CN107472792B - Blood frame warehouse-in and warehouse-out system - Google Patents
Blood frame warehouse-in and warehouse-out system Download PDFInfo
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- CN107472792B CN107472792B CN201710851945.8A CN201710851945A CN107472792B CN 107472792 B CN107472792 B CN 107472792B CN 201710851945 A CN201710851945 A CN 201710851945A CN 107472792 B CN107472792 B CN 107472792B
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- motor
- blood
- manipulator
- hooking
- supporting plate
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- 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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
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- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
Abstract
The invention discloses a blood frame warehouse-in and warehouse-out system, which comprises a goods shelf, a grabbing manipulator assembly, a warehouse-in and warehouse-out transfer rack and a blood frame placing table, wherein a plurality of blood frames are placed in the goods shelf; the grabbing manipulator assembly comprises a support frame and a manipulator supporting plate, a first hooking assembly is arranged on the manipulator supporting plate, the support frame can move left and right, the manipulator supporting plate moves up and down on the support frame, the first hooking assembly moves back and forth, and the first hooking assembly carries the goods shelf and the blood frame on the manipulator supporting plate back and forth; the manipulator supporting plate can move to the position below the second hooking component through the driving of the first driving component and the second driving component, and the second hooking component is arranged on the rotating frame in and out of the warehouse; the second colludes the subassembly and can follow Y axle back-and-forth movement through the drive of second drive assembly, and the second colludes the subassembly and can place the blood frame platform, go out the blood frame of the manipulator layer board of warehouse transfer below and carry back and forth. The invention reduces the labor intensity of workers and improves the efficiency of putting frozen plasma in and out of the warehouse.
Description
Technical Field
The invention relates to automatic storage of frozen plasma in a refrigeration house, in particular to a blood frame in-out warehouse system for automatically taking and placing the frozen plasma in a medical intelligent blood warehouse.
Background
The medical intelligent blood bank requires to access frozen plasma in a low-temperature environment of minus 25 +/-5 ℃, and the types of the plasma stored in the blood bank comprise common positive types such as A type, B type, AB type and O type and some rare blood types. The storage is carried out manually in the ultralow temperature environment of minus 25 +/-5 ℃, great inconvenience is brought to workers, and the workers need to operate under a series of anti-freezing measures.
Disclosure of Invention
In order to overcome the defects, the invention aims to provide a blood frame warehousing and ex-warehousing system which reduces the labor intensity of workers and improves the warehousing and ex-warehousing efficiency of frozen plasma.
In order to achieve the purpose, the invention adopts the technical scheme that: a blood frame in-out warehouse system comprises a goods shelf, a grabbing manipulator assembly, a transfer rack in-out warehouse and a blood frame placing table, wherein a plurality of blood frames are placed in the goods shelf, and the goods shelf is arranged on at least one side of the grabbing manipulator assembly; the grabbing manipulator assembly comprises a support frame and a manipulator supporting plate, a first hooking assembly is arranged on the manipulator supporting plate, the support frame can move left and right along the X-axis direction through a first driving assembly, the manipulator supporting plate can move up and down along the Z-axis direction on the support frame through a second driving assembly, the first hooking assembly can move back and forth in the Y-axis direction of the manipulator supporting plate through a second driving assembly, and the first hooking assembly carries the goods shelf and blood frames on the manipulator supporting plate back and forth; the transfer rack in and out of the warehouse is arranged at the right end of the grabbing manipulator assembly, the manipulator supporting plate can move to the position below the second hooking assembly through the driving of the first driving assembly and the second driving assembly, and the transfer rack in and out of the warehouse is provided with the second hooking assembly; the blood frame placing table is arranged at the front end of the rotating frame in and out of the warehouse, the second hooking component can move back and forth along the Y axis through the driving of the second driving component, and the second hooking component can carry the blood frame back and forth on the manipulator supporting plate below the blood frame placing table and the rotating frame in and out of the warehouse.
The blood frame warehouse-in and warehouse-out system has the beneficial effects that the blood frame warehouse-in and warehouse-out system is a mechanical structure capable of automatically picking and putting frozen plasma in a low-temperature refrigeration house with the temperature of minus 25 +/-5 ℃, mainly comprises a goods shelf, a grabbing manipulator assembly, a warehouse-in and warehouse-out transfer rack and a blood frame placing table, and completes automatic warehouse-in and warehouse-out management of the frozen plasma in the blood warehouse; when the first hooking component on the manipulator supporting plate is mainly used for completing warehousing, the blood frame on the manipulator supporting plate is grabbed to the goods shelf, and when the blood frame is taken out of the warehouse, the blood frame in the goods shelf is grabbed to the manipulator supporting plate of the grabbing manipulator component; the blood frame placing table has the advantages that the window table top is used when the blood warehouse and the outside warehouse are in and out, the blood frames in the warehouse are placed on the table top to be operated, manual operation is replaced by automatic warehouse in and out, great convenience is brought to workers, and warehouse in and out efficiency is improved.
Preferably, the first driving assembly comprises a sliding rail, a first motor, a gear, a rack and a moving platform, the sliding rail and the rack are arranged along an X axis, the rack is arranged in the sliding rail, the moving platform is arranged on the sliding rail in a sliding mode, the first motor is arranged on the moving platform, an output shaft of the first motor faces downwards and penetrates through the moving platform, the gear is arranged at the end of the output shaft of the first motor, the gear is meshed with the rack, and a support frame of the grabbing manipulator assembly is fixedly arranged on the moving platform. The moving platform (i.e. the grabbing manipulator assembly) can move in the X-axis direction of the sliding rail by the meshing of the gear and the rack, and the effect of stable sliding is achieved.
Preferably, the second drive assembly includes second motor, two band pulleys and steel band, every the surface of band pulley all is provided with the arch, be provided with the trompil on the steel band, the steel band is established on two band pulleys through trompil and bellied cooperation cover, the output shaft and one of them band pulley of second motor are connected, snatch manipulator subassembly, first collude and get the subassembly, the second colludes and get the subassembly and all fix the one side at the steel band. The steel band can be guaranteed to normally work under low temperature environment, and the second motor drives the steel band through the bellied cooperation on trompil on the steel band and the band pulley then, simple structure, and the round trip movement of the drive steel band that setting up ability steadily of arch and trompil has then guaranteed to snatch manipulator subassembly, the first subassembly and the second of colluding and get the round trip movement that the subassembly can be steady.
Preferably, the first subassembly of getting of colluding, the second of getting colludes the subassembly and all includes first backup pad, colludes and gets motor, trace and collude the hand shaft, collude and get the motor setting at first backup pad up end, first backup pad, collude the equal level setting of output shaft of getting the motor, collude the hand shaft and pass through first backup pad perpendicularly, the tip of the output shaft of colluding the motor is passed through the trace and is connected with the upper end rotation of colluding the hand shaft, collude and get the motor and drive through the trace and collude the hand shaft and reciprocate in first backup pad. When the hooking shaft hooks the blood frame, the controller drives the hooking motor to operate, the output shaft of the hooking motor extends out of the first supporting plate through the action of the linkage rod, and the first hooking component drives the blood frame borne on the manipulator supporting plate to be horizontally moved and dragged to the goods shelf or drives the blood frame on the goods shelf to be horizontally moved and dragged to the manipulator supporting plate through the drive of the second driving component; the second colludes the subassembly and then drags the blood frame translation on the manipulator layer board of discrepancy transfer rack below in storehouse to the blood frame and places the platform, or places the blood frame translation of bench and drags the manipulator layer board of discrepancy transfer rack below in storehouse with the blood frame, adopts colluding the hand shaft and come the translation and drag the blood frame, can play the effect of quick consignment blood frame.
Preferably, the upper end face of the blood frame is provided with a groove corresponding to the hook shaft.
The further improvement of the invention is that the top of the hooking motor is provided with a sensor, the output shaft of the hooking motor is fixedly provided with a baffle, and the baffle can rotate along with the output shaft of the hooking motor to block the sensor. After the blocking piece blocks the sensor, a feedback signal is given to the controller, then the next action is realized through the internal software of the controller, the intelligent access of the blood bank is realized, and the automation degree is high.
The blood frame on the shelf on the other side cannot be hooked if the hooking shafts of the first hooking component cannot rotate when the shelf is arranged on two sides of the grabbing manipulator component, and the blood frame on the shelf on the other side cannot be hooked, so that the blood frame on the other shelf can be grabbed by winding the blood frame on the other shelf in the same side direction, and the efficiency of getting out of the shelf is reduced. The first subassembly of colluding adopts the structure of rotation type, and the blood frame of the goods shelves of both sides has been improved to the blood frame that can alternate snatchs, has further realized intelligent the snatching in the warehouse of going out.
Preferably, the third driving assembly includes a third motor, a first gear and a second gear, the third motor is fixedly disposed on the second support plate, an output shaft of the third motor vertically passes through the second support plate, the first gear is fixedly disposed at an end of the output shaft of the third motor, the second gear is fixedly disposed on the rotating plate, and the second gear is engaged with the first gear. The rotation of the driving rotating plate of the third motor is realized through the meshing of the first gear and the second gear, and the rotation is stable.
The technical scheme includes that at present, blood frames in a warehouse are all blood frames with single blood type, and the warehouse-out of the blood frames with multiple blood types cannot be carried out. When the blood plasma is delivered from the warehouse, the pushing mechanism is matched with the first hooking component, and the boxed frozen plasma in each blood frame on the manipulator supporting plate is sequentially and independently pushed to the turnover basket through the pushing mechanism, so that the frozen plasma of different types and different quantities can be delivered from the warehouse at the same time. Therefore, the blood frame warehousing-ex system can realize the one-time warehousing-out of frozen plasma with different quantities and different types and the whole frame warehousing-out of the same type of plasma, and is the core for realizing automatic warehousing-out management of the blood warehouse.
Preferably, the pushing mechanism comprises a screw rod motor and a push plate, the screw rod motor is arranged on the side wall of the manipulator support plate, an output shaft of the screw rod motor is arranged along an X axis, the output shaft of the screw rod motor penetrates through the side wall of the manipulator support plate, the push plate is arranged at the end part of the output shaft of the screw rod motor, and the push plate can pass through the pushing hole. Guarantee that the push pedal can be steady push the blood box in the blood box holding vessel into the turnover basket.
Drawings
FIG. 1 is a perspective view of a strap shelf according to the present embodiment;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
FIG. 3 is an enlarged view of a portion of FIG. 2 at C;
fig. 4 is a partial enlarged view of fig. 1 at B;
FIG. 5 is a perspective view of another angle of the unloaded shelf of the present embodiment;
FIG. 6 is an enlarged view of a portion of FIG. 5 at D;
fig. 7 is a perspective view of the robot blade of the present embodiment without a blood frame;
FIG. 8 is a perspective view of the pushing mechanism in the present embodiment;
FIG. 9 is a perspective view of the manipulator pallet with a blood frame placed thereon according to the present embodiment;
fig. 10 is a partial enlarged view at E in fig. 9.
In the figure:
10-a shelf; 11-a resting plate;
20-a grasping robot assembly; 21-a support frame; 22-robot blade;
30-in and out warehouse transfer rack;
40-blood frame placing table;
50-a first drive assembly; 51-a slide rail; 52-a first motor; 53-a rack; 54-a mobile platform; 55-a guide wheel;
60-a second drive assembly; 61-a second motor; 62-a steel pulley; 63-a steel belt; 64-a bump; 65-opening the hole;
70 a-a first hooking component; 70 b-a second hooking component; 71-a first support plate; 72-hooking the motor; 73-linkage; 74-hook shaft; 75-a second support plate; 76-a sensor; 77-baffle plate;
80-blood frame; 81-grooves; 82-a material pushing hole; 83-blood cassette reservoir;
90-a third drive assembly; 91-a third motor; 92-a first gear; 93-a second gear;
100-turnover basket;
110-a pushing mechanism; 111-screw motor; 112-push plate.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1, the blood frame loading and unloading system of the present embodiment includes a shelf 10, a grasping robot assembly 20, a loading and unloading transfer frame 30, and a blood frame placing table 40.
The rack 10 is disposed on at least one side of the grasping robot assembly 20, only one rack 10 is shown in the drawing, and the rack 10 may be disposed on the other side of the robot assembly 20. Each shelf 10 is provided with a plurality of parallel placing plates 11, each placing plate 11 is provided with a plurality of blood frames 80, and each blood frame 80 is provided with one type of blood type.
The grabbing manipulator assembly 20 plays a role in warehouse-out and warehouse-in of the goods shelf 10, namely, the blood frames 80 on the goods shelf 10 can be taken out, and the blood frames 80 can be stored in the goods shelf 10. The grabbing manipulator assembly 20 comprises a support frame 21 and a manipulator supporting plate 22, a first hooking assembly 70a is arranged on the manipulator supporting plate 22, and the first hooking assembly 70a can move back and forth in the directions of an X axis, a Y axis and a Z axis. Specifically, the method is realized by the following structure:
as shown in fig. 1, 4 and 5, the supporting frame 21 can move left and right along the X-axis direction through the first driving assembly 50, the first driving assembly 50 includes a sliding rail 51, a first motor 52, a gear, a rack 53 and a moving platform 54, the sliding rail 51 and the rack 53 are both disposed along the X-axis, the rack 53 is disposed in the sliding rail 51, the moving platform 54 is slidably disposed on the sliding rail 51, the first motor 52 is disposed on the moving platform 54, an output shaft of the first motor 52 faces downward and passes through the moving platform 54, the gear is disposed at an end of the output shaft of the first motor 52 passing through the moving platform 54, the gear is engaged with the rack 53, and the supporting frame 21 of the grasping manipulator assembly 20 is fixedly disposed on the moving platform 54. When the first motor 52 is driven, the gear is driven to rotate, and since the gear is meshed with the rack 53 and the rack 53 is fixed, the moving platform 54 moves back and forth along the rack 53 in the X-axis direction, so that the first hooking component 70a moves in the X-axis direction. In order to ensure that the movable platform 54 can move smoothly, a guide groove may be engaged on the slide rail 51, and a guide wheel engaged with the guide groove may be provided below the movable platform 54.
As shown in fig. 5, the robot supporting plate 22 can move up and down along the Z-axis direction on the supporting frame 21 through the second driving assembly 60, the second driving assembly 60 includes a second motor 61, two steel belt wheels 62 and a steel belt 63, the second motor 61 is fixedly disposed on the moving platform 54, the two steel belt wheels 62 are disposed up and down, an output shaft of the second motor 61, center shafts of the two steel belt wheels 62 are disposed along the X-axis direction, a protrusion 64 is disposed on an outer surface of each steel belt wheel 62, an opening 65 is disposed on the steel belt 63, and the steel belt 63 is sleeved on the two steel belt wheels 62 through the cooperation between the opening 65 and the protrusion 64. The second motor 61 in this embodiment adopts servo motor, the output shaft of the second motor 61 is connected with one of the steel belt pulleys 62, the second motor 61 drives the steel belt pulley 62 to rotate, the steel belt pulley 62 drives the steel belt 63 through the cooperation of the protrusion 64 and the opening 65, the grabbing manipulator assembly 20 is fixed on one side of the steel belt 63, and thus the manipulator support plate 22 can be driven to move back and forth in the Z-axis direction, and then the first hooking assembly 70a can move back and forth in the Z-axis direction.
In fig. 5, the steel pulley 62, the steel belt 63, the protrusion 64, and the opening 65 in the second driving unit 60 for driving the robot blade 22 are not shown, and the specific structure of the second driving unit 60 for driving the robot blade 22 may refer to the second driving unit 60 for driving the first hooking unit 70a shown in fig. 2 and 7, or may refer to the second driving unit 60 for driving the second hooking unit 70b shown in fig. 6. In order to ensure the first hooking component 70a to move back and forth stably in the Z-axis direction, a guide rail and a slider may be provided in a matching manner.
As shown in fig. 2 and 7, the first hooking member 70a can move back and forth in the Y-axis direction of the robot blade 22 by the second driving member 60, similarly, the second driving member 60 includes the second motor 61, two steel pulleys 62, a steel belt 63, a protrusion 64, and an opening 65, and the first hooking member 70a is fixed on one side of the steel belt 63; in order to ensure the first hooking component 70a to move back and forth stably in the Z-axis direction, a guide rail and a slider may be provided in a matching manner. Unlike the second driving unit 60 that drives the robot blade 22, the output shaft of the second motor 61 of the second driving unit 60 that drives the first hooking unit 70a and the center shafts of the two steel pulleys 62 are disposed along the X-axis direction, and the two steel pulleys 62 are disposed in the front-rear direction.
As shown in fig. 1, 2, and 3, the first hooking unit 70a carries the blood frame 80 on the rack 10 and the robot blade 22 back and forth, and specifically, the first hooking unit 70a can grab the blood frame 80 in the rack 10 onto the robot blade 22 of the grabbing robot assembly 20 and can grab the blood frame 80 on the robot blade 22 onto the rack 10. The first hooking component 70a of the present embodiment specifically realizes the movement of the blood frame 80 back and forth between the robot blade 22 and the shelf 10 by means of translational dragging. The concrete structure is as follows:
the first hooking component 70a comprises a first supporting plate 71, a hooking motor 72, a linkage rod 73 and a hooking shaft 74, the hooking motor 72 is arranged on the upper end surface of the first supporting plate 71, the output shaft of the first supporting plate 71 and the output shaft of the hooking motor 72 are arranged horizontally, the hooking shaft 74 penetrates through the first supporting plate 71 vertically, the end of the output shaft of the hooking motor 72 is connected with the upper end of the hooking shaft 74 through the linkage rod 73 in a rotating mode, the hooking motor 72 drives the hooking shaft 74 to move up and down in the first supporting plate 71 through the linkage rod 73, and a groove 81 corresponding to the hooking shaft 74 is formed in the upper end surface of the blood frame 80. Taking the ex-warehouse as an example, under the combined action of the first driving assembly 50 and the second driving assembly 60, the manipulator pallet 22 without the blood frame 80 moves in the X-axis and Z-axis directions until the manipulator pallet 22 without the blood frame 80 is transported to the same level with the resting plate 11 and stops running; then, the driving motion of the first hooking component 70a by the second driving component 60 is located above the blood frame 80 on the resting plate 11, and more specifically, the hooking shaft 74 is located above the groove 81 of the blood frame 80 of the resting plate 11; then, the hooking motor 72 drives the hooking shaft 74 to move downwards on the first supporting plate 71 through the linkage rod 73 and insert into the groove 81; at this time, the first hooking member 70a hooks the blood frame 80 on the resting plate 11. The blood frame 80 on the resting plate 11 is dragged towards the robot blade 22 by reversing the second motor 61 of the second driving assembly 60 driving the first hooking assembly 70 a.
The hooking motor 72 is provided with a sensor 76, the output shaft of the hooking motor 72 is fixedly provided with a baffle plate 77, and the baffle plate 77 can rotate along with the output shaft of the hooking motor 72 to block the sensor 76, so that the accuracy is ensured.
Since the shelves 10 can be disposed on both sides of the robot assembly 20, the first hooking assembly 70a in this embodiment can hook the blood frames 80 on the shelves 10 on both sides in sequence without providing a blood frame warehousing system on the same side of each adjacent shelf 10. The blood frames 80 on the shelves 10 on both sides are sequentially grasped by a blood frame in-out system, and most importantly, the first support plate 71 is rotatably provided. The concrete structure is as follows:
as shown in fig. 2 and 3, the first support plate 71 of the first hooking member 70a is a rotating plate, the first hooking member 70a further includes a second support plate 75 vertically disposed in parallel with the rotating plate, the second support plate 75 can move back and forth only in the Y-axis direction by the driving member 60, the rotating plate is rotated with the second support plate 75 by the driving of the third driving member 90, and when it is necessary to store or remove a shelf 10 on which side, the rotating plate (the first support plate 71) is rotated to the corresponding shelf 10 on the side.
As shown in fig. 3, the third driving assembly 90 includes a third motor 91, a first gear 92, and a second gear 93, the third motor 91 is fixedly disposed on the second support plate 75, the third motor 91 is a stepping motor, an output shaft of the third motor 91 vertically passes through the second support plate 75, the first gear 92 is fixedly disposed at an end of the output shaft of the third motor 91, the second gear 93 is fixedly disposed on the rotating plate, the second gear 93 is engaged with the first gear 92, the third motor 91 drives the first gear 92 to rotate, the first gear 92 drives the second gear 93 to rotate, and the rotating plate also rotates due to the fact that the second gear 93 is fixed on the rotating plate.
As shown in fig. 1 and 5, the in-out warehouse transfer rack 30 is disposed at the right end of the grasping robot assembly 20, the blood frame placing table 40 is disposed at the front end of the in-out warehouse transfer rack 30, the in-out warehouse transfer rack 30 is provided with a second hooking assembly 70b, and the robot blade 22 can move to the lower side of the second hooking assembly 70b and is located on the same plane as the blood frame placing table 40 by the driving of the first driving assembly 50 and the second driving assembly 60. The second hooking member 70b can move back and forth along the Y axis by the driving of the second driving member 60, the second hooking member 70b can carry the blood frame 80 on the manipulator pallet 22 below the blood frame placing table 40 and the in-out transfer rack 30 back and forth, and specifically, the second hooking member 70b can bring the blood frame 80 on the manipulator pallet 22 below the in-out transfer rack 30 onto the blood frame placing table 40 and also bring the blood frame 80 from the blood frame placing table 40 to the manipulator pallet 22 below the transfer rack 30 in-out transfer rack.
Wherein, the second colludes the structure of getting subassembly 70b and the first subassembly 70a of colluding unanimously basically, as shown in fig. 6, the second colludes the subassembly 70b and also includes first backup pad 71, collude the motor 72, the trace 73 and colludes the hand axle 74, collude and get the motor 72 and set up at first backup pad 71 up end, first backup pad 71, the equal horizontal setting of the output shaft that colludes the motor 72, collude the hand axle 74 and pass first backup pad 71 perpendicularly, the tip of the output shaft that colludes the motor 72 is connected with the upper end rotation that colludes the hand axle 74 through the trace 73, collude the motor 72 and drive through the trace 73 and collude the hand axle 74 and reciprocate in first backup pad 71, the up end of blood frame 80 is provided with the recess 81 that corresponds with colluding the hand axle 74. Similarly, the hooking motor 72 is provided with a sensor 76, an output shaft of the hooking motor 72 is fixedly provided with a baffle plate 77, and the baffle plate 77 can rotate along with the output shaft of the hooking motor 72 to block the sensor 76. However, unlike the first hooking member 70a, the second hooking member 70b can move back and forth only in the Y-axis direction, has no rotation function, and does not have the third driving member 90.
In addition, the second driving assembly 60 for driving the second hooking assembly 70b also comprises a second motor 61, two steel belt wheels 62 and a steel belt 63, a protrusion 64 is arranged on the outer surface of each steel belt wheel 62, an opening 65 is arranged on the steel belt 63, the steel belt 63 is sleeved on the two steel belt wheels 62 through the matching of the opening 65 and the protrusion 64, the output shaft of the second motor 61 is connected with one of the steel belt wheels 62, and the second hooking assembly 70b is fixed on one side of the steel belt 63. What is different is that the output shaft of the second motor 61 of the second driving component 60 for driving the second hooking component 70b and the central shafts of the two steel belt wheels 62 are arranged along the Z-axis direction, and the two steel belt wheels 62 are arranged in the front and back.
As shown in fig. 1, 2, 5, 7, and 9, the manipulator support plate 22 is L-shaped, the manipulator support plate 22 is provided with a transfer basket 100, the transfer basket 100 is lower than the blood box 80 placed on the manipulator support plate 22, a pushing mechanism 110 in the X-axis direction is fixedly disposed on a side wall of the manipulator support plate 22, the blood box 80 has a plurality of blood box storage slots 83, each blood box storage slot 83 stores a blood box, the left and right ends of each blood box storage slot 83 in the X-axis direction are both provided with a pushing hole 82, and the pushing mechanism 110 can push the blood box from the pushing hole 82 to the transfer basket 100. As shown in fig. 8, the material pushing mechanism 110 includes a screw motor 111 and a push plate 112, the screw motor 111 is disposed on a side wall of the manipulator support plate 22, an output shaft of the screw motor 111 is disposed along an X-axis, the output shaft of the screw motor 111 penetrates through the side wall of the manipulator support plate 22, the push plate 112 is disposed at an end portion of the output shaft of the screw motor 111, and the push plate 112 can pass through the material pushing hole 82.
If blood boxes of different blood types need to be hooked, the first hooking component 70a drags the blood frames 80 of the first blood type to the manipulator supporting plate 22, the pushing mechanism 110 is fixed, the first hooking component 70a sequentially aligns the blood box storage grooves 83 corresponding to the required number of blood boxes of the blood frames 80 of the first blood type with the pushing mechanism 110, and the pushing mechanism 110 sequentially and independently pushes the corresponding number of blood boxes of the first blood type into the turnover basket 100; the first hooking component 70a drags the blood frame 80 of the first blood type back to the shelf 10; next, the first hooking component 70a drags the blood frames 80 of the second blood type to the manipulator support plate 22, the first hooking component 70a sequentially aligns the blood box storage slots 83, the number of which is required by the blood frames 80 of the second blood type, with the pushing mechanism 110, the pushing mechanism 110 sequentially and independently pushes the corresponding blood boxes in the blood box storage slots 83 into the turnover basket 100, and at this time, the blood boxes of two blood types are stored in the turnover basket 100; when three blood types are needed, the operation is continued according to the mode.
The above embodiments are provided only for illustrating the technical idea and features of the present invention, and the purpose of the present invention is to provide those skilled in the art with understanding and implementing the present invention, and not to limit the scope of the present invention, and all equivalent changes or modifications made according to the spirit of the present invention should be covered by the scope of the present invention.
Claims (8)
1. A blood frame warehousing and ex-warehousing system is characterized in that: comprises a goods shelf (10), a grabbing manipulator component (20), a transfer rack (30) in and out of a warehouse and a blood frame placing platform (40),
a plurality of blood frames (80) are placed in the goods shelf (10), and the goods shelf (10) is arranged on at least one side of the grabbing manipulator assembly (20);
the grabbing manipulator assembly (20) comprises a support frame (21) and a manipulator supporting plate (22), a first hooking assembly (70 a) is arranged on the manipulator supporting plate (22), the support frame (21) can move left and right along the X-axis direction through a first driving assembly (50), the manipulator supporting plate (22) can move up and down along the Z-axis direction on the support frame (21) through a second driving assembly (60), the first hooking assembly (70 a) can move back and forth along the Y-axis direction of the manipulator supporting plate (22) through the second driving assembly (60), and the first hooking assembly (70 a) carries the goods shelf (10) and a blood frame (80) on the manipulator supporting plate (22) back and forth;
the in-out warehouse transfer rack (30) is arranged at the right end of the grabbing manipulator assembly (20), the manipulator supporting plate (22) can move to the position below a second hooking assembly (70 b) through the driving of a first driving assembly (50) and a second driving assembly (60), and the in-out warehouse transfer rack (30) is provided with the second hooking assembly (70 b);
the blood frame placing table (40) is arranged at the front end of the transfer rack (30) in and out of the warehouse, the second hooking component (70 b) can move back and forth along the Y axis through the driving of the second driving component (60), the second hooking component (70 b) can carry the blood frame placing table (40) and the blood frame (80) on the manipulator supporting plate (22) below the transfer rack (30) in and out of the warehouse back and forth,
the turnover basket (100) is arranged on the manipulator supporting plate (22), the turnover basket (100) is lower than a blood box (80) placed on the manipulator supporting plate (22), a material pushing mechanism (110) with an X-axis trend is fixedly arranged on the side wall of the manipulator supporting plate (22), the blood box (80) is provided with a plurality of blood box storage grooves (83), a blood box is stored in each blood box storage groove (83), material pushing holes (82) are formed in the left end and the right end of each blood box storage groove (83) in the X-axis direction, the material pushing mechanism (110) can push the blood box to the turnover basket (100) from the material pushing holes (82),
the pushing equipment (110) includes lead screw motor (111), push pedal (112), lead screw motor (111) sets up on the lateral wall of manipulator layer board (22), the output shaft of lead screw motor (111) sets up along the X axle, the output shaft of lead screw motor (111) passes the lateral wall of manipulator layer board (22), push pedal (112) set up the tip at the output shaft of lead screw motor (111), push pedal (112) can pass through material pushing hole (82).
2. The system of claim 1, wherein: the first driving assembly (50) comprises a sliding rail (51), a first motor (52), a gear, a rack (53) and a moving platform (54), wherein the sliding rail (51) and the rack (53) are arranged along an X axis, the rack (53) is arranged in the sliding rail (51), the moving platform (54) is arranged on the sliding rail (51) in a sliding mode, the first motor (52) is arranged on the moving platform (54), an output shaft of the first motor (52) faces downwards and penetrates through the moving platform (54), the gear is arranged at the end portion of the output shaft of the first motor (52), the gear is meshed with the rack (53), and a supporting frame (21) of the grabbing manipulator assembly (20) is fixedly arranged on the moving platform (54).
3. The system of claim 1, wherein: second drive assembly (60) include second motor (61), two band pulleys (62) and steel band (63), every the surface of band pulley (62) all is provided with arch (64), be provided with trompil (65) on steel band (63), steel band (63) are established on two band pulleys (62) through trompil (65) and protruding (64) cooperation cover, the output shaft and one of them band pulley (62) of second motor (61) are connected, snatch manipulator subassembly (20), first collude and get subassembly (70 a), the second colludes and get subassembly (70 b) and all fix the one side at steel band (63).
4. The system of claim 1, wherein: first collude and get subassembly (70 a), second and collude and get subassembly (70 b) and all include first backup pad (71), collude and get motor (72), trace (73) and collude hand shaft (74), collude and get motor (72) and set up at first backup pad (71) up end, first backup pad (71), collude the equal horizontal setting of output shaft of getting motor (72), collude hand shaft (74) and pass first backup pad (71) perpendicularly, the tip of the output shaft of colluding motor (72) is passed through trace (73) and is connected with the upper end rotation of colluding hand shaft (74), collude and get motor (72) and drive through trace (73) and collude hand shaft (74) and reciprocate in first backup pad (71).
5. The system of claim 4, wherein: the upper end surface of the blood frame (80) is provided with a groove (81) corresponding to the hook shaft (74).
6. The system of claim 1, wherein: the hooking motor (72) is provided with a sensor (76), an output shaft of the hooking motor (72) is fixedly provided with a blocking piece (77), and the blocking piece (77) can rotate along with the output shaft of the hooking motor (72) to block the sensor (76).
7. The system of claim 4, wherein: the first supporting plate (71) of the first hooking component (70 a) is a rotating plate, the first hooking component (70 a) further comprises a second supporting plate (75) which is parallel to the rotating plate and is arranged up and down, the second supporting plate (75) can only move back and forth in the Y-axis direction, and the rotating plate is driven to rotate by a third driving component (90).
8. The system of claim 7, wherein: the third driving assembly (90) comprises a third motor (91), a first gear (92) and a second gear (93), the third motor (91) is fixedly arranged on the second supporting plate (75), an output shaft of the third motor (91) vertically penetrates through the second supporting plate (75), the first gear (92) is fixedly arranged at the end of the output shaft of the third motor (91), the second gear (93) is fixedly arranged on the rotating plate, and the second gear (93) is meshed with the first gear (92).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310066847.9A CN115872152A (en) | 2017-09-19 | 2017-09-19 | Blood frame in-out warehouse system, blood frame out-warehouse method and method for hooking blood boxes of different blood types in blood frame in-out warehouse system |
| CN201710851945.8A CN107472792B (en) | 2017-09-19 | 2017-09-19 | Blood frame warehouse-in and warehouse-out system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710851945.8A CN107472792B (en) | 2017-09-19 | 2017-09-19 | Blood frame warehouse-in and warehouse-out system |
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| CN202310066847.9A Division CN115872152A (en) | 2017-09-19 | 2017-09-19 | Blood frame in-out warehouse system, blood frame out-warehouse method and method for hooking blood boxes of different blood types in blood frame in-out warehouse system |
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| CN107472792A CN107472792A (en) | 2017-12-15 |
| CN107472792B true CN107472792B (en) | 2023-03-14 |
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| CN202310066847.9A Pending CN115872152A (en) | 2017-09-19 | 2017-09-19 | Blood frame in-out warehouse system, blood frame out-warehouse method and method for hooking blood boxes of different blood types in blood frame in-out warehouse system |
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| CN107985707A (en) * | 2017-12-28 | 2018-05-04 | 杭州博欣科技有限公司 | A kind of double outlet heparin tube printer-labelers |
| CN108016805A (en) * | 2017-12-28 | 2018-05-11 | 杭州博欣科技有限公司 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
| DE202018006834U1 (en) | 2018-04-26 | 2023-08-08 | Beijing Geekplus Technology Co., Ltd. | robot |
| JP6882701B2 (en) * | 2019-08-06 | 2021-06-02 | 株式会社椿本チエイン | Cold storage system |
| CN110411132B (en) * | 2019-08-12 | 2024-02-09 | 广州上诺生物技术有限公司 | Single-bag plasma storage and taking intelligent device at minus 30 DEG C |
| CN110510313A (en) * | 2019-08-28 | 2019-11-29 | 武汉库柏特科技有限公司 | A kind of intelligence second level library |
| CN111284987B (en) * | 2020-03-09 | 2021-02-05 | 合肥讯飞读写科技有限公司 | Library book outlet device utilizing database |
| CN112278676B (en) * | 2020-07-30 | 2022-06-07 | 北京京东乾石科技有限公司 | Logistics storage system and warehouse-in and warehouse-out method |
| CN112097508A (en) * | 2020-09-15 | 2020-12-18 | 无锡先导智能装备股份有限公司 | Lifting device and drying equipment |
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| CN101670933A (en) * | 2009-09-22 | 2010-03-17 | 王敏良 | Automatic storing and fetching system of goods |
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| CN115872152A (en) | 2023-03-31 |
| CN107472792A (en) | 2017-12-15 |
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Effective date of registration: 20230904 Address after: Building 11, Xinghua Industrial Park, No. 2 Shuangma Street, Weiting, Suzhou Industrial Park, Suzhou City, Jiangsu Province, 215500 Patentee after: SUZHOU YIMAN BIOLOGICAL TECHNOLOGY CO.,LTD. Address before: Building 11, Xinghua Industrial Park, No. 2, Weiting Shuangma Street, Suzhou Industrial Park, Suzhou City, Jiangsu Province, 215000 Patentee before: SUZHOU YUXUN BIOTECHNOLOGY CO.,LTD. |