CN109878957A - Sample transportation robot - Google Patents
Sample transportation robot Download PDFInfo
- Publication number
- CN109878957A CN109878957A CN201910170617.0A CN201910170617A CN109878957A CN 109878957 A CN109878957 A CN 109878957A CN 201910170617 A CN201910170617 A CN 201910170617A CN 109878957 A CN109878957 A CN 109878957A
- Authority
- CN
- China
- Prior art keywords
- sample
- handgrip
- support frame
- shaft
- conveyer belt
- 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
- 230000007246 mechanism Effects 0.000 claims abstract description 83
- 238000006073 displacement reaction Methods 0.000 claims abstract description 31
- 238000003860 storage Methods 0.000 claims abstract description 18
- 230000003028 elevating effect Effects 0.000 claims description 10
- 239000000725 suspension Substances 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 3
- 230000003139 buffering effect Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 abstract description 80
- 239000012472 biological sample Substances 0.000 abstract description 9
- 238000012360 testing method Methods 0.000 abstract description 9
- 230000008014 freezing Effects 0.000 abstract description 5
- 238000007710 freezing Methods 0.000 abstract description 5
- 238000005070 sampling Methods 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004886 process control Methods 0.000 description 2
- 210000001519 tissue Anatomy 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013060 biological fluid Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004027 cell Anatomy 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000010339 medical test Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 210000002381 plasma Anatomy 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 210000002966 serum Anatomy 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Abstract
The present invention relates to a kind of Sample transportation robots comprising sets sample platform, sliding frame, spatial displacement driving mechanism, grasping mechanism and hoofing part mechanism；The card slot that sample platform is equipped with parallel arranged is set, sliding frame can be set in card slot with pushing and pulling, for placing the sample frame with sample aperture bit array；Grasping mechanism is set to the top of card slot, the support plate connection space shift mechanism of grasping mechanism, handgrip driving device is set in support plate, and handgrip driving device connects handgrip, for driving the handgrip sample storage container that is placed in sample frame of crawl or sample storage container being placed in sample frame；Hoofing part mechanism is set to the lower section for setting sample platform, for driving Sample transportation robot to advance.The Sample transportation robot is easy to implement automatic access in test deep freezer or freezing chamber and carries the samples such as biological sample, significantly improves sampling, setting-out efficiency.
Description
Technical field
The present invention relates to a kind of Sample transportation robots.
Background technique
With the development of science and technology and artificial intelligence, robot technology obtains in fields such as automobile, consumer electronics, health cares
To extensive use, but the direction for being limited by technological development is different, and the robot technology of medicine and hygiene fields is using not large area
It promotes, there are also many medical subdivision fields are to be developed.
For example, in medical test, to carry out human diseases prediction, diagnosis, Therapy study generally require to collect, processing,
It stores, using the biological sample of organism.Biological sample mainly has large biological molecule, cell, tissue and organ equal samples, including
Human organ tissue, whole blood, blood plasma, serum, biological fluid or through processed biological sample (DNA, RNA, albumen etc.).These
Biological sample, which generally requires, to be stored in deep freezer, if any medical research or it is other need when, it is conventional to need manually to be taken
Put operation.
But the freezing ring usually very big, special due to the sample size of test deep freezer or freezing indoor storage
Border is not suitable for artificial directly operation, and access work is intelligently completed if any automatic machinery people, it will working efficiency is greatlyd improve,
Work is probed into or detects for test to offer convenience.
Summary of the invention
Based on this, it is necessary to provide a kind of Sample transportation machine for being easy to implement automatic access and carrying the samples such as biological sample
Device people is remarkably improved sampling, setting-out efficiency.
The technical scheme to solve the above technical problems is that
A kind of Sample transportation robot, including set sample platform, sliding frame, spatial displacement driving mechanism, grasping mechanism and row
Walk driving mechanism；
The card slot set sample platform and be equipped with parallel arranged；
The sliding frame can be set in the card slot with pushing and pulling, for placing the sample frame with sample aperture bit array；
The spatial displacement driving mechanism is set on sample platform described in being set to, and is grabbed described in the spatial displacement driving mechanism connection
Mechanism is taken, for driving the grasping mechanism respectively along the lateral, longitudinal and vertically movable of corresponding sample aperture bit array；
The grasping mechanism be set to the card slot top, the grasping mechanism include support plate, handgrip driving device and
For grabbing the handgrip of sample storage container, the support plate connects the spatial displacement mechanism, and the handgrip driving device is set to institute
It states in support plate, the handgrip driving device connects the handgrip, for driving the handgrip crawl to be placed in the sample frame
Sample storage container or sample storage container is placed in the sample frame；
The hoofing part mechanism is set to the lower section for setting sample platform, for driving Sample transportation robot row
Into.
The handgrip mechanism further includes buffer spring in one of the embodiments, and the handgrip driving device, which has, to be turned
Axial filament thick stick, the buffer spring are sheathed on the shaft lead screw；The handgrip, which has, is fixedly connected with the handgrip driving device
Fixed ring and driven torus with shaft threads of lead screw cooperation, the buffer spring be set to the fixed ring and described driven
Between ring, which can make handgrip be not easy to be caught broken test tube, improve safety in utilization and reliability.
The spatial displacement driving mechanism includes transverse shift driving assembly, vertical shift in one of the embodiments,
Driving assembly and vertical driving displaceable member；The transverse shift driving assembly includes the first support frame, first rotating shaft, the first biography
Band and lateral driver device are sent, first support frame is set on sample platform set on described, and the first rotating shaft is rotatably arranged in
On first support frame, the first rotating shaft connects the lateral driver device, and first conveyer belt is sheathed on described the
Transversely to move back and forth in one shaft；The vertical shift driving assembly includes the second support frame, the second shaft, the second transmission
Band and longitudinal driving device, second support frame are set on first conveyer belt, and second shaft is rotatably arranged in
On second support frame, second shaft connects the longitudinal driving device, and second conveyer belt is sheathed on described the
To move back and forth along longitudinal direction in two shafts；The vertical displacement driving assembly includes third support frame, third shaft, third transmission
Band and vertical drive, the third support frame are set on second conveyer belt, and the third shaft is rotatably arranged in
On the third support frame, the third shaft connects the vertical drive, and the third conveyer belt is sheathed on described the
To move back and forth along longitudinal direction in three shafts.
The transverse shift driving assembly further includes horizontal slide unit in one of the embodiments, and the horizontal slide unit is set
The first conveyer belt setting is set on sample platform and corresponds in described, second support frame has the first foot section and is located at institute
State the first top brace part above the first foot section；First foot section is equipped with first sliding groove, and second support frame passes through institute
It states horizontal slide unit and the first sliding groove is slidably matched；And/or
The vertical shift driving assembly further includes longitudinal slide unit, and the longitudinal slide unit is set on first top brace part simultaneously
The corresponding second conveyer belt setting, the third support frame have the second foot section and above second foot sections
Second top brace part；Second foot section is equipped with second sliding slot, and the third support frame passes through the longitudinal slide unit and described the
Two sliding slots are slidably matched；And/or
The vertical displacement driving assembly further includes vertical slide unit, and the vertical slide unit is set on second top brace part simultaneously
The corresponding third conveyer belt setting, the support plate, which has, slides portion；The third foot section is equipped with third sliding slot, the branch
Fagging is slidably matched by the vertical slide unit and the third sliding slot.
The transverse shift driving assembly further includes cross spacing handle in one of the embodiments, for described the
The stroke of two support frames is limited；And/or
The vertical shift driving assembly further includes longitudinal spacing handle, is limited for the stroke to the third support frame
Position；And/or
The vertical displacement driving assembly further includes vertical spacing handle, is limited for the stroke to the support plate.
The hoofing part mechanism includes bottom plate and the driving wheel below bottom plate in one of the embodiments,
System, driven train and wheel driver, the wheel driver connect the active train；The Sample transportation robot
It further include elevating mechanism, the elevating mechanism includes lifting support and lifting drive, the both ends difference of the lifting support
Sample platform and the bottom plate are set described in connection, the lifting drive connects the lifting support.
The Facing material of the wall of the card slot is Elastic plastic-rubber in one of the embodiments,.
The end at end where the inlet and outlet of the card slot is in extend out structure in one of the embodiments,.
The grasping mechanism further includes the suspension hook plate of structure of being in U-shape on the whole, the suspension hook in one of the embodiments,
Plate connects the end of the support plate and is arranged towards the outside for setting sample platform.
The Sample transportation robot further includes controller in one of the embodiments, and the controller is separately connected
The spatial displacement driving mechanism, the grasping mechanism and hoofing part mechanism.
The beneficial effects of the present invention are:
Said sample transfer robot by set sample platform, sliding frame, spatial displacement driving mechanism, grasping mechanism and
The structure that hoofing part mechanism etc. matches is easy to implement in test deep freezer or freezing chamber automatic by process control
The samples such as access and carrying biological sample, significantly improve sampling, setting-out efficiency.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the Sample transportation robot of an embodiment under lifting state；
Fig. 2 is structural schematic diagram of the Sample transportation robot of Fig. 1 under landing state；
Fig. 3 is the partial structural diagram of the Sample transportation robot of Fig. 1；
Fig. 4 is the schematic diagram at another visual angle of the partial structurtes of the Sample transportation robot of Fig. 1.
In attached drawing, parts list represented by the reference numerals are as follows:
100, sample platform, 110, card slot are set；200, sliding frame；300, spatial displacement driving mechanism, 310, transverse shift drive
Motivation structure, the 311, first support frame, 312, lateral driver device, 313, first rotating shaft, the 314, first conveyer belt, 315, transverse direction cunning
Platform, 316, cross spacing handle；320, vertical shift driving mechanism, the 321, second support frame, 323, longitudinal driving device, 324,
Two conveyer belts, 326, longitudinal spacing handle；330, vertical displacement driving mechanism, 336, vertical spacing handle；400, grasping mechanism, 410,
Support plate, 420, handgrip driving device, 430, handgrip, 440, suspension hook plate；500, hoofing part mechanism, 510, bottom plate, 520, master
Driving wheel system, 530, wheel driver, 540, driven train；600, elevating mechanism, 610, lifting support, 620, lifting driving dress
It sets.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings, and the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the invention.It should be noted that when an element is considered as " connection " another element, it can be with
It is directly to another element or may be simultaneously present centering elements.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.
Incorporated by reference to Fig. 1 to 4, the Sample transportation robot of an embodiment, including set sample platform 100, sliding frame 200, sky
Between shift driving mechanism 300, grasping mechanism 400, hoofing part mechanism 500 and elevating mechanism 600.
In the present embodiment, the card slot 110 that sample platform 100 is equipped with parallel arranged is set.Sliding frame 200 can be set to pushing and pulling
In card slot 110, for placing the sample frame with sample aperture bit array.Spatial displacement driving mechanism 300 is set to and sets sample platform 100
On, spatial displacement driving mechanism 300 connects grasping mechanism 400, for driving grasping mechanism 400 respectively along corresponding sample hole location battle array
The transverse direction (X-axis) of column, longitudinal (Y-axis) and vertical (Z axis) movement.Grasping mechanism 400 is set to the top of card slot 110, grasping mechanism
400 include that support plate 410, handgrip driving device 420 and the handgrip 430 for grabbing sample storage container 1, support plate 410 connect sky
Between shift mechanism 300, handgrip driving device 420 be set to support plate 410 on, handgrip driving device 420 connect handgrip 430, be used for
The sample storage container 1 or sample storage container 1 is placed in sample frame that driving handgrip 430 (including 3~5 gripping fingers) crawl is placed in sample frame
It is interior.Hoofing part mechanism 500 is set to the lower section for setting sample platform 100, for driving Sample transportation robot to advance.
Specifically, the rectangular parallelepiped structure on the whole of sample platform 100 is set, card slot 110 is rectangle structure on the whole.Sliding frame
200 be also in rectangular parallelepiped structure on the whole, and the sample aperture bit array on rack for test tube in sliding frame 200 is also rectangle on the whole,
Convenient for storing biological sample by sample storages containers 1 such as test tube, centrifuge tubes, convenient for determining the moving distance of handgrip 430.Preferably,
There are two card slots 110, and two card slots 110 are set side by side, convenient for grasping mechanism 400 accurately by one of card slot (or push-and-pull
Frame) in the sample storage container 1 placed be carried to and be placed in another card slot in the card slot (or sliding frame) of sample to be placed.At it
In his embodiment, the number of card slot 110 can also be adjusted, and for example three, four, five etc., be required according to sample storage amount
It is configured.
Furthermore it is preferred that the Facing material of the wall of card slot 110 is Elastic plastic-rubber, limited convenient for clamping, improves sliding frame
200 stability placed in card slot 110.Preferably, the end at end where the inlet and outlet of card slot 110 in extend out structure in order to
It is pushed into sliding frame 200, end has the positioning wall construction of bending where the non-inlet and outlet of card slot 110, is further ensured that sliding frame
200 detent accuracy.Preferably, sliding frame 200 is equipped with the handle panel upwarped, convenient for pushing and pulling out sample.
Specifically, spatial displacement driving mechanism 300 includes transverse shift driving assembly 310, vertical shift driving assembly 320
With vertical driving displaceable member 330.
Wherein, transverse shift driving assembly 310 includes the first support frame 311, lateral driver device 312, first rotating shaft 313
With the first conveyer belt 314.There are four first support frames 311, and four the first support frames 311 are respectively arranged on and set on sample platform 100 simultaneously
At four ends angle of 110 periphery of card slot.There are two first rotating shafts 313, and one of first rotating shaft, which is rotatably arranged in, to be leaned on
Where the inlet and outlet of nearly card slot on two first support frames at end, and the first rotating shaft is connected by belt transmissioning mode and is laterally driven
Dynamic device 312, another first rotating shaft are rotatably arranged on other two first support frame.First conveyer belt 314 has two,
Two the first conveyer belts 314 are sheathed on respectively in first rotating shaft 313 and side where being located at two long sides of card slot 110 is with transversely
(direction that the long side of card slot is extended is laterally) moves back and forth.Lateral driver device 312 is preferably motor.Setting two is side by side
The first conveyer belt 314 can increase handgrip 430 carry out spatial displacement process safety and reliability.In other embodiments
In, first conveyer belt 314 can also be set in two the first support frames 311, as long as being easy to implement handgrip 430 carries out transverse direction
Displacement.
Vertical shift driving assembly 320 includes the second support frame 321, longitudinal driving device 322, the second shaft and the second biography
Send band 324.The both ends of second support frame 321 are respectively arranged on two the first conveyer belts 311.There are two second shafts, and difference can
It is rotatably arranged on the second support frame 321.Second shaft connects longitudinal driving device 322, and the second conveyer belt 324 is sheathed on two
Moved back and forth in second shaft with (direction that the short side of card slot is extended is laterally) along longitudinal direction.Longitudinal driving device 322 is preferred
For motor.
Vertical displacement driving assembly 330 includes third support frame, third shaft, third conveyer belt and vertical drive.
Third support frame is set on the second conveyer belt 324.There are two third shafts, is rotatably arranged on third support frame respectively.The
Three shafts connect vertical drive, and third conveyer belt is sheathed in third shaft to move back and forth along longitudinal direction.Vertical driving dress
Set preferably motor.
Preferably, transverse shift driving assembly 310 further includes horizontal slide unit 315.Horizontal slide unit 315 is set to and sets sample platform
On 100 and corresponding first conveyer belt 314 is arranged.Second support frame 321 on the whole be in the row of falling U structure, have the first foot section with
The first top brace part above the first foot section.First conveyer belt 314 wears the first foot section, on the side wall of the first foot section
Equipped with the link block being fixedly connected with the first conveyer belt 314.The bottom of first foot section is equipped with first sliding groove.Second support frame
321 are slidably matched by horizontal slide unit 315 and first sliding groove, further increase the sterically defined stability of handgrip 430.
Preferably, vertical shift driving assembly 320 further includes longitudinal slide unit.Longitudinal slide unit is set on the first top brace part and right
The second conveyer belt 324 is answered to be arranged.Third support frame has the second foot section and the second top brace part above the second foot section.
Second foot section is equipped with second sliding slot, and third support frame is slidably matched by longitudinal slide unit and second sliding slot, further increases and grab
The sterically defined stability of hand 430.
Preferably, vertical displacement driving assembly 330 further includes vertical slide unit.It is on the second top brace part and right that vertical slide unit is set to
Third conveyer belt is answered to be arranged.Support plate 410 slides portion, handgrip placement portion and suspension hook fixed part with sequentially connected, slides portion
Equipped with third sliding slot, support plate 410 is slidably matched by vertical slide unit and third sliding slot, and it is fixed to further increase 430 space of handgrip
The stability of position.
Further, transverse shift driving assembly 310 further includes that the cross spacing handle set on sample platform 100 is arranged in
316, it is limited for the stroke to the second support frame 321.Vertical shift driving assembly 320 further includes longitudinal spacing handle 326,
It is limited for the stroke to third support frame.Vertical displacement driving assembly 330 further includes vertical spacing handle 336, for pair
The stroke of support plate 410 is limited.Wherein, one end of cross spacing handle 316, longitudinal spacing handle 326 and vertical spacing handle 336
Portion is equipped with warp architecture, convenient for forming limit point and evacuation region.
In addition, Sample transportation robot further include monitoring transversely, the detecting element of longitudinal, vertically movable distance, detection
Element can be respectively arranged on 316, longitudinal spacing handle 326 and vertical spacing handle 336.
Specifically, hoofing part mechanism 500 includes bottom plate 510 and the active train 520 set on 510 lower section of bottom plate, vehicle
Wheel drive unit 530 and driven train 540, wheel driver 530 connect active train 520.Wheel driver 530 is preferred
For motor.
Specifically, the elevating mechanism 600 in present embodiment includes lifting support 610 and lifting drive 620.Lifting
The both ends of bracket 610, which are separately connected, sets sample platform 100 and bottom plate 510, and lifting drive 620 connects lifting support 610, it rises
Drop driving device is preferably motor or driving cylinder etc., sets sample platform 110, push-and-pull to drive lifting support 610 to go up and down and drive
The integral elevating of frame 200, space moving drive mechanism 300 and handgrip mechanism 400.By the way that elevating mechanism 600 is arranged, convenient for examination
Sample transfer robot is operated normally in the region of entrance height limitation.In other embodiments, Sample transportation machine
People can also be not provided with the elevating mechanism 600 according to the route situation of practical application.
Further, handgrip mechanism 400 further includes buffer spring.Handgrip driving device 420 has shaft lead screw, buffering elastic
Spring is sheathed on shaft lead screw.Handgrip 430 has the fixed ring for being fixedly connected with handgrip driving device and matches with shaft threads of lead screw
The driven torus of conjunction, buffer spring are set between fixed ring and driven torus, which can make handgrip 430 grab and release
The process for putting sample storage container 1 is more stable, is not easy to be caught broken the glass sample storage container such as test tube, improves safety and reliability.
Further, grasping mechanism 400 further includes the suspension hook plate 440 of structure of being in U-shape on the whole.The connection branch of suspension hook plate 441
The suspension hook fixed part of fagging 410 is simultaneously arranged towards the outside for setting sample platform 100, convenient for further shifting other type sample storage structures
Sample.
In addition, the Sample transportation robot of present embodiment further includes PLC program controller, controller is separately connected space
Driving mechanism 300, grasping mechanism 400 and driving device and coherent detection element in hoofing part mechanism 500 are shifted, is realized
Intelligent control.
The Sample transportation robot of present embodiment is by setting sample platform 100, sliding frame 200, spatial displacement driving
The structure that mechanism 300, grasping mechanism 400 and hoofing part mechanism 500 etc. match is easy to implement test by process control
With automatic access in deep freezer or freezing chamber and the samples such as biological sample are carried, significantly improve sampling, setting-out efficiency.
Each technical characteristic of above embodiments can be combined arbitrarily, for simplicity of description, not to above-described embodiment
In each technical characteristic it is all possible combination be all described, as long as however, the combination of these technical characteristics be not present lance
Shield all should be considered as described in this specification.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Sample transportation robot, which is characterized in that including setting sample platform, sliding frame, spatial displacement driving mechanism, crawl
Mechanism and hoofing part mechanism；
The card slot set sample platform and be equipped with parallel arranged；
The sliding frame can be set in the card slot with pushing and pulling, for placing the sample frame with sample aperture bit array；
The spatial displacement driving mechanism is set on sample platform described in being set to, and the spatial displacement driving mechanism connects the gripper
Structure, for driving the grasping mechanism respectively along the lateral, longitudinal and vertically movable of corresponding sample aperture bit array；
The grasping mechanism is set to the top of the card slot, and the grasping mechanism includes support plate, handgrip driving device and is used for
The handgrip of sample storage container is grabbed, the support plate connects the spatial displacement mechanism, and the handgrip driving device is set to the branch
On fagging, the handgrip driving device connects the handgrip, the storage being placed in the sample frame for driving the handgrip to grab
Sample storage container is placed in the sample frame by sample container；
The hoofing part mechanism is set to the lower section for setting sample platform, for driving the Sample transportation robot to advance.
2. Sample transportation robot according to claim 1, which is characterized in that the handgrip mechanism further includes buffering elastic
Spring, the handgrip driving device have shaft lead screw, and the buffer spring is sheathed on the shaft lead screw；The handgrip has
It is fixedly connected with the fixed ring of the handgrip driving device and the driven torus with shaft threads of lead screw cooperation, the buffer spring
Between the fixed ring and the driven torus.
3. Sample transportation robot according to claim 1 or 2, which is characterized in that the spatial displacement driving mechanism packet
It includes transverse shift driving assembly, vertical shift driving assembly and vertically drives displaceable member；
The transverse shift driving assembly includes the first support frame, first rotating shaft, the first conveyer belt and lateral driver device, described
First support frame be set to it is described set on sample platform, the first rotating shaft is rotatably arranged on first support frame, described the
One shaft connects the lateral driver device, and first conveyer belt is sheathed in the first rotating shaft transversely to move back
It is dynamic；
The vertical shift driving assembly includes the second support frame, the second shaft, the second conveyer belt and longitudinal driving device, described
Second support frame is set on first conveyer belt, and second shaft is rotatably arranged on second support frame, described
Second shaft connects the longitudinal driving device, and second conveyer belt is sheathed in second shaft to move back along longitudinal direction
It is dynamic；
The vertical displacement driving assembly includes third support frame, third shaft, third conveyer belt and vertical drive, described
Third support frame is set on second conveyer belt, and the third shaft is rotatably arranged on the third support frame, described
Third shaft connects the vertical drive, and the third conveyer belt is sheathed in the third shaft to move back along longitudinal direction
It is dynamic.
4. Sample transportation robot according to claim 3, which is characterized in that the transverse shift driving assembly further includes
The first conveyer belt setting, second support are set on sample platform and corresponded to horizontal slide unit, the horizontal slide unit set on described
Frame has the first foot section and the first top brace part above first foot section；It is sliding that first foot section is equipped with first
Slot, second support frame are slidably matched by the horizontal slide unit and the first sliding groove；And/or
The vertical shift driving assembly further includes longitudinal slide unit, and the longitudinal slide unit is set on first top brace part and corresponding
Second conveyer belt setting, the third support frame have the second foot section and above second foot section second
Top brace part；Second foot section is equipped with second sliding slot, and the third support frame is slided by the longitudinal slide unit and described second
Slot is slidably matched；And/or
The vertical displacement driving assembly further includes vertical slide unit, and the vertical slide unit is set on second top brace part and corresponding
The third conveyer belt setting, the support plate have portion of sliding, and the portion of sliding is equipped with third sliding slot, and the support plate passes through
The vertical slide unit and the third sliding slot are slidably matched.
5. Sample transportation robot according to claim 4, which is characterized in that the transverse shift driving assembly further includes
Cross spacing handle is limited for the stroke to second support frame；And/or
The vertical shift driving assembly further includes longitudinal spacing handle, is limited for the stroke to the third support frame；
And/or
The vertical displacement driving assembly further includes vertical spacing handle, is limited for the stroke to the support plate.
6. Sample transportation robot according to claim 1 or 2, which is characterized in that the hoofing part mechanism includes bottom
Plate and active train, driven train and wheel driver below bottom plate, described in wheel driver connection
Active train；
The Sample transportation robot further includes elevating mechanism, and the elevating mechanism includes lifting support and lifting drive,
Sample platform and the bottom plate are set described in being separately connected in the both ends of the lifting support, and the lifting drive connects the lifting
Bracket.
7. Sample transportation robot according to claim 1 or 2, which is characterized in that the surface material of the wall of the card slot
Matter is Elastic plastic-rubber.
8. Sample transportation robot according to claim 7, which is characterized in that the end at end where the inlet and outlet of the card slot
Portion is in extend out structure.
9. Sample transportation robot according to claim 1 or 2, which is characterized in that the grasping mechanism further includes entirety
On be in U-shape the suspension hook plate of structure, the suspension hook plate connects the end of the support plate and sets on the outside of sample platform towards described set
It sets.
10. the Sample transportation robot according to right 1 or 2, which is characterized in that it further include controller, the controller point
The spatial displacement driving mechanism, the grasping mechanism and hoofing part mechanism are not connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910170617.0A CN109878957A (en) | 2019-03-07 | 2019-03-07 | Sample transportation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910170617.0A CN109878957A (en) | 2019-03-07 | 2019-03-07 | Sample transportation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109878957A true CN109878957A (en) | 2019-06-14 |
Family
ID=66931103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910170617.0A Pending CN109878957A (en) | 2019-03-07 | 2019-03-07 | Sample transportation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109878957A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112938278A (en) * | 2021-01-27 | 2021-06-11 | 南京易乐兑网络科技有限公司 | Automatic warehouse goods moving platform and management method thereof |
| WO2021120240A1 (en) * | 2019-12-20 | 2021-06-24 | 李晓 | Automatic microorganism testing device |
| WO2024068793A1 (en) * | 2022-09-29 | 2024-04-04 | Hänel GmbH & Co. KG | Tray, storage shelf and method for automatically loading and removing storage goods |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101848768A (en) * | 2007-09-10 | 2010-09-29 | 枝努思有限公司 | Labeling and preparation device for test tubes |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN202592381U (en) * | 2012-05-07 | 2012-12-12 | 上海电机学院 | Rail-mounted warehouse transportation robot |
| CN103420065A (en) * | 2012-05-15 | 2013-12-04 | 蓝伊精机株式会社 | Rack accommodation device |
| CN204725507U (en) * | 2015-06-08 | 2015-10-28 | 长沙瑞翔科技有限公司 | Jaw sampler |
| CN105992953A (en) * | 2013-10-09 | 2016-10-05 | 株式会社日立制作所 | Sample measuring device |
| CN107032025A (en) * | 2017-04-24 | 2017-08-11 | 珠海倍健电子科技有限公司 | A kind of test tube grasping mechanism of heparin tube processing unit |
| CN107351070A (en) * | 2017-08-03 | 2017-11-17 | 东莞市铭铉自动化科技有限公司 | Can machining robot |
| CN207566453U (en) * | 2017-10-26 | 2018-07-03 | 安徽工业大学 | A kind of warehouse tubing transfer robot |
-
2019
- 2019-03-07 CN CN201910170617.0A patent/CN109878957A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101848768A (en) * | 2007-09-10 | 2010-09-29 | 枝努思有限公司 | Labeling and preparation device for test tubes |
| CN102642199A (en) * | 2012-05-07 | 2012-08-22 | 上海电机学院 | Robot for carrying warehouses |
| CN202592381U (en) * | 2012-05-07 | 2012-12-12 | 上海电机学院 | Rail-mounted warehouse transportation robot |
| CN103420065A (en) * | 2012-05-15 | 2013-12-04 | 蓝伊精机株式会社 | Rack accommodation device |
| CN105992953A (en) * | 2013-10-09 | 2016-10-05 | 株式会社日立制作所 | Sample measuring device |
| CN204725507U (en) * | 2015-06-08 | 2015-10-28 | 长沙瑞翔科技有限公司 | Jaw sampler |
| CN107032025A (en) * | 2017-04-24 | 2017-08-11 | 珠海倍健电子科技有限公司 | A kind of test tube grasping mechanism of heparin tube processing unit |
| CN107351070A (en) * | 2017-08-03 | 2017-11-17 | 东莞市铭铉自动化科技有限公司 | Can machining robot |
| CN207566453U (en) * | 2017-10-26 | 2018-07-03 | 安徽工业大学 | A kind of warehouse tubing transfer robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021120240A1 (en) * | 2019-12-20 | 2021-06-24 | 李晓 | Automatic microorganism testing device |
| CN112938278A (en) * | 2021-01-27 | 2021-06-11 | 南京易乐兑网络科技有限公司 | Automatic warehouse goods moving platform and management method thereof |
| WO2024068793A1 (en) * | 2022-09-29 | 2024-04-04 | Hänel GmbH & Co. KG | Tray, storage shelf and method for automatically loading and removing storage goods |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109878957A (en) | Sample transportation robot | |
| CN104698201A (en) | Tube rack transfer device and diagnostic instrument | |
| EP2854979B1 (en) | Magnetic particle washing apparatus and method | |
| CN101563615B (en) | Method and device for test sample loading | |
| WO2015051654A1 (en) | Pipetting device and pipetting method | |
| CN106037940A (en) | Medical sample storage vehicle | |
| CN111760607A (en) | A sample storage device for clinical laboratory | |
| CN106514634A (en) | Automatic grabbing and discharging device of sample collecting container | |
| CN108217105A (en) | Medical detection sample automatic sorting classification storage system | |
| CN116396850A (en) | Full-automatic nucleic acid sample processing system | |
| CN112816241A (en) | Movable sampling and detecting station | |
| CN114180196B (en) | Sample transfer device for medical clinical laboratory | |
| CN115505526B (en) | Full-automatic nucleic acid detection assembly line and use method | |
| CN106554914A (en) | A kind of automatic nucleic acid extraction system | |
| CN216190957U (en) | Sample cup transferring and cover opening and closing device | |
| JP7062805B2 (en) | Laboratory sample container distribution system, its operation method, and in vitro diagnostic system | |
| CN114100719A (en) | Medical treatment sample processing apparatus | |
| CN112840906A (en) | Intelligent plant factory | |
| CN215910502U (en) | Blood sample analyzer | |
| CN215910503U (en) | Blood sample analyzer | |
| CN218554142U (en) | Vacuum blood collection tube clamp for clamping in row | |
| CN215046716U (en) | Test tube feeding conveyer | |
| CN217265649U (en) | Nucleic acid extraction equipment | |
| CN212952534U (en) | A sample delivery device for clinical laboratory | |
| CN110763858A (en) | Biochemical analysis appearance snatch transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |