CN109018795B - Storage equipment and storage method - Google Patents
Storage equipment and storage method Download PDFInfo
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- CN109018795B CN109018795B CN201810652221.5A CN201810652221A CN109018795B CN 109018795 B CN109018795 B CN 109018795B CN 201810652221 A CN201810652221 A CN 201810652221A CN 109018795 B CN109018795 B CN 109018795B
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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
- B65G1/0407—Storage devices mechanical using stacker cranes
- B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
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Abstract
The invention provides storage equipment and a storage method, and belongs to the technical field of storage. Store equipment and include the storage frame, the support body, the robot, conveyor, grabbing device and controlling means, the storage frame includes link and a plurality of storage structure, the support body is located the breach, the support body is provided with the sample dish and deposits the position, the robot is located the storage frame, the robot is used for putting into the sample dish on the sample dish storage bit and deposits the position, conveyor has and draws station and output station, conveyor is used for carrying the sample bottle to output station, grabbing device is used for snatching and putting into on drawing the station the sample bottle that is located sample dish and deposits the position in the sample dish, controlling means and robot, conveyor and grabbing device electricity are connected. This store equipment can realize the automatic storage and the extraction of appearance bottle, and work efficiency is high, convenient operation, this structural design is reasonable, and the practicality is strong.
Description
Technical Field
The invention relates to the technical field of storage, in particular to a storage device and a storage method.
Background
The existing storage shelf is generally in a three-dimensional form, the two sides of the existing storage shelf are rectangular, a mechanical walking mechanism is arranged in the middle of the storage shelf, a mechanical lifting mechanism and a grabbing and pushing mechanism are arranged on the mechanical walking mechanism, and the existing storage shelf can be controlled to act when goods are generally required to be placed or taken.
Most of these forms of stereoscopic storage shelves employ servo systems.
The inventor finds in research that at least the following disadvantages exist in the prior related art:
storage designed for storing sample bottles is not specially designed, and operation is inconvenient.
Disclosure of Invention
The invention provides a storage device, overcomes the defects of the prior art, can realize automatic storage and extraction of sample bottles, and has the advantages of high working efficiency, convenient operation, reasonable structural design and strong practicability.
The invention also provides a storage method, which can realize the fast and efficient storage and extraction of the sample bottles by using the storage equipment.
The embodiment of the invention is realized by the following steps:
an embodiment of the present invention provides a storage apparatus, including:
the storage rack comprises a connecting rack and a plurality of storage structures, the connecting rack is an arc-shaped rack with a notch, each storage structure is connected with the connecting rack, the plurality of storage structures are distributed along the extending direction of the connecting rack, and each storage structure is provided with a plurality of layers of sample disc storage bits which are uniformly distributed along the height direction;
the rack body is positioned in the notch and is provided with a sample disc storage position;
the robot is positioned in the storage rack and used for placing the sample discs on the sample disc storage positions into the sample disc storage positions or placing the sample discs on the sample disc storage positions into the sample disc storage positions;
the conveying device is provided with an extraction station and an output station, corresponds to the notch and is used for conveying the sample bottles to the output station;
the gripping device is used for gripping and placing the sample bottles in the sample tray on the sample tray storage position into the extraction station or placing the sample bottles on the output station into the sample tray on the sample tray storage position, the gripping device comprises a first mounting part, a first motor, a second mounting part, a second motor, a third mounting part, a third motor and a gripping mechanism for gripping the sample bottles, the first mounting part is fixedly connected with the frame body, the second mounting part is slidably connected with the first mounting part, the first motor is connected with the first mounting part and used for driving the second mounting part, the third mounting part is slidably connected with the second mounting part, the second motor is connected with the second mounting part and used for driving the third mounting part, and the gripping mechanism is slidably connected with the third mounting part, the third motor is connected with the third mounting piece and used for driving the grabbing mechanism, and the sliding directions of any two of the sliding direction of the second mounting piece, the sliding direction of the third mounting piece and the sliding direction of the grabbing mechanism are vertical;
a control device electrically connected with the robot, the conveying device and the gripping device.
Specifically, this store equipment can realize the automatic of appearance bottle and store and draw, and work efficiency is high, convenient operation, this structural design is reasonable, and the practicality is strong.
Optionally, the conveying device comprises a bracket, a sample bottle conveying pipeline, a main cylinder, a sample bottle receiving cylinder, a cylinder mounting plate, a linear guide rail and a rodless cylinder;
the sample bottle conveying pipeline is connected with the bracket, and one end of the sample bottle conveying pipeline is provided with a sample bottle outlet;
the main cylinder comprises a first cylinder body and a first piston rod, the first cylinder body is connected with the cylinder mounting plate, the cylinder mounting plate is connected to the linear guide rail in a sliding mode, the rodless cylinder is used for driving the cylinder mounting plate to move along the linear guide rail, one end of the first piston rod is connected into the first cylinder body, and the other end of the first piston rod is connected with the sample bottle receiving cylinder;
the storage equipment is provided with the cylinder mounting plate is located first preset position just the sample bottle receiving cylinder corresponds the first state of sample bottle export, and the cylinder mounting plate is located second preset position just the sample bottle receiving cylinder is located the second state of output station.
Optionally, the conveying device further comprises a sealing gasket, the sealing gasket is connected to the top of the sample bottle receiving cylinder, and in the first state, the sample bottle receiving cylinder is connected with the sample bottle conveying pipeline in a sealing mode through the sealing gasket.
Optionally, the conveying device further includes a scanning device mounting plate, a scanning device electrically connected to the control device, and a photoelectric switch, where the photoelectric switch is connected to the sample bottle conveying pipeline and is used to detect whether there is a sample bottle at the sample bottle outlet;
the scanning device mounting panel with the leg joint, scanning device with the scanning device mounting panel is connected, scanning device is used for the scanning to be located the RF ID chip of appearance bottle in the appearance bottle receiver to type in appearance bottle information.
Optionally, the conveying device further includes a sample discarding pipe and a sampling pipe, the sample discarding pipe is connected to the support, a sample discarding inlet is formed at the top of the sample discarding pipe, a sample discarding outlet is formed at the bottom of the sample discarding pipe, a sampling inlet is formed at the top of the sampling pipe, and a sampling outlet is formed at the bottom of the sampling pipe;
the discard inlet and the sampling inlet form the extraction station.
Optionally, the storage apparatus further comprises a sample discarding trolley, and an opening of the sample discarding trolley corresponds to the sample discarding outlet.
Optionally, the storage device further comprises an alarm, and the alarm is electrically connected with the control device.
Optionally, the storage device further comprises a housing and a safety door, and the storage rack, the rack body, the robot, the conveying device, the gripping device and the control device are all located in the housing;
the safety door is connected with the shell and is provided with a coded lock;
the safety door is positioned on the first shell, the section of the first shell is rectangular, the section of the second shell is hexagonal, and one side of the hexagon is the rectangular side.
Optionally, the grabbing mechanism comprises a parallel cylinder and two claws, the parallel cylinder comprises a second cylinder body and a second piston rod, the second cylinder body is connected with the third mounting part in a sliding manner and is used for being driven by the third motor, one end of the second piston rod is connected in the second cylinder body in a sliding manner, and the other end of the second piston rod is connected with the two claws;
the storage device has two put-down states in which the claws are away from the second cylinder and away from each other, and two grab states in which the claws are close to the second cylinder and close to each other.
An embodiment of the present invention also provides a storage method using the above-mentioned storage apparatus, the method including a storage step and an extraction step;
the storing step comprises:
enabling the conveying device to work, and conveying the sample bottles to the output station;
enabling the gripping device to work, and placing the sample bottles on the output station into the sample tray on the sample tray storage position;
enabling the robot to work, and placing the sample disc on the sample disc storage position;
the extraction step comprises:
enabling the robot to work, and placing the sample disc on the sample disc storage position;
and enabling the gripping device to work, and placing the sample bottles in the sample plate on the sample plate storage position on the extraction station.
Compared with the prior art, the beneficial effects of the embodiment of the invention include, for example:
this store equipment can realize the automatic storage and the extraction of appearance bottle, and work efficiency is high, convenient operation, this structural design is reasonable, and the practicality is strong.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a first viewing angle of a storage apparatus according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a second viewing angle of the storage apparatus according to the embodiment of the present invention;
fig. 3 is a schematic structural diagram of a third viewing angle of the storage apparatus according to the embodiment of the present invention;
fig. 4 is a schematic structural diagram of a gripper and a sample tray in the storage apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a sample tray and a sample bottle in the storage apparatus according to the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a conveying apparatus and related components thereof according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a gripping device according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a transportation device and a sample discarding trolley provided in an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a conveying device according to an embodiment of the present invention.
Icon: 100-storage equipment; 101-a housing; 102-a first housing; 103-a second housing; 104-a security gate; 105-a combination lock; 10-storage rack; 11-a connecting frame; 12-a storage structure; 121-sample disk store bits; 20-frame body; 21-sample disc storage position; 30-a robot; 31-hand grip; 40-a conveying device; 41-a bracket; 42-sample bottle delivery line; 43-master cylinder; 44-a vial receiving cartridge; 45-cylinder mounting plate; 451-linear guide rail; 452-rodless cylinders; 46-a sample abandoning pipeline; 461-discard entrance; 462-a reject outlet; 47-a sampling pipe; 471-a sampling inlet; 472-sampling outlet; 48-an air intake duct; 50-a gripping device; 51-a first mount; 52-a first motor; 53-a second mount; 54-a second motor; 55-a third mount; 56-a third motor; 57-a gripping mechanism; 60-discarding a sample trolley; 200-sample plate; 300-sample bottle.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are usually placed in when used, the terms are only used for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements indicated must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, the appearances of the terms "first," "second," "third," and the like, if any, are only used to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example 1
Referring to fig. 1 to 9, the present embodiment provides a storage apparatus 100, which includes:
the storage rack 10 comprises a connecting rack 11 and a plurality of storage structures 12, the connecting rack 11 is an arc-shaped rack with a gap, each storage structure 12 is connected with the connecting rack 11, the storage structures 12 are distributed along the extending direction of the connecting rack 11, and each storage structure 12 is provided with a plurality of layers of sample tray storage bits 121 which are uniformly distributed along the height direction;
the rack body 20 is positioned in the gap, and the rack body 20 is provided with a sample disc storage position 21;
the robot 30 is positioned in the storage rack 10, and the robot 30 is used for placing the sample trays 200 on the sample tray storage positions 121 into the sample tray storage positions 21 or placing the sample trays 200 on the sample tray storage positions 21 into the sample tray storage positions 121;
the conveying device 40 is provided with an extracting station and an output station, the conveying device 40 corresponds to the notch, and the conveying device 40 is used for conveying the sample bottle 300 to the output station;
referring to fig. 7, the gripping device 50 is used for gripping and placing the sample bottles 300 in the sample tray 200 on the sample tray storage position 21 into the extraction station, or for placing the sample bottles 300 on the output station into the sample tray 200 on the sample tray storage position 21, the gripping device 50 includes a first mounting member 51, a first motor 52, a second mounting member 53, a second motor 54, a third mounting member 55, a third motor 56 and a gripping mechanism 57 for gripping the sample bottles 300, the first mounting member 51 is fixedly connected to the frame body 20, the second mounting member 53 is slidably connected to the first mounting member 51, the first motor 52 is connected to the first mounting member 51 and is used for driving the second mounting member 53, the third mounting member 55 is slidably connected to the second mounting member 53, the second motor 54 is connected to the second mounting member 53 and is used for driving the third mounting member 55, the gripping mechanism 57 is slidably connected to the third mounting member 55, the third motor 56 is connected to the third mounting member 55 and is used for driving the gripping mechanism 57, and the sliding directions of any two of the sliding direction of the second mounting member 53, the sliding direction of the third mounting member 55 and the sliding direction of the gripping mechanism 57 are perpendicular;
and the control device is electrically connected with the robot 30, the conveying device 40 and the grabbing device 50.
Referring to fig. 1, in the present embodiment, the storage apparatus 100 further includes a housing 101 and a safety door 104, and the storage rack 10, the rack body 20, the robot 30, the conveying device 40, the gripping device 50, and the control device are all located in the housing 101;
the safety door 104 is connected with the shell 101, and the safety door 104 is provided with a coded lock 105;
the housing 101 includes a first case 102 and a second case 103 connected to each other, the safety door 104 is positioned on the first case 102, the first case 102 has a rectangular cross section, the second case 103 has a hexagonal cross section, and one side of the hexagonal cross section is one side of the rectangular cross section.
The casing 101 covers the whole device, and can be accessed only after passing the verification of passwords or fingerprints, and the like, thereby improving the safety. Generally, the outer surface of the housing 101 is also painted.
In conjunction with fig. 2 and 3, generally, both the storage function and the extraction function can be implemented by the device.
A storage function:
the sample bottles 300 output by the conveying device 40 enter the output station, the gripping device 50 grips the sample bottles 300 from the output station and places the gripped sample bottles 300 in the sample tray 200 on the sample tray storage position 21, and the robot 30 grips the sample tray 200 and places the gripped sample bottles in the corresponding sample tray storage positions 121.
And (4) extraction function:
the robot 30 picks the sample plate 200 on the sample plate storage location 121 and then places the sample plate on the sample plate storage location 21, and then the gripping device 50 picks the sample bottles 300 in the sample plate 200 and places the sample bottles on the extraction station.
In this embodiment, the conveying device 40 is a pneumatic conveying device, the sample bottles 300 can be conveyed to the output station through a pipeline, and the control device is an electrical control system to realize automatic control. Of course, in other embodiments, the conveying device 40 may be a conveyor belt, and the control device may be a PLC or a computer.
Specifically, the connecting frame 11 is arc-shaped, thirteen storage structures 12 are distributed on the connecting frame, and each storage structure 12 has eleven layers. In this way, the robot 30 can cover all the sample disk storage locations 121 by the rotating device at the bottom and its own grasping system. When the lifting device is installed at the bottom of the robot 30, the number of layers of the storage structure 12 can be correspondingly increased. It will be appreciated that the number and number of storage structures 12 may be arranged for different storage racks 10.
Meanwhile, referring to fig. 3, a sample discarding cart 60 is further disposed at the bottom of the conveying device 40, and the discarded sample bottles 300 can be picked by the gripping device 50 and placed on the extraction station, so that the discarded sample bottles 300 enter the sample discarding cart 60.
This store equipment 100 can realize the automatic storage and the extraction of appearance bottle 300, and work efficiency is high, convenient operation, this structural design is reasonable, and the practicality is strong.
Referring to fig. 4, fig. 4 shows a hand grip 31 and a sample plate 200, the hand grip 31 is mounted on a manipulator of the robot 30, or the hand grip 31 is referred to as a manipulator, and the robot 30 controls the hand grip 31 so that the hand grip 31 can grip or release the sample plate 200.
Referring to fig. 5, fig. 5 shows a sample plate 200 and sample bottles 300, and a plurality of placing holes are distributed on the sample plate 200 to facilitate placing the sample bottles 300.
Referring to fig. 6, the transport device 40, the reject cart 60, the gripping device 50 and the rack 41 are shown in fig. 6. These structures will be described in detail below.
Referring to fig. 7, a grasping device 50 is shown in fig. 7.
The structure of the grasping apparatus 50 has been described above, and the first motor 52 may be understood as an X-axis motor, the second motor 54 may be understood as a Y-axis motor, and the third motor 56 may be understood as a Z-axis motor.
Meanwhile, the sliding direction of the second mounting part 53 may be understood as an X-axis direction.
The sliding direction of the third mount 55 can be understood as the Y-axis direction.
The sliding direction of the grasping mechanism 57 can be understood as the Z-axis direction.
That is, by the driving of the first motor 52, the second motor 54, and the third motor 56, it is possible to realize that the grasping mechanism 57 is located at any position where it can be located.
In this embodiment, the grabbing mechanism 57 includes a parallel cylinder and two jaws, the parallel cylinder includes a second cylinder body and a second piston rod, the second cylinder body is slidably connected to the third mounting member 55 and is driven by the third motor 56, one end of the second piston rod is slidably connected to the second cylinder body, and the other end of the second piston rod is connected to the two jaws;
the storing apparatus 100 has a put-down state in which the two jaws are far away from the second cylinder and are far away from each other, and a grab state in which the two jaws are close to the second cylinder and are close to each other.
The sample bottle 300 is grabbed or released through different states of the parallel air cylinders in the grabbing mechanism 57, and the positions of the second mounting piece 53, the third mounting piece 55 and the grabbing mechanism 57 are different, so that after the grabbing mechanism 57 grabs the sample bottle 300, the sample bottle 300 can be positionally transferred to a required position.
Of course, other mature grabbing technologies in the prior art can be selected.
The structures to be controlled are all electrically connected with the control device so as to be controlled by the control device. Generally, a position switch or a position sensor may be further installed in order to improve the accuracy of the movement.
Referring to fig. 8, the transport apparatus 40 and reject cart 60 are shown in fig. 8. The transport apparatus 40 and the reject cart 60 are described in detail below.
Referring to fig. 9, in the present embodiment, the transport device 40 includes a rack 41, a vial transport duct 42, a main cylinder 43, a vial receiving cylinder 44, a cylinder mounting plate 45, a linear guide 451, and a rodless cylinder 452;
the sample bottle conveying pipeline 42 is connected with the bracket 41, and one end of the sample bottle conveying pipeline 42 is provided with a sample bottle 300 outlet;
the main cylinder 43 comprises a first cylinder body and a first piston rod, the first cylinder body is connected with the cylinder mounting plate 45, the cylinder mounting plate 45 is slidably connected with the linear guide rail 451, the rodless cylinder 452 is used for driving the cylinder mounting plate 45 to move along the linear guide rail 451, one end of the first piston rod is connected into the first cylinder body, and the other end of the first piston rod is connected with the sample bottle receiving cylinder 44;
the storage apparatus 100 has a first state where the cylinder mounting plate 45 is located at a first predetermined position and the vial receiving cylinder 44 corresponds to the outlet of the vial 300, and a second state where the cylinder mounting plate 45 is located at a second predetermined position and the vial receiving cylinder 44 is located at the output station.
In fig. 9, the cylinder mounting plate 45 is located at a first preset position, the sample bottle receiving cylinder 44 corresponds to the outlet of the sample bottle 300, if the sample bottle 300 needs to be transferred out, the rodless cylinder 452 needs to be controlled, the cylinder mounting plate 45 transfers the sample bottle receiving cylinder 44 to a position close to the outside of the bracket 41 under the action of the linear guide 451, and after the cylinder mounting plate 45 is located at a second preset position, the sample bottle receiving cylinder 44 is located at an output station, and the gripping device 50 can grip the sample bottle 300 in the sample bottle receiving cylinder 44.
The outer housing is shown in fig. 8 for the delivery device 40 and not in fig. 9.
Generally, the sample bottle conveying pipeline 42 is also communicated with an air inlet pipeline 48, and the sample bottle conveying pipeline 42 and the air inlet pipeline 48 are connected with an external pipeline through a reserved interface on the outer shell body, so that a pneumatic conveying system is formed.
In this embodiment, the transferring device 40 further comprises a sealing pad connected to the top of the sample bottle receiving cylinder 44, and in the first state, the sample bottle receiving cylinder 44 is connected to the sample bottle transferring pipeline 42 in a sealing manner through the sealing pad.
It will be appreciated that the vial receiving cartridge 44, when provided with a sealing gasket, may seal the end of the vial delivery conduit 42 in the first state.
In this embodiment, the conveying device 40 further includes a scanning device mounting plate, a scanning device electrically connected to the control device, and a photoelectric switch, which is connected to the sample bottle conveying pipeline 42 and is used to detect whether there is a sample bottle 300 at the outlet of the sample bottle 300;
the scanning device mounting plate is connected with the bracket 41, the scanning device is connected with the scanning device mounting plate, and the scanning device is used for scanning the RF ID chip of the sample bottle 300 in the sample bottle receiving cylinder 44 and inputting the information of the sample bottle 300.
Generally, the sample bottle receiving cylinder 44 is always sealed with the sample bottle conveying pipe 42 by the main cylinder 43, that is, after the sample bottle 300 falls from the sample bottle conveying pipe 42, it directly falls on the sample bottle receiving cylinder 44, and at this time, the photoelectric switch detects that the sample bottle 300 is on the sample bottle receiving cylinder 44, and it feeds back the signal to the control device, and the control device can control the relevant equipment to work. Generally, the main cylinder 43 is controlled to lower the vial receiving cylinder 44 by a predetermined height, and then the cylinder mounting plate 45 is moved by the rodless cylinder 452 to position the vial receiving cylinder 44 at the output station to be gripped by the gripping device 50.
The scanning device is located on the stand 41, and it records its information by scanning the RF id chip of the vial 300. Typically, the RF id chip is located on the vial cap of the vial 300.
In this embodiment, the conveying device 40 further includes a sample discarding pipe 46 and a sampling pipe 47, the sample discarding pipe 46 is connected to the support 41, a sample discarding inlet 461 is formed at the top of the sample discarding pipe 46, a sample discarding outlet 462 is formed at the bottom of the sample discarding pipe 46, a sampling inlet 471 is formed at the top of the sampling pipe 47, and a sampling outlet 472 is formed at the bottom of the sampling pipe 47;
the reject inlet 461 and the sample inlet 471 form an extraction station.
Generally, after the sample bottles 300 are put in, the information is recorded, and when the sample storage period of the sample bottles 300 arrives, the control device controls the robot 30 to take out the corresponding sample tray 200 from the sample tray storage location 121, and puts the sample bottles 300 in the sample tray 200 into the sample discarding inlet 461 through the gripping device 50, which falls down along the sample discarding pipe 46. If a sample bottle 300 needs to be manually called, the gripping device 50 is controlled to place the sample bottle 300 into the sampling inlet 471, which extends along the sampling pipe 47 into the sampling outlet 472, so as to be taken by the user.
In this embodiment, the storage apparatus 100 further comprises a sample discarding cart 60, and the opening of the sample discarding cart 60 corresponds to the sample discarding outlet 462.
The reject cart 60 includes a cart body, wheels attached to the bottom of the cart body, and handrails attached to the sides of the cart body, and typically, the cart body is positioned below the rack 41 and has an opening corresponding to the reject outlet 462 to directly receive the rejected sample bottles 300.
In this embodiment, the storage apparatus 100 further comprises an alarm, and the alarm is electrically connected to the control device.
Generally, when the system records that the number of the currently abandoned samples reaches thirty, the alarm is controlled to give an alarm so as to remind a user to clean the sample bottles 300 in the sample abandoning trolley 60.
According to the storage device 100 provided by the embodiment of the present invention, the working principle of the storage device 100 is as follows:
the upper end of the sample bottle receiving cylinder 44 is provided with a sealing gasket, and the sample bottle receiving cylinder 44 is fixedly connected with the piston rod of the main cylinder 43. A linear guide 451 and a rodless cylinder 452 are installed below the main cylinder 43. The main cylinder 43 is connected to the linear guide 451 and the rodless cylinder 452 via a cylinder mounting plate 45. When the sample bottle 300 is not sent, the main cylinder 43 pushes the sample bottle receiving cylinder 44 to move upward, and the upper end surface of the sample bottle receiving cylinder 44 contacts with the lower end surface of the sample bottle conveying pipeline 42 to realize sealing. The sample bottle 300 reaches the sample bottle receiving cylinder 44 through the sample bottle conveying pipeline 42, and after the photoelectric detection that the sample bottle 300 arrives, the control system sends out an instruction, and the main cylinder 43 drives the sample bottle receiving cylinder 44 to move downwards. When the master cylinder 43 moves down to the desired position, the rodless cylinder 452 starts to move, driving the master cylinder 43 to move in the predetermined direction by a predetermined distance. After the rodless cylinder 452 stops operating, the scanning device is started to scan the RF ID chip attached to the upper portion of the bottle cap of the sample bottle 300, and information of the sample bottle 300 is recorded.
After sample bottle 300 information input is finished, the Y-axis motor is started, the grabbing mechanism 57 moves to the position right above the sample bottle 300 along the Y axis, the Z-axis motor is started, and the parallel air cylinder falls to the designated position and then starts to drive the clamping jaws to grab the sample bottle 300. After the jaws grasp the vial 300, the grasping mechanism 57 is lifted. The grabbing mechanism 57 moves on the Y axis and moves on the Z axis to match with the Y axis moving on the X axis, so that the sample bottles 300 are randomly placed in the sample tray 200 on the sample tray storage position 21. After the sample trays 200 on the sample tray storage position 21 are filled with sample bottles 300, the robot 30 installed at the center of the annular arrangement shelf drives the mechanical gripper 31 to grab the sample trays 200, and then the sample trays 200 are stored in the annular storage shelf. This process is the storage of the vials 300.
When the sample bottles 300 are stored, after the scanning device scans codes, the storage date of each sample bottle 300 is recorded into the system. The system is set with a sample storage period. When the sample storage cycle is reached, the robot 30 takes out the sample tray 200 on which the expired sample bottles 300 are located from the rack and places them on the sample tray storage position 21. The grabbing device 50 acts to grab the expired sample bottles 300 and move the expired sample bottles 300 to be right above the sample abandoning pipeline 46, the clamping jaws loosen the sample bottles 300, the expired sample bottles 300 enter the sample abandoning trolley 60 through the sample abandoning pipeline 46, when the system records that the number of the current abandoned samples reaches 30, an alarm is given, and the sample abandoning trolley 60 is cleaned manually. When the sample bottle 300 needs to be sampled manually, the robot 30 randomly takes off the sample tray 200 to the sample tray storage position 21 in the sample storage period, the gripping device 50 operates to randomly grip the sample bottle 300, and the sample bottle 300 is sent to the sampling pipeline 47, so that the worker takes the sample bottle 300 out of the sampling outlet 472.
The device has at least the following advantages:
the storage capacity is large, but the occupied area is small, the failure rate is low, the manufacturing and using cost is low, and the service life is long. Can be matched with common pneumatic conveying equipment in the prior art for use.
Example 2
The present embodiment also provides a storage method using the storage apparatus 100 mentioned above, which includes a storage step and an extraction step;
the structure of the storage apparatus 100 can be referred to embodiment 1.
Wherein, the storing step comprises:
the conveying device 40 is operated to convey the sample bottles 300 to the output station;
the gripping device 50 is operated, and the sample bottles 300 on the output station are placed in the sample tray 200 on the sample tray storage position 21;
the robot 30 is operated, and the sample plate 200 on the sample plate storage position 21 is placed on the sample plate storage position 121;
the extraction step comprises:
the robot 30 is operated, and the sample plate 200 on the sample plate storage position 121 is placed on the sample plate storage position 21;
the gripping device 50 is operated to place the vials 300 in the sample tray 200 in the sample tray storage position 21 into the extraction station.
In summary, the present invention provides a storage apparatus 100, the storage apparatus 100 can realize automatic storage and extraction of the sample bottles 300, and has the advantages of high working efficiency, convenient operation, reasonable structural design and strong practicability.
It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A storage apparatus, comprising:
the storage rack comprises a connecting rack and a plurality of storage structures, the connecting rack is an arc-shaped rack with a notch, each storage structure is connected with the connecting rack, the plurality of storage structures are uniformly distributed along the extending direction of the connecting rack, and each storage structure is provided with a plurality of layers of sample disc storage bits uniformly distributed along the height direction;
the rack body is positioned in the notch and is provided with a sample disc storage position;
the robot is positioned in the storage rack and used for placing the sample discs on the sample disc storage positions into the sample disc storage positions or placing the sample discs on the sample disc storage positions into the sample disc storage positions;
the conveying device is provided with an extraction station and an output station, corresponds to the notch and is used for conveying the sample bottles to the output station;
the gripping device is used for gripping and placing the sample bottles in the sample tray on the sample tray storage position into the extraction station or placing the sample bottles on the output station into the sample tray on the sample tray storage position, the gripping device comprises a first mounting part, a first motor, a second mounting part, a second motor, a third mounting part, a third motor and a gripping mechanism for gripping the sample bottles, the first mounting part is fixedly connected with the frame body, the second mounting part is slidably connected with the first mounting part, the first motor is connected with the first mounting part and used for driving the second mounting part, the third mounting part is slidably connected with the second mounting part, the second motor is connected with the second mounting part and used for driving the third mounting part, and the gripping mechanism is slidably connected with the third mounting part, the third motor is connected with the third mounting piece and used for driving the grabbing mechanism, and the sliding directions of any two of the sliding direction of the second mounting piece, the sliding direction of the third mounting piece and the sliding direction of the grabbing mechanism are vertical;
a control device electrically connected with the robot, the conveying device and the gripping device.
2. The storage apparatus of claim 1, wherein the transport device comprises a rack, a vial transport conduit, a master cylinder, a vial receiving cylinder, a cylinder mounting plate, a linear guide, and a rodless cylinder;
the sample bottle conveying pipeline is connected with the bracket, and one end of the sample bottle conveying pipeline is provided with a sample bottle outlet;
the main cylinder comprises a first cylinder body and a first piston rod, the first cylinder body is connected with the cylinder mounting plate, the cylinder mounting plate is connected to the linear guide rail in a sliding mode, the rodless cylinder is used for driving the cylinder mounting plate to move along the linear guide rail, one end of the first piston rod is connected into the first cylinder body, and the other end of the first piston rod is connected with the sample bottle receiving cylinder;
the storage equipment is provided with the cylinder mounting plate is located first preset position just the sample bottle receiving cylinder corresponds the first state of sample bottle export, and the cylinder mounting plate is located second preset position just the sample bottle receiving cylinder is located the second state of output station.
3. The storage device of claim 2, wherein said transport device further comprises a gasket attached to the top of said vial receiving cylinder, said vial receiving cylinder being sealingly connected to said vial transport conduit via said gasket in said first state.
4. The storage apparatus of claim 2, wherein the transportation device further comprises a scanning device mounting plate, a scanning device electrically connected to the control device, and an electro-optical switch connected to the vial transportation pipeline and configured to detect whether a vial is present at the vial outlet;
the scanning device mounting panel with the leg joint, scanning device with the scanning device mounting panel is connected, scanning device is used for the scanning to be located the RF ID chip of appearance bottle in the appearance bottle receiver to type in appearance bottle information.
5. The storage apparatus of claim 2, wherein the transportation device further comprises a discard sample pipe and a sampling pipe, the discard sample pipe is connected to the support, a top of the discard sample pipe forms a discard sample inlet, a bottom of the discard sample pipe forms a discard sample outlet, a top of the sampling pipe forms a sampling inlet, and a bottom of the sampling pipe forms a sampling outlet;
the discard inlet and the sampling inlet form the extraction station.
6. The storage device of claim 5, further comprising a reject cart having an opening corresponding to the reject outlet.
7. The storage device of any of claims 1 to 6, further comprising an alarm, said alarm being electrically connected to said control means.
8. The storage device of any one of claims 1 to 6, further comprising a housing and a security door, wherein said storage rack, said shelves, said robot, said conveyor means, said gripping means and said control means are located within said housing;
the safety door is connected with the shell and is provided with a coded lock;
the safety door is positioned on the first shell, the section of the first shell is rectangular, the section of the second shell is hexagonal, and one side of the hexagon is the rectangular side.
9. The storage device of any one of claims 1 to 6, wherein said gripping mechanism comprises a parallel cylinder and two jaws, said parallel cylinder comprising a second cylinder and a second piston rod, said second cylinder being slidably connected to said third mounting member and being adapted to be driven by said third motor, one end of said second piston rod being slidably connected to said second cylinder, the other end of said second piston rod being connected to said two jaws;
the storage device has two put-down states in which the claws are away from the second cylinder and away from each other, and two grab states in which the claws are close to the second cylinder and close to each other.
10. A storage method using the storage apparatus according to any one of claims 1 to 9, the method comprising a storage step and an extraction step;
the storing step comprises:
enabling the conveying device to work, and conveying the sample bottles to the output station;
enabling the gripping device to work, and placing the sample bottles on the output station into the sample tray on the sample tray storage position;
enabling the robot to work, and placing the sample disc on the sample disc storage position;
the extraction step comprises:
enabling the robot to work, and placing the sample disc on the sample disc storage position;
and enabling the gripping device to work, and placing the sample bottles in the sample plate on the sample plate storage position on the extraction station.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810652221.5A CN109018795B (en) | 2018-06-22 | 2018-06-22 | Storage equipment and storage method |
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| CN201810652221.5A CN109018795B (en) | 2018-06-22 | 2018-06-22 | Storage equipment and storage method |
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| CN109018795B true CN109018795B (en) | 2020-10-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113911606B (en) * | 2020-07-08 | 2023-05-30 | 浙江晖石药业有限公司 | Article goes out warehouse entry device and storage equipment |
| CN113978980B (en) * | 2021-09-23 | 2023-04-07 | 江苏齐鑫智能科技有限公司 | Method for storing and taking file box of intelligent file cabinet system |
| CN114275432A (en) * | 2021-12-29 | 2022-04-05 | 安徽美诺福科技有限公司 | Automatic sample storage system for samples |
| CN114655616A (en) * | 2022-03-29 | 2022-06-24 | 马鞍山钢铁股份有限公司 | Intelligent sample preparation sample library system |
| CN115848928B (en) * | 2023-02-15 | 2023-05-16 | 安徽中科晶格技术有限公司 | Automatic access scanning device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4846619A (en) * | 1985-04-08 | 1989-07-11 | Odetics, Inc. | Robotic materials handling system |
| DE102009040811A1 (en) * | 2009-09-10 | 2011-03-17 | A2O Ag | Modular system for handling objects, particularly portable platforms such as pallets, machine pallets and device pallets to automate production periphery, has handling device for receiving or storing objects |
| CN203095131U (en) * | 2012-12-21 | 2013-07-31 | 江西科伦药业有限公司 | Automatic tray loading system for injection bottles and mechanical hand grips of automatic tray loading system |
| CN104044856A (en) * | 2014-06-19 | 2014-09-17 | 牛永杰 | Annular cable reel storing frame |
| CN205802155U (en) * | 2016-06-15 | 2016-12-14 | 浙江德尚智能科技有限公司 | Hopper stacking system based on robot |
| CN106429447B (en) * | 2016-08-30 | 2019-07-19 | 湖南三德科技股份有限公司 | A kind of automatic transmitter-receiver unit for material pneumatic conveyer system |
| CN206358720U (en) * | 2016-12-05 | 2017-07-28 | 广州达意隆包装机械股份有限公司 | A kind of intelligent robot warehouse |
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