CN110759090A

CN110759090A - Vacuum tube post-processing device and vacuum tube processing system

Info

Publication number: CN110759090A
Application number: CN201911110853.XA
Authority: CN
Inventors: 张兆东; 乔徽; 高强; 李军; 陈波; 侯彦强; 龚倩; 孙杰; 徐炜新
Original assignee: Bokece Shanghai Robot Co Ltd
Current assignee: Bokece Shanghai Robot Co Ltd
Priority date: 2019-11-13
Filing date: 2019-11-13
Publication date: 2020-02-07
Anticipated expiration: 2039-11-13
Also published as: CN110759090B

Abstract

The invention provides a vacuum tube post-processing device and a vacuum tube processing system, and relates to the technical field of blood sampling. The vacuum tube post-processing device comprises a vacuum tube slide way, a mechanical arm, a blood sampling auxiliary device and a vacuum tube shaking device, the vacuum tube slide way comprises a slide way outlet end and a slide way inlet end, the slide way inlet end is used for receiving a vacuum tube falling out of the vacuum tube printing and labeling machine, the position of the slide way inlet end is higher than that of the slide way outlet end, and the mechanical arm is used for clamping the vacuum tube to move among the slide way outlet end, the blood sampling auxiliary device and the vacuum tube shaking. The technical problems of heavy workload and low operation efficiency of operators in blood sampling operation are solved, and the technical effects of improving labor efficiency and reducing the workload of the operators are achieved.

Description

Vacuum tube post-processing device and vacuum tube processing system

Technical Field

The invention relates to the technical field of blood collection, in particular to a vacuum tube post-processing device and a vacuum tube processing system.

Background

During traditional artifical blood sampling, the nurse needs the manual work to select suitable vacuum test tube in a large amount of vacuum test tubes, then pastes the label that contains user information on vacuum test tube manually, perhaps is with the mode of writing by hand, pastes user information on vacuum test tube's body surface, perhaps writes user information on the label and pastes the body surface at vacuum test tube with the label, has increased nurse's the amount of labour intangibly in this process. Moreover, the time of blood sampling operation is prolonged, and the waiting time is increased, so that the feeling of a client such as physical examination during blood sampling is damaged.

When inserting needles to take blood, a nurse needs to stabilize a blood collection tube that is taking blood with one hand and shake up the blood collection tube that has already taken blood with the other hand, which requires extremely high cooperation for the nurse. In the case of a blood sample, once the blood sample is not handled well and shaken up by hand or a blood collection tube from which blood is collected, problems such as hemolysis and defective blood collection are likely to occur. The tolerance of the blood collection tube is about 10%, and it is difficult for a nurse to grasp the variation of the minute difference of 0.2 ml. After the blood sampling is completed, the nurse needs to classify the blood sampling samples, the labor intensity of the nurse is greatly increased due to the work, and the error rate of the nurse can be increased due to long-time operation.

Disclosure of Invention

The invention aims to provide a vacuum tube post-processing device and a vacuum tube processing system, which are used for solving the technical problems of heavy workload and low operation efficiency of operators in blood sampling operation in the prior art.

In a first aspect, an embodiment provides a vacuum tube post-processing device, which includes a vacuum tube slide way, a mechanical arm, a blood sampling auxiliary device and a vacuum tube shaking device, wherein the vacuum tube slide way includes a slide way outlet end and a slide way inlet end, the slide way inlet end is used for receiving a vacuum tube falling from a vacuum tube printing and labeling machine, the position of the slide way inlet end is higher than the slide way outlet end, and the mechanical arm is used for clamping the vacuum tube to move among the slide way outlet end, the blood sampling auxiliary device and the vacuum tube shaking device.

According to the vacuum tube post-processing device provided by the invention, the vacuum tube is moved by the mechanical arm, and the blood sampling auxiliary device and the vacuum tube shaking device are arranged, so that the vacuum tube can be automatically shaken, part of blood sampling operation is completed by a machine, the labor efficiency is improved, the workload of operators is reduced, and the error rate is reduced.

The vacuum tube printing and labeling machine has the advantages that the vacuum tube is carried by the vacuum tube slide way and slides to the outlet end, the vacuum tube at the outlet end is clamped by the mechanical arm and moves between the slide way outlet end and the blood sampling auxiliary device and the vacuum tube shaking device, the vacuum tube can be directly taken away from the vacuum tube printing and labeling machine without the mechanical arm, after the vacuum tube falls out of the vacuum tube printing and labeling machine, the upper space of the vacuum tube printing and labeling machine can be liberated, the next vacuum tube can fall into the vacuum tube printing and labeling machine from the upper side, the running efficiency of equipment is improved, and the operation speed is accelerated.

In an optional embodiment, the slide includes a slide bottom plate, a blocking portion and two side walls, the side walls extend from the entrance end of the slide to the exit end of the slide, the distance between the opposite side walls decreases gradually from the entrance end of the slide to the exit end of the slide, and the blocking portion is disposed at the exit end of the slide.

In an alternative embodiment, the vacuum tube comprises a vacuum tube body and a first flange disposed on a circumferential surface of the vacuum tube body, the first flange extending circumferentially along the vacuum tube body, the vacuum tube having a center of gravity located between the first flange and the vacuum tube body;

the vacuum tube comprises a vacuum tube body, a first flange, a second flange, a guide groove, a stop part, a first flange and a support edge, wherein the lower part of the slide bottom plate is provided with the guide groove penetrating through the slide bottom plate along the thickness direction, two edges of the guide groove are positioned between the two side walls, the width of the guide groove is larger than the transverse dimension of the part of the vacuum tube body below the first flange, the distance between the upper end of the guide groove and the stop part is larger than the distance between the gravity center of the vacuum tube and the bottom end of the vacuum tube, the distance between each edge of the guide groove and the side wall part at the same side of the guide groove is smaller than half of the transverse dimension of the vacuum tube, the two edges of the guide groove form the support edge for supporting the first flange, and.

In an alternative embodiment, the distance between the upper end of the guide groove and the stopper is greater than the length of the vacuum tube.

In an optional embodiment, a first vacuum tube clamping device is mounted at the action output end of the mechanical arm, the first vacuum tube clamping device includes a clamping jaw cylinder and two vacuum tube clamping blocks, the clamping jaw cylinder has two clamping jaws, each clamping jaw is respectively mounted at the tail of one vacuum tube clamping block, a first concave portion is arranged at one side of the head of each vacuum tube clamping block, which faces the other vacuum tube clamping block, and the first concave portion is used for clamping a vacuum tube when the vacuum tube clamping blocks are close to each other.

In an optional embodiment, the vacuum tube needle clamping device further comprises a first tail needle clamping device, the first tail needle clamping device comprises two tail needle clamping sheets, the tail part of each tail needle clamping sheet is respectively installed on one vacuum tube clamping block, and a second concave part is arranged on one side surface, facing the other clamping sheet, of the head part of each tail needle clamping sheet and used for clamping the tail needle when the tail needle clamping sheets are close to each other.

In an optional embodiment, the tail needle clamping piece comprises a tail needle body and a second flange, the second flange is arranged on the circumferential surface of the tail needle body, the second flange extends along the circumferential direction of the tail needle body, a side surface of the head of the tail needle clamping piece, facing to the other clamping piece, is provided with a groove, the groove is perpendicular to the front surface of the tail needle clamping piece, and the groove is used for accommodating the second flange.

In a second aspect, the present invention provides a vacuum tube processing system comprising a vacuum tube post-processing apparatus as described in any one of the preceding embodiments.

The test tube processing system provided by the invention comprises the vacuum tube post-processing device, so that the technical effect of the vacuum tube post-processing device is achieved, and the details are not repeated.

In an optional implementation manner, the vacuum tube storage rack further includes a first vacuum tube storage rack, the first vacuum tube storage rack includes an inclined support plate, the inclined support plate is provided with a plurality of inclined chutes, first ends of the inclined chutes are lower than second ends of the inclined chutes, a first camera device is arranged above the first ends of the inclined chutes, and the first camera device is configured to shoot a vacuum tube at the first ends of the inclined chutes.

In an optional embodiment, the vacuum tube storage rack further comprises a first vacuum tube storage rack, the first vacuum tube storage rack comprises an inclined supporting plate and a second camera device, the inclined supporting plate is provided with a plurality of inclined sliding grooves, the second camera device is fixedly connected with the inclined supporting plate, and the second camera device is used for shooting the inclined sliding grooves.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a schematic perspective view of a vacuum tube post-processing apparatus according to an embodiment of the present invention;

FIG. 2 is a perspective view of a vacuum tube chute according to one embodiment;

FIG. 3 is a cross-sectional view through a vertical plane of symmetry of the vacuum tube chute in the first embodiment;

FIG. 4 is a cross-sectional view through a vertical plane of symmetry of the vacuum tube chute at the beginning of the rotation of the vacuum tube during the transport of the vacuum tube in accordance with the first embodiment;

FIG. 5 is a partial schematic view of a robotic arm according to one embodiment;

FIG. 6 is a schematic structural diagram of a vacuum tube transported for processing by the vacuum tube post-processing device provided in the first embodiment;

fig. 7 is a schematic structural diagram of a vacuum tube processing system according to a second embodiment of the present invention.

Icon: 11-a chute floor; 12-a barrier; 13-a side wall; 14-a guide groove; 21-swing arm machine base; 22-horizontal swing arm; 23-a jaw cylinder; 24-vacuum tube clamping block; 25-a tail needle clamping piece; 26-a groove; 30-vacuum tube shaking device; 41-vacuum tube bearing part; 42-a load cell; 43-a second tail needle clamping device; 50-a second vacuum tube storage rack; 61-inclined pallets; 62-oblique chutes; 63-a first camera device; 70-vacuum tube printing labeling machine; 95-tail needle cap; 96-a second flange; 97-tail needle body; 98-a first flange; 99-vacuum tube body.

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 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 conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one 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 imply that the components are required to 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 also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be 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.

Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.

The first embodiment is as follows:

as shown in fig. 1 to 7, the present embodiment provides a vacuum tube post-processing device, which includes a vacuum tube slideway, a mechanical arm, a blood sampling auxiliary device, and a vacuum tube shaking device 30, wherein the vacuum tube slideway includes a slideway outlet end and a slideway inlet end, the slideway inlet end is used for receiving a vacuum tube falling from a vacuum tube printing and labeling machine 70, the slideway inlet end is higher than the slideway outlet end, and the mechanical arm is used for clamping the vacuum tube to move among the slideway outlet end, the blood sampling auxiliary device, and the vacuum tube shaking device 30. The vacuum tube shaking device 30 can be a CN203630149U shaking device disclosed in 6/14/2014, a CN104568564A blood collection tube intelligent stirring and mixing device disclosed in 4/29/2015, or a CN204924767U blood automatic mixing device disclosed in 12/30/2015 for clinical laboratory. This application is not repeated.

The vacuum tube post-processing device provided by the embodiment has the advantages that the vacuum tube is moved by the mechanical arm, the blood sampling auxiliary device and the vacuum tube shaking device 30 are arranged, the vacuum tube can be automatically shaken uniformly, partial blood sampling operation is completed by a machine, the labor efficiency is improved, the workload of operators is reduced, and meanwhile, the error rate is reduced.

The vacuum tube is connected with the vacuum tube slide way and slides to the outlet end, the vacuum tube at the outlet end is clamped by the mechanical arm to move between the slide way outlet end and the blood sampling auxiliary device and the vacuum tube shaking device 30, the vacuum tube can be directly taken away from the upper part of the vacuum tube printing labeling machine 70 without the mechanical arm, after the vacuum tube falls out of the vacuum tube printing labeling machine 70, the upper space of the vacuum tube printing labeling machine 70 can be liberated, the next vacuum tube can fall into the vacuum tube printing labeling machine 70 from the upper part conveniently, the running efficiency of the equipment is improved, and the operation speed is accelerated.

Based on fig. 1, as further shown in fig. 2-4, in an alternative embodiment, the chute comprises a chute bottom plate 11, a stop 12 and two side walls 13, the side walls 13 extending from the chute entrance end to the chute exit end, the distance between opposing portions of the side walls 13 decreasing from the chute entrance end towards the chute exit end, the stop 12 being disposed at the chute exit end. Specifically, in the present embodiment, the distance between the upper portions of the two side walls 13 gradually decreases, and the upper portions of the two side walls are in a funnel shape or a bell mouth shape with a large upper portion and a small lower portion. To the lower middle portion of the chute floor 11, two side walls 13 may be arranged in parallel, spaced apart to allow passage of only one vacuum tube. The top end of the vacuum tube in a vertical normal state is a first end, the bottom end of the vacuum tube is a second end, the first end of the vacuum tube is used for inserting a tail needle to inject liquid and reagent, and the second end of the vacuum tube is usually closed.

The side walls are arranged to be in a funnel shape or a horn mouth shape with the part of the space between the partial side walls being larger at the top and smaller at the bottom, the angle of the vacuum tube falling from the vacuum tube printing and labeling machine 70 and randomly distributed at an angle after encountering the slide bottom plate 11 can be limited, so that the vacuum tube can basically slide at the slide outlet end at a uniform angle and can not fly out from the slide outlet end after being blocked by the blocking part 12, the vacuum tube can be positioned at an accurate position and is grabbed by the mechanical arm in a reliable high-repeatability posture, operation links of the mechanical arm such as detection, judgment and the like are reduced, and the operation efficiency of the device is improved.

In an alternative embodiment, the vacuum tube comprises a vacuum tube body 99 and a first flange 98, the first flange 98 is disposed on a circumferential surface of the vacuum tube body 99, the first flange 98 extends circumferentially along the vacuum tube body 99, and the center of gravity of the vacuum tube is located between the first flange 98 and the vacuum tube body 99; the specific structure of the vacuum tube is shown in fig. 6.

The lower part of the slideway bottom plate 11 is provided with a guide groove 14 penetrating through the slideway bottom plate 11 along the thickness direction, two edges of the guide groove 14 are both positioned between two side walls 13, the width of the guide groove 14 is larger than the transverse dimension of a part of the vacuum tube body 99 below the first flange 98, the distance between the upper end of the guide groove 14 and the blocking part 12 is larger than the distance between the gravity center of the vacuum tube and the bottom end of the vacuum tube, the distance between each edge of the guide groove 14 and the side wall 13 part on the same side of the guide groove 14 is smaller than half of the transverse dimension of the vacuum tube, two edges of the guide groove 14 form a supporting edge for supporting the first flange 98, and a rotating space for the vacuum tube to stand is reserved below the guide groove 14.

By providing the first flange 98 on the vacuum tube body 99 and supporting the first flange 98 by the two edges of the guide groove 14, when the gravity center of the vacuum tube falls into the area of the guide groove 14, the vacuum tube can rotate by taking the contact points of the two edges of the first guide groove 14 and the first flange 98 as the rotating shaft, and the lower part of the vacuum tube rotates downward from the sliding groove, so that the vacuum tube can be automatically adjusted to a state that the top end faces upward and the bottom end faces downward in the falling process. Moreover, by limiting the distance between each edge of the guide groove 14 and the same side of the guide groove 14, it is possible to prevent a vacuum tube from always sliding along the space between the edge of the guide groove 14 and the side wall 13, and a small probability event that it cannot be converted into a vertical state occurs, thereby improving the reliability of the system operation.

In an alternative embodiment, the distance between the upper end of the guide groove 14 and the stop 12 is greater than the length of the vacuum tube. Specifically, in the present embodiment, the width of the portion of the vacuum tube above the first flange 98 is greater than the width of the guide groove 14.

Even if an event with a very low probability occurs, namely the vacuum tube slides in a downward posture with the first end of the vacuum tube facing downward in the downward sliding process, when the guide groove 14 is long enough and the distance between the upper end of the guide groove 14 and the blocking part 12 is greater than the length of the vacuum tube, namely the first end of the vacuum tube does not reach the blocking part 12 yet, the second end of the vacuum tube is separated from the upper end of the guide groove 14, and the gravity center of the vacuum tube is suspended, the second end of the vacuum tube can move downward under the action of the gravity of the vacuum tube, so that the vacuum tube is in a state that the first end of the vacuum tube faces upward and the second end of. Since the width of the portion of the vacuum tube above the first flange 98 is greater than the width of the guide groove 14, it is also impossible that the first end of the vacuum tube is embedded in the guide groove 14 while the second end of the vacuum tube faces upward.

Based on fig. 1, as further shown in fig. 5, specifically, the robot arm may adopt a structure that a plurality of horizontal swing arms 22 are mounted in series on a swing arm base 21 that is vertically lifted, and further, the rotation axes of two adjacent horizontal swing arms 22 do not coincide. The horizontal swing arms 22 which are connected in series in a multistage way and can horizontally swing along the vertical axis are respectively positioned at different angles, and the vertical lifting of the swing arm base is matched to drive the clamping jaw air cylinder 23 to realize horizontal and vertical movement.

In an alternative embodiment, the horizontal swing arm 22 at the last stage of the robot arm is provided with a first vacuum tube clamping device, the first vacuum tube clamping device comprises a clamping jaw cylinder 23 and two vacuum tube clamping blocks 24, the clamping jaw cylinder 23 is provided with two clamping jaws, each clamping jaw is provided with the tail of one vacuum tube clamping block 24, one side of the head of each vacuum tube clamping block 24, which faces the other vacuum tube clamping block 24, is provided with a first concave part, and the first concave part is used for clamping the vacuum tube when the vacuum tube clamping blocks 24 approach each other.

The vacuum tube is clamped by the first concave part of the vacuum tube clamping block 24 controlled by the clamping jaw cylinder 23, the clamping effect of the first concave part can be utilized, the vacuum tube can be located at a preset position of a hole-shaped space formed when the two first concave parts are closed, namely, the vacuum tube is pushed to the deepest part of the other first concave part by the first concave part, the vacuum tube cannot be deviated, the positioning precision of the vacuum tube is improved, and when the vacuum tube is placed into other equipment by a follow-up link, the vacuum tube is more accurately positioned by the mechanical arm through the clamping jaw cylinder 23 and the vacuum tube clamping block 24.

In an alternative embodiment, the vacuum tube needle clamping device further comprises a first tail needle clamping device, the first tail needle clamping device comprises two tail needle clamping sheets 25, the tail part of each tail needle clamping sheet 25 is respectively installed on one vacuum tube clamping block 24, and a second concave part is arranged on one side surface, facing the other clamping sheet, of the head part of each tail needle clamping sheet 25 and used for clamping the tail needle when the tail needle clamping sheets 25 are close to each other.

The recess through control tail needle clamping piece 25 comes centre gripping tail needle, can utilize the clamping action of second recess for the tail needle can be in the preset position in poroid space that forms when two second recesses closed, and the deepest in another second recess is promoted with the tail needle to a second recess promptly, and the tail needle can not the off tracking, thereby has improved the positioning accuracy of tail needle, in order to do benefit to and to puncture the test tube cap of vacuum tube body 99 in sending into blood sampling auxiliary device with the tail needle accuracy.

In an alternative embodiment, the tail needle holding piece 25 includes a tail needle body 97 and a second flange 96, the second flange 96 is disposed on a circumferential surface of the tail needle body 97, the second flange 96 extends circumferentially along the tail needle body 97, a side of a head portion of the tail needle holding piece 25 facing the other tail needle holding piece 25 is provided with a groove 26, the groove 26 is perpendicular to a front surface of the tail needle holding piece 25, and the groove 26 is used for accommodating the second flange 96.

Through setting up second flange 96 to set up the recess 26 of perpendicular to tail needle clamping piece front surface on the surface of tail needle clamping piece, can restrict the position from top to bottom of second flange 96, thereby when pulling off the needle cap from the tail needle, can prevent that the tail needle from carrying out the removal from top to bottom along with the needle cap, be favorable to pulling off the smooth completion of the action of needle cap.

In addition, for the blood collection assisting device, in addition to the structures already discussed in the present application, reference may be made to the related structure of bringing the needle into the vacuum tube in CN201497691 published on year 06, 02 of 2010. This application is not repeated.

As shown in fig. 1 to 5, the operation principle of the present embodiment is:

after the vacuum tube completes the label printing and labeling in the vacuum tube printing and labeling machine 70, the vacuum tube falls down from the vacuum tube printing and labeling machine 70 and enters the inlet end of the chute. Generally, during descent, the vacuum tube is substantially vertical and the second end of the vacuum tube body 99 first contacts the inclined chute floor 11, thus causing the second end of the vacuum tube to be lower than the first end of the vacuum tube as it slides on the chute floor 11. When the vacuum tube body 99 meets the side walls 13 during sliding, the side walls 13 guide the vacuum tube so that the vacuum tube slides into the mutually parallel sections of the lower parts of the two side walls 13.

After the vacuum tube is guided by the two side walls 13 with large top and small bottom to obtain a substantially stable posture, i.e., the second end of the vacuum tube body 99 slides downward and the first end of the vacuum tube slides upward and downward, and after the gravity center of the vacuum tube is protruded from the top end of the guide groove 14 by sliding, and the lower part of the vacuum tube body 99 loses support, the lower part of the vacuum tube body 99 starts to swing downward from the guide groove 14, so that the vacuum tube body 99 rotates to the vertical state. The state at this time is shown in fig. 4. Because the width of the guide slot 14 is smaller than the transverse dimension of the first flange 98, the two edges of the guide slot 14 support the first flange 98, so that the vacuum tube can be finally kept in a state that the first end of the vacuum tube faces upwards when the vacuum tube slides to the blocking part 12, and the vacuum tube can be conveniently taken out by a mechanical arm and put into other stations. The state at this time is shown in fig. 2 and 3.

In the extreme case where the vacuum tube slides between the two side walls 13 with the first end of the vacuum tube facing downward, the above description has been made, and the description is omitted here.

When the vacuum tube meets the blocking part 12, after the vacuum tube is stopped stably in a posture that the first end faces upwards and the second end faces downwards, the vacuum tube clamping blocks 24 of the clamping jaw air cylinder 23 are driven by the horizontal swinging arms 22 to move to the upper side of the vacuum tube, the swinging arm base 21 descends, the clamping jaw air cylinder 23 drives the two vacuum tube clamping blocks 24, the first end of the vacuum tube is clamped by the first concave parts of the vacuum tube clamping blocks 24, the swinging arm base 21 ascends, and the vacuum tube is taken out by the mechanical arm.

Then, the vacuum tube is placed on the vacuum tube receiving portion 41 of the auxiliary blood collection device by the robot arm, and the vacuum tube holding block 24 is released by the gripper cylinder 23. Wherein the vacuum tube support 41 is mounted on the load cell 42 and the entire weight of the vacuum tube support 41 and the vacuum tube is borne by the load cell 42. The weight of the vacuum tube can be weighed by the load cell 42 which feeds back a signal to the control system to cause the auxiliary blood collection device to stop filling the vacuum tube with blood when the added blood reaches a predetermined value.

The operator puts the tail needle into the tail needle clamping piece 25, and the tail needle clamping piece 25 clamps the tail needle tightly. An operator pulls out the tail needle cap 95 from the tail needle, the tail needle is sent into the second tail needle clamping device 43 of the blood sampling auxiliary device by the mechanical arm, the second tail needle clamping device 43 moves to drive the tail needle body 97 to be inserted into the vacuum tube, and the other end of the tail needle is inserted into the human body by the operator to inject blood into the vacuum tube. When the added blood reaches the preset value, the second tail needle clamping device 43 moves reversely, and the tail needle body 97 is pulled out of the vacuum tube. And the vacuum tube, which has been filled with a suitable amount of blood, is removed and a new vacuum tube is placed at the station where the tail needle is inserted by driving the movement of the vacuum tube holder 41 containing the vacuum tube not filled with blood. The control system of the auxiliary blood sampling device can adopt an STM32F429 single chip microcomputer, and the single chip microcomputer is electrically connected with the second tail needle clamping device and each weighing sensor.

The robotic arm takes the vacuum tube out of the vacuum tube holder 41. Then the vacuum tube is put into the vacuum tube shaking device 30 by the mechanical arm, and the vacuum tube shaking device 30 shakes the vacuum tube evenly. After shaking is complete, the vacuum tube is placed by the robotic arm into a second vacuum tube storage rack 50 for holding the already mixed blood and associated reagents.

The content of the above-described operation principle is expressed based on the sequence of a vacuum tube to be transported, injected with blood, and shaken, and how the vacuum tube is operated and handled at different times. However, it will be understood by those skilled in the art that it is not intended that the vacuum tube will not slide down the guide channel 14 when it is being infused with blood, nor that it will appear that the vacuum tube is being robotically placed into the blood collection aid or infused with blood when it is being shaken by the vacuum tube shaking device 30. That is, at the same time, the respective devices can perform the corresponding operations without interference, thereby improving the overall work efficiency.

Example two:

as shown in fig. 7 and with reference to fig. 1, the present embodiment provides a vacuum tube processing system comprising a first vacuum tube storage rack and the vacuum tube post-processing device of any one of the previous embodiments, further comprising a first vacuum tube storage rack and a vacuum tube printing and labeling machine 70. The first vacuum tube storage rack may refer to a vacuum blood collection tube labeling machine described in CN205470190U published in 2016, 8, 17, 18, 2018, a vacuum blood collection tube labeling system described in CN108045688A published in 5, 18, 2018, a test tube rack in a fully automatic vacuum blood collection tube labeling apparatus disclosed in CN208199070U published in 12, 7, 2018, or a conveying mechanism and a guide in a blood collection tube labeling apparatus described in CN108792118A published in 11, 13, 2018. The vacuum tube printing labeling machine 70 can be seen in paragraphs [ 0078 ] to [ 0079 ] in CN108792118A disclosed in 11/13/2018 and related contents in fig. 3 of the document, and in a labeling device in CN104555407A disclosed in 29/4/2015. This application is not repeated.

In an alternative embodiment, the first vacuum tube storage rack includes an inclined support plate 61, a plurality of inclined chutes 62 are formed in the inclined support plate 61, a first end of each inclined chute 62 is lower than a second end of each inclined chute 62, a first camera 63 is disposed above the first end of each inclined chute 62, and the first camera 63 is used for shooting vacuum tubes at the first end of each inclined chute 62.

Through setting up the vacuum tube that is used for shooing the first end department of slant spout 62, can judge which kind of test tube is from the vacuum tube of the first end output of slant spout 62 through the mode of discernment colour. For example, in this embodiment, the vacuum tube at the blue top is a vacuum tube for holding a 1:9 diluted ratio of sodium citrate solution reagent, the vacuum tube at the black top is a vacuum tube for holding a 1:4 diluted ratio of sodium citrate solution reagent, and the vacuum tube at the purple top is a blood conventional tube; the green top is a heparin tube; the grey top is the blood sugar tube, and the orange top is the procoagulant tube; the top of the yellow is provided with a separation gel accelerating tube; the red top is an additive-free tube.

For example, if a heparin tube is required to be fed to the vacuum tube printing and labeling machine 70, but actually, one fewer vacuum tube is found on the red top by the first camera 63, that is, an additive-free tube is fed to the vacuum tube printing and labeling machine 70, the vacuum tube printer may not print and label the vacuum tube, but directly discharge the vacuum tube, and finally throw the vacuum tube into a container of the vacuum tube which is discarded or needs to be recycled by a manipulator.

In an alternative embodiment, the first vacuum tube storage rack includes an inclined support plate 61 and a second camera device, the inclined support plate 61 is provided with a plurality of inclined chutes 62, the second camera device (not shown in the figure) is fixedly connected with the inclined support plate 61, and the second camera device is used for shooting the inclined chutes 62.

Through shooting the slant spout 62, can learn the quantity of vacuum tube on the slant spout 62, if the quantity of vacuum tube is less than the predetermined quantity that the user set up just sends the warning, the suggestion user can add corresponding vacuum tube, avoids that the vacuum tube on at least one slant spout 62 is all used up and influences entire system's normal operating.

Specifically, the oblique chute 62 supplies vacuum tubes to the vacuum tube printing and labeling machine 70, and a manner of grabbing the vacuum tubes by a manipulator or a manner of setting a larger hole on the oblique chute 62 may be adopted, so that the vacuum tubes slide to the inlet end of the vacuum tube printing and labeling machine 70 through the hole and a funnel arranged below the hole. For example, the manipulator may refer to the manipulator in the vacuum blood collection tube labeling machine disclosed in CN205470190U published in 2016, 8, 17, the related contents described in paragraphs [ 0015 ] - [ 0017 ] in the fully automatic vacuum blood collection tube labeling machine disclosed in CN208199070U published in 2018, 12, 7, or the related contents of the vacuum blood collection tube labeling system described in paragraphs [ 0015 ] - [ 0017 ] in the specification CN108045688A published in 2018, 5, 18. This application is not repeated.

In particular, when a situation is adopted in which the vacuum tube is dropped into the vacuum tube printing labeler 70 as a slip. Specifically, the material blocking device may adopt a gate plate reciprocally driven by the material blocking driving device, and when the gate plate falls, the vacuum tube in the inclined chute 62 is blocked. When the shutter is lifted, the lowest vacuum tube of the inclined chute 62 slides to a station of the inclined chute 62 where the vacuum tube is output.

In addition, in order to control that only the lowest vacuum tube falls from the first vacuum tube storage rack at a time, the opening and closing time of the gate plate can be controlled. Even considering that the vacuum tubes are filled with the detection reagent, the time for each vacuum tube of each row to slide down the same distance from the original position is constant. Because the vacuum tubes in each row need to be filled with the same type and volume of detection reagent, the weight of the vacuum tubes filled with the reagent is uniform under the condition that the net weight of the vacuum tubes is fixed. Naturally, the gravitational and supporting forces experienced by each vacuum tube are also uniform. The force of gravity can be generated to make the sliding component of the vacuum tube on the inclined chute 62 uniform. In addition to the fact that the friction force generated on the basis of the supporting force is uniform, the resultant force experienced by the vacuum tubes in a row is uniform, and the acceleration resulting from the division of the resultant force by the mass is also uniform. The same acceleration and the same time required to travel the same distance.

Even if the vacuum tube is filled with different reagents, the sources of all acting forces are the gravity of the vacuum tube, the magnitude of natural resultant force is in direct proportion to the gravity, and the gravity is in direct proportion to the total mass of the vacuum tube, so the ratio of the resultant force to the total mass is still consistent, the acceleration is consistent, and the time required for walking the same distance is also the same.

Moreover, even if the number of vacuum tubes in one diagonal chute 62 is different, the time required for the vacuum tubes to travel the same distance is the same. Since each vacuum tube receives the same gliding force component and friction, the acceleration of each vacuum tube is the same. If the vacuum tubes are regarded as a whole, the resultant force of 10 parts acts on 10 parts by mass and the resultant force of 5 parts acts on 5 parts by mass, the generated accelerations are the same. After the shutter in front of the lowermost vacuum tube is removed, the acceleration and speed of each vacuum tube are kept consistent, and each vacuum tube slides downward regularly, which corresponds to the condition that the vacuum tubes in the row are in a weightless state in the length direction of the inclined chute 62.

Therefore, in summary, the time taken for the second vacuum tube to slide to the original position of the lowest vacuum tube from the bottom is consistent regardless of the number of vacuum tubes and the mass of the single vacuum tube. It is possible to determine how long the shutter falls again after being lifted in a fixed time controlled manner to trap the second vacuum tube from below.

In addition, the vacuum tubes are blocked by the vertically lifting flashboards, and the flashboards returning downwards can also push the original bottommost vacuum tube downwards again in an auxiliary manner when the top of the bottommost vacuum tube passes below the flashboards after the flashboards are lifted, so that the vacuum tubes can quickly slide to the positions of corresponding holes.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; for example:

in the first embodiment, the horizontal swing arms which are connected in series in multiple stages and can horizontally swing along a vertical axis are matched with the swing arm base which vertically goes up and down to drive the clamping jaw air cylinder to horizontally and vertically move. In fact, the existing multiple-degree-of-freedom mechanical arm can be adopted to drive the clamping jaw air cylinder to horizontally and vertically move. It is merely necessary to keep the test tube or the tail needle, which is operated by the gripper cylinder, in a vertical position at each of the positions where the test tube is gripped and put down.

Or the mechanical arm can be arranged into a gantry structure, similar to a crown block structure, and can move respectively or jointly in three relatively vertical directions to realize the transfer of the vacuum tube.

And the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. The vacuum tube post-processing device is characterized by comprising a vacuum tube slide way, a mechanical arm, a blood sampling auxiliary device and a vacuum tube shaking device (30), wherein the vacuum tube slide way comprises a slide way outlet end and a slide way inlet end, the slide way inlet end is used for receiving a vacuum tube falling out of a vacuum tube printing and labeling machine, the position of the slide way inlet end is higher than that of the slide way outlet end, and the mechanical arm is used for clamping the vacuum tube to move among the slide way outlet end, the blood sampling auxiliary device and the vacuum tube shaking device (30).

2. An evacuated tube aftertreatment device according to claim 1, characterized in that the chute comprises a chute floor (11), a barrier (12) and two side walls (13), the side walls (13) extending from the chute inlet end to the chute outlet end, the distance between opposite parts of the side walls (13) decreasing from the chute inlet end to the chute outlet end, the barrier (12) being arranged at the chute outlet end.

3. The vacuum tube post-processing device according to claim 2, characterized in that the vacuum tube comprises a vacuum tube body (99) and a first flange (98), the first flange (98) being provided at a circumferential surface of the vacuum tube body (99), the first flange (98) extending circumferentially along the vacuum tube body (99), the vacuum tube having a center of gravity located between the first flange (98) and the vacuum tube body (99);

the lower part of the slideway bottom plate (11) is provided with a guide groove (14) which penetrates through the slideway bottom plate (11) along the thickness direction, both edges of the guide groove (14) are located between the two side walls (13), and the width of the guide groove (14) is larger than the transverse dimension of the part of the vacuum tube body (99) below the first flange (98), and the distance between the upper end of the guide groove (14) and the blocking part (12) is larger than the distance between the gravity center of the vacuum tube and the bottom end of the vacuum tube, the distance between each edge of the guide groove (14) and the side wall (13) part on the same side of the guide groove (14) is less than half of the transverse dimension of the vacuum tube, both edges of the guide groove (14) form support rims for supporting the first flange (98), a rotating space for the vacuum tube to stand is reserved below the guide groove (14).

4. An evacuated tube post-processing device according to claim 3, characterized in that the distance between the upper end of the guide groove (14) and the stop (12) is greater than the length of the evacuated tube.

5. The vacuum tube post-processing device according to any one of claims 1-4, characterized in that the action output end of the robot arm is provided with a first vacuum tube clamping device, the first vacuum tube clamping device comprises a clamping jaw cylinder (23) and two vacuum tube clamping blocks (24), the clamping jaw cylinder (23) is provided with two clamping jaws, each clamping jaw is respectively provided with the tail part of one vacuum tube clamping block (24), one side of the head part of the vacuum tube clamping block (24) facing the other vacuum tube clamping block (24) is provided with a first concave part, and the first concave part is used for clamping the vacuum tube when the vacuum tube clamping blocks (24) are close to each other.

6. An evacuated tube post-processing device according to claim 5, characterized by further comprising a first caudal needle holding device comprising two caudal needle holding sheets (25), the caudal needle holding sheets (25) each having a caudal portion mounted on one vacuum tube holding block (24), the caudal needle holding sheets (25) having a head portion provided with a second recess on a side facing the other holding sheet, the second recess being adapted to hold a caudal needle when the caudal needle holding sheets (25) are brought close to each other.

7. An evacuated tube post-processing device according to claim 6, characterized in that the trailing needle gripping sheet (25) comprises a trailing needle body (97) and a second flange (96), the second flange (96) being provided at a circumferential surface of the trailing needle body (97), the second flange (96) extending circumferentially along the trailing needle body (97), a side of the head of the trailing needle gripping sheet (25) facing the other gripping sheet being provided with a groove (26), the groove (26) being perpendicular to a front surface of the trailing needle gripping sheet (25), the groove (26) being adapted to receive the second flange (96).

8. Vacuum tube processing system, characterized in that it comprises a vacuum tube post-processing device according to any of claims 1 to 7.

9. A vacuum tube handling system as claimed in claim 8, comprising a first vacuum tube storage rack, wherein the first vacuum tube storage rack comprises an inclined support plate (61), the inclined support plate (61) is provided with a plurality of inclined chutes (62), a first end of each inclined chute (62) is lower than a second end of each inclined chute (62), a first camera device (63) is arranged above the first end of each inclined chute (62), and the first camera device (63) is used for shooting the vacuum tube at the first end of each inclined chute (62).

10. A vacuum tube handling system according to claim 8, further comprising a first vacuum tube storage rack, wherein the first vacuum tube storage rack comprises an inclined support plate (61) and a second camera device, the inclined support plate (61) is provided with a plurality of inclined chutes (62), the second camera device is fixedly connected with the inclined support plate (61), and the second camera device is used for shooting the inclined chutes (62).