CN108016805A - A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system - Google Patents
A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system Download PDFInfo
- Publication number
- CN108016805A CN108016805A CN201711455554.0A CN201711455554A CN108016805A CN 108016805 A CN108016805 A CN 108016805A CN 201711455554 A CN201711455554 A CN 201711455554A CN 108016805 A CN108016805 A CN 108016805A
- Authority
- CN
- China
- Prior art keywords
- axis
- moving assembly
- drawer
- mobile slide
- level
- 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.)
- Pending
Links
- HTTJABKRGRZYRN-UHFFFAOYSA-N Heparin Chemical compound OC1C(NC(=O)C)C(O)OC(COS(O)(=O)=O)C1OC1C(OS(O)(=O)=O)C(O)C(OC2C(C(OS(O)(=O)=O)C(OC3C(C(O)C(O)C(O3)C(O)=O)OS(O)(=O)=O)C(CO)O2)NS(O)(=O)=O)C(C(O)=O)O1 HTTJABKRGRZYRN-UHFFFAOYSA-N 0.000 title claims abstract description 38
- 229960002897 heparin Drugs 0.000 title claims abstract description 38
- 229920000669 heparin Polymers 0.000 title claims abstract description 38
- 230000001360 synchronised effect Effects 0.000 claims description 41
- 230000033001 locomotion Effects 0.000 claims description 9
- 238000010241 blood sampling Methods 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 8
- 210000004369 blood Anatomy 0.000 description 3
- 239000008280 blood Substances 0.000 description 3
- 238000005086 pumping Methods 0.000 description 2
- 238000000429 assembly Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000001124 body fluid Anatomy 0.000 description 1
- 239000010839 body fluid Substances 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0478—Storage devices mechanical for matrix-arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
Abstract
The embodiment of the invention discloses a kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system.Mechanical arm includes：X-axis moving assembly, Y-axis moving assembly, the first Z axis moving assembly, the second Z axis moving assembly, clamp manipulator rotary components and bi-directional expansion device, the clamp manipulator rotary components are arranged on the second Z axis Mobile Slide, have the rotary freedom in the range of 0 180 °；The bi-directional expansion device is arranged on the first Z axis Mobile Slide；The bi-directional expansion device stretches setting for two level, and the end of the bi-directional expansion device is provided with the latch for being opened and closed drawer.By the cooperation of slot in latch and drawer, the opening and closing of drawer are realized, and heparin tube is taken out or be put into from blood sampling pipe carrier.
Description
Technical field
The present invention relates to heparin tube printing label technical field, more particularly to a kind of four shaft mechanical arms of intelligence and drawer tank bracket
Heparin tube storage system.
Background technology
Hospital takes human blood or body fluid, it is necessary to which the label with patient information is attached to vacuum using vacuum blood collection tube
On heparin tube, there is artificial and two kinds of automation at present, manually paste time-consuming and laborious, the easy error of uniformity difference, in the market is existing
Automatic labeling equipment (nonpipeline formula) storage heparin tube quantity, species it is few, the needs that get off of use in one day are repeatedly mended and managed.
To save space, the existing storage through depositing storage system blood was collected pipe frequently with drawer frame heparin tube.But
These drawer frame heparin tube stocking systems take pipe difficult.Therefore, it is necessary to one kind take it is small, can be conveniently from blood sampling
Conduit saddle takes the automatic pipe taking manipulator of blood sampling pipeline.
The content of the invention
In view of in place of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide one kind to occupy little space, for pumping
Drawer formula heparin tube deposits the four shaft mechanical arms of intelligence of storage system.
In order to achieve the above object, this invention takes following technical scheme：
A kind of four axis intelligent machine arms, wherein, which includes：X-axis moving assembly, the X-axis moving assembly include X
Axis rail and X-axis Mobile Slide, the X-axis Mobile Slide are moved back and forth along the X-axis guide rail；
Y-axis moving assembly, the Y-axis moving assembly are arranged on the X-axis Mobile Slide, the Y-axis moving assembly bag
Include Y-axis guide rail and Y-axis Mobile Slide；The Y-axis Mobile Slide is moved back and forth along the Y-axis guide rail；
First Z axis moving assembly, the first Z axis moving assembly are arranged on the Y-axis Mobile Slide；First Z
Axis moving assembly includes the first Z axis guide rail and the second Z axis Mobile Slide；The first Z axis Mobile Slide is along first Z axis
Guide rail moves back and forth；
Second Z axis moving assembly, the second Z axis moving assembly are arranged on the first Z axis Mobile Slide；Described
Two Z axis moving assemblies independently move in the Z-axis direction with the first Z axis Mobile Slide；
Clamp manipulator rotary components, the clamp manipulator rotary components are arranged on the second Z axis Mobile Slide,
With the rotary freedom in the range of 0-180 °；
Bi-directional expansion device, the bi-directional expansion device are arranged on the first Z axis Mobile Slide；The bi-directional expansion
Device stretches setting for two level, and the end of the bi-directional expansion device is provided with the latch for being opened and closed drawer.
The four axis intelligent machine arms, wherein, the bi-directional expansion device includes：Fixed block, level-one telescopic block, two level
Telescopic block, stepper motor and synchronous belt drive mechanism；
The stepper motor is arranged on the fixed block, and the level-one telescopic block is arranged on the slide of the fixed block
On；
The stepper motor drives the level-one telescopic block to be moved along the slide by the synchronous belt drive mechanism；Institute
State two level telescopic block to be connected with the level-one telescopic block by the synchronous belt drive mechanism, with twice first telescopic block
Speed movement.
The four axis intelligent machine arms, wherein, the synchronous belt drive mechanism include the first synchronous pulley, synchronous belt,
Second synchronous pulley and opening synchronous belt；
First synchronous pulley coordinates with the synchronous belt, drives the level-one telescopic block to be moved along the slide；Institute
State the both ends that the second synchronous pulley is separately positioned on the two level telescopic block；
Second synchronous pulley is connected to the opening synchronous belt, and the both ends of the opening synchronous belt are fixed respectively
On the fixed block and the two level telescopic block.
The four axis intelligent machine arms, wherein, the latch is arranged on the end of the two level telescopic block.
The four axis intelligent machine arms, wherein, the clamp manipulator rotary components include：Manipulator and upset structure
Part；The manipulator is used to clamp heparin tube, and the flip component is connected with the manipulator, controls the manipulator in 0-
Overturn in the range of 180 °.
A kind of drawer frame heparin tube stocking system, wherein, including four axis intelligent machine arms and pumping as described in power is upper
Drawer frame；Several drawers for being used to accommodate heparin tube are provided with the drawer frame；Be provided with the drawer with it is described
The slot that latch matches, for being turned on or off the drawer.
The drawer frame heparin tube stocking system, wherein, 1 examination for accommodating 100 test tubes is placed on each drawer
Conduit saddle.
Drawer frame heparin tube stocking system provided in an embodiment of the present invention, has larger heparin tube memory capacity, and
And coordinate with the manipulator for flexibly taking pipe ability, in that context it may be convenient to the heparin tube in drawer tank bracket is carried out taking pipe or puts pipe.
Whole mechanical arm device is compact-sized, is directed to the design of drawer frame heparin tube stocking system, has a good application prospect.
Brief description of the drawings
Fig. 1 is the structure diagram of four shaft mechanical arm of intelligence provided in an embodiment of the present invention；
Fig. 2 is the structure diagram of drawer frame heparin tube storage system provided in an embodiment of the present invention；
Fig. 3 is the structure diagram of bi-directional expansion device provided in an embodiment of the present invention；
Fig. 4 is the structure diagram of drawer slot provided in an embodiment of the present invention and latch.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
Fig. 1 is the structure diagram of four shaft mechanical arm of intelligence provided in an embodiment of the present invention.As shown in Figure 1, the intelligence four
Shaft mechanical arm includes：X-axis moving assembly, Y-axis moving assembly, the first Z axis moving assembly, the second Z axis moving assembly, clamp machinery
Hand rotary components and bi-directional expansion device.
Wherein, the X-axis moving assembly 1 includes X-axis guide rail and X-axis Mobile Slide, and the X-axis Mobile Slide is described in
X-axis guide rail moves back and forth.The Y-axis moving assembly is arranged on the X-axis Mobile Slide, and the Y-axis moving assembly includes Y-axis
Guide rail and Y-axis Mobile Slide；The Y-axis Mobile Slide is moved back and forth along the Y-axis guide rail.
The first Z axis moving assembly 2 is arranged on the Y-axis Mobile Slide；The first Z axis moving assembly includes the
One Z axis guide rail and the second Z axis Mobile Slide；The first Z axis Mobile Slide is moved back and forth along first Z axis guide rail.Institute
The second Z axis moving assembly 3 is stated to be arranged on the first Z axis Mobile Slide；The second Z axis moving assembly and the first Z
Axis Mobile Slide independently moves in the Z-axis direction；
The clamp manipulator rotary components are arranged on the second Z axis Mobile Slide, are had
Rotary freedom in the range of 0-180 °.The bi-directional expansion device 6 is arranged on the first Z axis Mobile Slide
On；The bi-directional expansion device stretches settings for two level, is provided with the end of the bi-directional expansion device and is used to be opened and closed drawer
Latch.
Specifically, the clamp manipulator rotary components include：Manipulator 5 and flip component 4.The manipulator 5 is used
In clamping heparin tube, the flip component 4 is connected with the manipulator, controls the manipulator to be overturn in the range of 0-180 °.
In certain embodiments, which can be rotating seat, the rotation of control machinery hand 5.
Fig. 2 is the structure diagram of drawer frame heparin tube storage system provided in an embodiment of the present invention.Such as Fig. 1 and Fig. 2
Shown, be disposed with (can place 1 support 100 in the present embodiment, in drawer frame along the drawer 12 that Y-axis moves on each drawer
The blood sampling conduit saddle of dress) clamp manipulator 5 is on rotating seat 4, and rotating seat 4 is installed on the second Z axis moving assembly 3, the 2nd Z
Axis moving assembly 3 is installed on Z axis slide unit 21, and bi-directional expansion device 6 is also equipped with the same time on Z axis slide unit 21.Z axis slide unit is Z
A part for axis moving assembly 2, Z axis moving assembly 2 are installed on X-axis Mobile Slide, and X-axis Mobile Slide is X-axis moving assembly 1
Movable part.
Fig. 3 is the structure diagram of bi-directional expansion device provided in an embodiment of the present invention.Two-way stretched as shown in figure 3, described
Compression apparatus includes：Fixed block 61, level-one telescopic block 62, two level telescopic block 63, stepper motor 611 and synchronous belt drive mechanism.
Wherein, the synchronous belt drive mechanism is used to provide power transmission function, enables motor to drive level-one to stretch at the same time
Contracting block and the movement of two level telescopic block.Specifically, the synchronous belt drive mechanism can include：First synchronous pulley 612, synchronous belt
613rd, the second synchronous pulley 621 and opening synchronous belt 622.
Stepper motor 611 is installed on fixed block 61, and synchronous belt 613 drives level-one telescopic block 62 in the straight line of fixed block 61
Moved on slide.Respectively there is second synchronous pulley 621 at the both ends of two level telescopic block 62.On two the second synchronous pulleys 621
It is connected to an opening synchronous belt 622.
The both ends of the opening synchronous belt 622 are separately fixed on fixed block 61 and two level telescopic block 63, level-one telescopic moving
During due to the effect of opening synchronous belt 621 so that two level telescopic block 63 is relative to level-one telescopic block 62 in equidirectional
The speed movement of twice level-one telescopic block 62.
Fig. 4 is the structure diagram of drawer slot provided in an embodiment of the present invention and latch.As shown in figure 4, each drawer
Blood sampling pipe carrier is inside all placed with, the side of drawer 12 is provided with slot 121.Two level telescopic block end and 121 phase of slot
It is matched to be provided with latch 631.With the movement of two level telescopic block, latch 631 can be stretched into slot 121, drawing-out type drawer cabinet
And take out heparin tube.
Below in conjunction with Fig. 1 to Fig. 4, the operational process of whole drawer tank bracket heparin tube storage system is described in detail：
First, be connected to it is corresponding take pipe to instruct after, X-axis moving assembly 1 drives X-axis Mobile Slide 11 along X-motion, the
The driving motor 22 of one Z axis moving assembly drives the first Z axis Mobile Slide 21 along Z axis to moving.
First Z axis Mobile Slide 21 and bi-directional expansion device 6 mounted thereto, clamp manipulator 5 moves to needs to supplement
Color heparin tube deposits at the drawer 12 of storage that (for such as drawer 12 in the offside of clamp manipulator, clamp manipulator 5 is by electric rotating machine 41
Drive along rotating seat 4 and rotate 180 °) when, bi-directional expansion device 6 is moved along Y-axis stretches out the two level sliding block 63 with latch 631.
Under the driving of second Z axis moving assembly, along the upward fine motion of Z axis, the slot 121 for making latch 631 be inserted on drawer 12.
Then, bi-directional expansion device 6 is moved along Y-axis, drawing-out type drawer, and the heparin tube that needs are captured is sent into clamp manipulator
In clamping jaw on 5, clamping jaw clamps heparin tube, and lifting motor 31 drives clamp manipulator to extract blood sampling along the second Z axis+to moving
Pipe, bi-directional expansion device 6 drive drawer 12 to close, and the downward fine motion of Z axis, latch 631 disengages the slot 121 on drawer 12, two level
Telescopic block 631 resets to centre position, and by X-axis, Z-axis linkage, (heparin tube as taken out need to add to offside heparin tube outlet pipe
Module, clamp manipulator rotate 180 °), heparin tube is put into designated position by clamp manipulator 5.
In conclusion heparin tube feed mode provided in an embodiment of the present invention props up the drawer for being placed in and being independently opened and closed for blood sampling
In, manipulator automatic shutter drawer crawl heparin tube, saves space.In frame storage system, 4 axis robots are used, have been removed
Left and right, move up and down outside, also has manipulator independence up and down motion axis, manipulator rotation axis.
The manipulator takes pipe mode to be moved for drawers to be opened such as manipulator clamping jaw original places with corresponding gripping heparin tube
To among manipulator clamping jaw, heparin tube is extracted in manipulator gripping.The manipulator is applied to opening and closing drawer by bi-directional expansion device
's.The bi-directional expansion device realizes that two-way two level is stretched by single power, ensures complete machine characteristics of compact layout, the spy to occupy little space
Point.
The foregoing is merely embodiments of the present invention, are not intended to limit the scope of the invention, every to utilize this
The equivalent structure or equivalent flow shift that description of the invention and accompanying drawing content are made, it is relevant to be directly or indirectly used in other
Technical field, is included within the scope of the present invention.
Claims (7)
- A kind of 1. four axis intelligent machine arms, it is characterised in that including：X-axis moving assembly, the X-axis moving assembly include X-axis guide rail and X-axis Mobile Slide, and the X-axis Mobile Slide is along institute State X-axis guide rail reciprocating movement；Y-axis moving assembly, the Y-axis moving assembly are arranged on the X-axis Mobile Slide, and the Y-axis moving assembly includes Y-axis Guide rail and Y-axis Mobile Slide；The Y-axis Mobile Slide is moved back and forth along the Y-axis guide rail；First Z axis moving assembly, the first Z axis moving assembly are arranged on the Y-axis Mobile Slide；First Z axis moves Dynamic component includes the first Z axis guide rail and the second Z axis Mobile Slide；The first Z axis Mobile Slide is along first Z axis guide rail Move back and forth；Second Z axis moving assembly, the second Z axis moving assembly are arranged on the first Z axis Mobile Slide；2nd Z Axis moving assembly independently moves in the Z-axis direction with the first Z axis Mobile Slide；Clamp manipulator rotary components, the clamp manipulator rotary components are arranged on the second Z axis Mobile Slide, have Rotary freedom in the range of 0-180 °；Bi-directional expansion device, the bi-directional expansion device are arranged on the first Z axis Mobile Slide；The bi-directional expansion device Stretch setting for two level, the end of the bi-directional expansion device is provided with the latch for being opened and closed drawer.
- 2. four axis intelligent machine arm according to claim 1, it is characterised in that the bi-directional expansion device includes：It is fixed Block, level-one telescopic block, two level telescopic block, stepper motor and synchronous belt drive mechanism；The stepper motor is arranged on the fixed block, and the level-one telescopic block is arranged on the slide of the fixed block；The stepper motor drives the level-one telescopic block to be moved along the slide by the synchronous belt drive mechanism；Described two Level telescopic block is connected by the synchronous belt drive mechanism with the level-one telescopic block, with the speed of twice first telescopic block Degree movement.
- 3. four axis intelligent machine arm according to claim 2, it is characterised in that the synchronous belt drive mechanism includes first Synchronous pulley, synchronous belt, the second synchronous pulley and opening synchronous belt；First synchronous pulley coordinates with the synchronous belt, drives the level-one telescopic block to be moved along the slide；Described Two synchronous pulleys are separately positioned on the both ends of the two level telescopic block；Second synchronous pulley is connected to the opening synchronous belt, and the both ends of the opening synchronous belt are separately fixed at institute State on fixed block and the two level telescopic block.
- 4. four axis intelligent machine arm according to claim 3, it is characterised in that the latch is arranged on the two level and stretches The end of block.
- 5. four axis intelligent machine arm according to claim 1, it is characterised in that the clamp manipulator rotary components bag Include：Manipulator and flip component；The manipulator is used to clamp heparin tube, and the flip component is connected with the manipulator, controls the manipulator in 0- Overturn in the range of 180 °.
- 6. a kind of drawer frame heparin tube stocking system, it is characterised in that including the four axis intelligence as described in claim 1-5 is any Can mechanical arm and drawer frame；Several drawers for being used to accommodate heparin tube are provided with the drawer frame；It is provided with the drawer and the latch The slot to match, for being turned on or off the drawer.
- 7. drawer frame heparin tube stocking system according to claim 6, it is characterised in that place 1 on each drawer Accommodate the test tube support of 100 test tubes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455554.0A CN108016805A (en) | 2017-12-28 | 2017-12-28 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711455554.0A CN108016805A (en) | 2017-12-28 | 2017-12-28 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108016805A true CN108016805A (en) | 2018-05-11 |
Family
ID=62072074
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711455554.0A Pending CN108016805A (en) | 2017-12-28 | 2017-12-28 | A kind of four shaft mechanical arms of intelligence and drawer tank bracket heparin tube storage system |
Country Status (1)
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| CN (1) | CN108016805A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109607168A (en) * | 2018-11-30 | 2019-04-12 | 四川航天系统工程研究所 | A kind of intelligent machine arm system picked and placed for goods and materials |
| CN109624517A (en) * | 2019-02-27 | 2019-04-16 | 赵天驰 | A kind of self-service customization machine of ready-made clothes pattern, print system and Method of printing |
| CN112079116A (en) * | 2020-09-17 | 2020-12-15 | 临泉县清华地产中药材有限责任公司 | Device is taken to traditional chinese medicine in proportion |
| WO2021226812A1 (en) * | 2020-05-12 | 2021-11-18 | 南京叠嘉信息科技有限公司 | Mechanical arm and storage device |
| CN114291469A (en) * | 2021-12-29 | 2022-04-08 | 南昌大学第一附属医院 | Blood transfusion compatibility detects sample intelligent management equipment based on internet of things |
| EP4059850A1 (en) * | 2021-03-16 | 2022-09-21 | IWK Verpackungstechnik GmbH | Filling device for a tube storage area of a packaging machine and method for filling a tube storage area |
| CN115180326A (en) * | 2022-07-11 | 2022-10-14 | 烟台诚曦智能医疗科技有限公司 | Sample handover equipment and use method |
| CN110403401B (en) * | 2019-08-16 | 2024-04-26 | 浙江工业大学之江学院 | Single orderly exit tube device of heparin tube is piled up to many specifications |
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