5
To after 41 top of printing jack, Z axis moving portion 33 then drives fixture 5 to move down, and fixture 5 discharges heparin tube 10, so that blood sampling
Pipe 10 is entered in printing label mechanism 4 from printing jack 41 and is printed.In actual use, the present embodiment is intelligently adopted
Blood vessel positions fetching device upon receipt of the instructions, can quickly finish heparin tube 10 and clamp and be delivered to printing label mechanism
In 4, after inputting information in systems by medical staff by blood sampling people, during blood sampling, heparin tube 10 can be completed
Print processing, without being waited.Wherein, it clamps heparin tube 10 for convenience and reduces the volume of fixture 5, fixture 5 is using suction
The pipe cap of heparin tube 10 will be sucked in disk, sucker using negative pressure, realizes clamping heparin tube 10.
Further, in order to improve versatility, meet the requirement of different blood samplings, camera shooting is additionally provided in Z axis moving portion 33
First 6, camera 6 can shoot the color of 10 pipe cap of heparin tube held on hoistable platform 2, automatic using color identification technology
Specific heparin tube 10 is found, in actual use, can be placed on frame 1 and be contained with different type heparin tube 10
Multiple hoistable platforms 2 identify needed for Automatic-searching for the different blood sampling requirements by blood sampling people by the color of camera 6
Heparin tube 10.
Further, the telescoping mechanism 21 in the present embodiment can use hand lifter, such as: Worm gear feed screw lifting
The components such as machine, hand-operated lifting column or hand elevator；And in order to provide the degree of automation, so that adjust automatically, the telescopic machine
Structure 21 is electric elevator, also, laser ruler (not shown) is additionally provided in the Z axis moving portion 33, in actual use process
In, electric elevator can cooperate laser ruler that adjust automatically objective table 22 may be implemented using components such as linear motor, cylinders
Height, specifically, it is first replace heparin tube using or user in the case where, carry out the height adjustment of objective table 22, it is main
If three-dimensional mobile module 3 drives laser ruler to move horizontally, first pass through between laser ruler detection and the top of printing jack away from
From as gauged distance L, then, the three-dimensional drive of mobile module 3 laser ruler is moved to the top of different objective tables 22, telescopic machine
The position of the just adjust automatically objective table 22 of structure 21, so that the blood sampling pipe cap of heparin tube is at a distance from laser ruler on the objective table 22
L realizes the process of adjust automatically, reduces the labor intensity of operator.
The present invention also provides a kind of control method of intelligent heparin tube positioning fetching device, the intelligence heparin tube positioning is taken
Putting device includes frame, multiple hoistable platforms, three-dimensional mobile module and printing label mechanism；The three-dimensional mobile module includes X
Axis moving portion, Y-axis moving portion and Z axis moving portion are provided with fixture in the Z axis moving portion, and multiple hoistable platforms are side by side
It is arranged in the frame, the hoistable platform includes electric elevator and objective table, and the electric elevator is fixed on described
On frame, the objective table is fixed on the electric elevator, and the objective table is located at the lower section of the fixture, wherein an institute
It states and is provided with dismountable support of blood collecting pipe on objective table, heparin tube jack, the printing label are offered on the support of blood collecting pipe
Mechanism has printing jack, and the printing label mechanism is fixed on the side on the frame and being located at the hoistable platform, institute
It states and is additionally provided with camera and laser ruler in Z axis moving portion；
Wherein, it is placed with the different heparin tube of length in the support of blood collecting pipe, and is placed in the support of blood collecting pipe
Heparin tube is vacantly arranged, and the identical heparin tube group of length is placed on remaining described objective table；
The control method includes initialization pattern and takes object printing model；
Initialization pattern is to position fetching device initial start-up in intelligent heparin tube or be put into new heparin tube or heparin tube
When group, three-dimensional mobile module drive laser ruler to be moved horizontally to the top of printing jack and detect laser ruler and print jack away from
From L, then, three-dimensional mobile module drive laser ruler is moved to the top of different hoistable platforms, and electric elevator drives loading
Platform rises or falls until heparin tube or heparin tube group on the objective table are L at a distance from laser ruler；
Taking object printing model is to be identified by the different colours that camera acquires tube end of taking a blood sample on support of blood collecting pipe, control X
Fixture is moved horizontally to above heparin tube to be printed by axis moving portion and the movement of Y-axis moving portion, and Z axis moving portion moves down full
Stroke makes fixture clamp the heparin tube, and then, Z axis moving portion moves up full stroke and by X-axis moving portion and Y-axis moving portion
Fixture is moved to above printing jack by cooperation, and fixture release heparin tube is inserted into heparin tube in printing jack.Wherein, Z
Axis moving portion can move down after full stroke makes the test tube on fixture be inserted into printing jack in fixture discharges heparin tube again,
Z axis moving portion can also be kept motionless, fixture directly discharges heparin tube, and heparin tube free-falling is inserted into printing jack.
Compared with prior art, the advantages and positive effects of the present invention are: intelligence heparin tube positioning provided by the invention takes
Device and its control method are put, heparin tube is placed by the objective table of hoistable platform, objective table in adjustable hoistable platform
Highly, so that the height of the heparin tube on different objective tables is consistent, during clamping heparin tube is printed, it is only necessary to essence
Really control X-axis moving portion and the movement of Y-axis moving portion, so that fixture is moved to the top of heparin tube to be printed, Z axis moving portion is driven
The movement of fixture full stroke can accurately clamp heparin tube, and the shift motion of Z axis moving portion immobilizes, and be convenient for program control
System, also, the movement routine of fixture is very simple, is accurately positioned at different height position without Z axis moving portion, realizes and shortens
The waiting time of intelligent heparin tube positioning fetching device, simplifies the movement routine of fixture, improve the printing effect of heparin tube.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (4)
1. a kind of control method of intelligence heparin tube positioning fetching device, which is characterized in that the intelligence heparin tube positioning picks and places
Device includes frame, multiple hoistable platforms, three-dimensional mobile module and printing label mechanism；The three-dimensional mobile module includes X-axis
Moving portion, Y-axis moving portion and Z axis moving portion are provided with fixture in the Z axis moving portion, and multiple hoistable platforms are simultaneously arranged
It sets in the frame, the hoistable platform includes telescoping mechanism and objective table, and the telescoping mechanism is fixed on said frame,
The objective table is fixed on the telescoping mechanism, and the objective table is located at the lower section of the fixture, wherein an objective table
On be provided with dismountable support of blood collecting pipe, heparin tube jack is offered on the support of blood collecting pipe, the printing label mechanism has
Jack is printed, the printing label mechanism is fixed on the side on the frame and being located at the hoistable platform, and the Z axis is mobile
Camera and laser ruler are additionally provided in portion；
Wherein, the different heparin tube of length, and the blood sampling being placed in the support of blood collecting pipe are placed in the support of blood collecting pipe
Pipe is hanging to be arranged, and is placed with the identical heparin tube group of length on remaining described objective table；
The control method includes initialization pattern and takes object printing model；
Initialization pattern is to position fetching device initial start-up in intelligent heparin tube or be put into new heparin tube or heparin tube group
When, three-dimensional mobile module drives laser ruler to be moved horizontally to the top of printing jack and detects laser ruler at a distance from printing jack
L, then, three-dimensional mobile module drive laser ruler to be moved to the top of different hoistable platforms, and telescoping mechanism is in dynamic object stage
It rises or decline is until heparin tube or heparin tube group on the objective table are L at a distance from laser ruler；
Taking object printing model is to be identified by the different colours that camera acquires tube end of taking a blood sample on support of blood collecting pipe, and control X-axis is moved
Fixture is moved horizontally to above heparin tube to be printed by dynamic portion and the movement of Y-axis moving portion, and Z axis moving portion moves down full stroke
So that fixture clamps the heparin tube, then, Z axis moving portion moves up full stroke and with X-axis moving portion and Y-axis moving portion
Fixture is moved to above printing jack, fixture release heparin tube is inserted into heparin tube in printing jack.
2. the control method of intelligence heparin tube positioning fetching device according to claim 1, which is characterized in that the fixture
For sucker.
3. the control method of intelligence heparin tube positioning fetching device according to claim 1, which is characterized in that described flexible
Mechanism is hand lifter.
4. the control method of intelligence heparin tube positioning fetching device according to claim 1, which is characterized in that described flexible
Mechanism is electric elevator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610909133.XA CN106564752B (en) | 2016-10-17 | 2016-10-17 | Intelligent heparin tube positioning fetching device and its control method |
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| CN201610909133.XA CN106564752B (en) | 2016-10-17 | 2016-10-17 | Intelligent heparin tube positioning fetching device and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107032025B (en) * | 2017-04-24 | 2023-05-23 | 珠海丰炎科技有限公司 | Test tube grabbing mechanism of blood collection tube processing device |
| CN106938204A (en) * | 2017-05-03 | 2017-07-11 | 杭州博欣科技有限公司 | A kind of ward movable-type intelligent blood sampling work station |
| CN108248972B (en) * | 2018-01-10 | 2020-11-20 | 义乌市富顺箱包有限公司 | Reaction tube label printing, transmitting and pasting method |
| CN110426100A (en) * | 2019-07-31 | 2019-11-08 | 深圳市运泰利自动化设备有限公司 | A kind of high-precision vacuum blood collection tube draw volume measurement system based on host computer integrated control |
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