CN112918875A - Sample cold insulation box - Google Patents
Sample cold insulation box Download PDFInfo
- Publication number
- CN112918875A CN112918875A CN202110417994.7A CN202110417994A CN112918875A CN 112918875 A CN112918875 A CN 112918875A CN 202110417994 A CN202110417994 A CN 202110417994A CN 112918875 A CN112918875 A CN 112918875A
- Authority
- CN
- China
- Prior art keywords
- sample
- shaft
- axis
- rack
- jacking
- 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
- 238000009413 insulation Methods 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 142
- 238000013519 translation Methods 0.000 claims description 8
- 230000009194 climbing Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 9
- 238000013461 design Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000005070 sampling Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000005057 refrigeration Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 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
- 239000003755 preservative agent Substances 0.000 description 1
- 230000002335 preservative effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/10—Devices to locate articles in containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D81/00—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents
- B65D81/18—Containers, packaging elements, or packages, for contents presenting particular transport or storage problems, or adapted to be used for non-packaging purposes after removal of contents providing specific environment for contents, e.g. temperature above or below ambient
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a sample cold insulation box, which realizes effective grabbing of a sample and denser sample tubes, the invention discloses a cold insulation box, which comprises a box body, wherein at least a storage area and an exchange area are arranged in the box body, a plurality of brackets for placing sample frames are arranged in the storage area, a supporting platform for fixing the sample frames is arranged in the exchange area, a jacking mechanism is arranged below the supporting platform, the jacking mechanism is provided with a first mechanical arm so that the jacking mechanism can move in a plane parallel to the surface of the sample frames, the jacking mechanism is also provided with a jacking end for jacking sample tubes, the exchange area is also provided with a gripper mechanism, the gripper mechanism is provided with a second mechanical arm so that the gripper mechanism can move in the box body, the gripper mechanism is provided with a gripper for gripping the sample tubes, the exchange area is also provided with an exchange mechanism, and the exchange mechanism is used for transferring the sample frames on the brackets onto the supporting platform. The invention has the advantages of high space utilization rate, simple structure compared with the prior art and the like.
Description
Technical Field
The invention relates to the technical field of medical tool transmission, in particular to a sample cold insulation box.
Background
Sample retention has been a very important and difficult task in the medical testing industry. Until now, a plurality of hospitals and examination and research institutes still manually load samples on a sample rack, and the samples are generally retained by a sample tube and are convenient to observe, so that the sample rack adopts a large-scale colorimetric tube rack, the samples are favorably observed, then, the samples are completely sealed by a preservative film, and the samples are recorded and then sent into a refrigeration house for layered refrigeration. In the prior art, a refrigerator is generally adopted for storing samples, then the storage refrigerator is manufactured in a way of directly sampling by using a gantry gripper, one gripper corresponds to one layer of the refrigerator, each layer is unique to 2 internal and external exchange sample exchange windows, and after sampling by using the gantry gripper, a sample tube can be sent out through the exchange windows or a sample tube outside the refrigerator can be sent to a sample rack in the refrigerator.
When the gantry gripper samples the sample tubes on the sample rack, the adjacent sample tubes interfere with the gantry gripper, so that the placing holes for placing the sample tubes on the sample rack in the prior art are generally sparsely arranged, and the conventional gantry gripper cannot effectively grip the sample tubes on occasions where the sample tubes on the sample rack are denser, namely the sample capacity of the conventional cold insulation box is lower.
Disclosure of Invention
The invention aims to solve the technical problems of effectively grabbing a sample and relatively dense sample tubes and simplifying the structure of the conventional cold insulation box, and aims to provide the sample cold insulation box.
The invention is realized by the following technical scheme:
a sample cold insulation box comprises a box body, wherein a sample exchange door is arranged on the box body, at least a storage area and an exchange area are arranged in the box body, a plurality of brackets for placing sample frames are arranged in the storage area, the brackets are connected with the side wall of the box body, the exchange area is provided with a supporting platform for fixing the sample frames, the supporting platform is connected with the side wall of the box body, when the sample frames are fixed on the supporting platform, placing holes of the sample frames, a jacking mechanism is arranged below the supporting platform, the jacking mechanism is provided with a first manipulator so that the jacking mechanism can move in a plane parallel to the surface of the sample frames, the jacking mechanism is further provided with a jacking end for jacking sample tubes, the exchange area is further provided with a gripper mechanism, the gripper mechanism is provided with a second manipulator so that the gripper mechanism can move in the box body, the gripper mechanism is provided with a pair of grippers for gripping the sample tubes, still be provided with exchange mechanism in the exchange district, exchange mechanism is used for moving the sample frame on the bracket to on the saddle, under operating condition, climbing mechanism contacts so that the sample pipe is jacked through jacking end and the sample pipe bottom of waiting to snatch, gripper mechanism snatchs the sample pipe of waiting to snatch.
When the sample tube is grabbed by the gripper, the gripper has a certain volume, and the gripper needs to be displaced between the adjacent sample tubes to grab the sample tubes. The most common way used by those skilled in the art is to find a breakthrough in the grip, which increases the positioning accuracy of the grip and the volume of the grip to avoid the problem of interference between the grip and the sample tube, and the increase in accuracy and the decrease in volume of the grip also allow the sample rack to have a larger capacity, however, this requires higher design cost, and as the duration of use increases, the apparatus also accumulates certain errors, at which time the grip still easily interferes with the sample tube, i.e. the design tolerance is too low to be advantageous compared to even manual sampling.
The inventor finds that the main reason of the interference condition is not the volume of the hand grip or the positioning precision of the hand grip, but the posture of the sample tube on the sample rack is an important influencing factor in the long-term test. When the sample tube is placed on the sample rack, the upper end of the sample tube is respectively flush, and at the moment, if the sample tube is to be grabbed by the hand grab, the clamping position of the hand grab needs to sweep over the top end of the sample tube, namely, part of the structure of the hand grab needs to be moved between the sample tubes, so that the hand grab is easily interfered with the sample tube on the occasion that the sample tubes are more densely placed.
Therefore, in the invention, the jacking mechanism is arranged to enable the top end of the sample tube to be grabbed to be higher than the top end of the adjacent sample tube, and when the front end of the gripper reaches the top end position of the adjacent sample tube, the gripper already grabs the sample tube to be grabbed. The requirements for the hand grips are greatly reduced due to the arrangement of the jacking mechanism, after the sample tubes to be gripped are jacked by the jacking mechanism, the sample tubes to be gripped are equivalent to be mutually independent of adjacent sample tubes, the adjacent sample tubes have no influence on the gripping of the hand grips, so that the space between the placing holes in the sample frame can be smaller without considering the size of the hand grips, the maximization of the space utilization rate of the sample frame is realized, and the sample capacity of the refrigerator is greatly improved. In the foregoing, the requirement on the gripper is greatly reduced due to the arrangement of the jacking mechanism, the manufacturing cost and the design cost of the gripper are intuitively reduced, and further, the precision requirement of the gripper is also reduced due to the arrangement of the jacking mechanism, namely, the fault tolerance of the gripper is improved, so that the gripping speed of the gripper is allowed to be greatly improved, and the sampling efficiency is improved. In the invention, after the sample exchange mechanism transfers the sample rack to be processed in the storage area to the saddle, the sample rack to be processed is independent from other stored sample racks, and the gripping mechanism does not need to move to the storage area to grip the sample tube any more, so that the interval between the sample rack and the sample rack in the storage area is allowed to be arranged more densely, and the sample capacity of the cold insulation box is enlarged.
In the process of carrying out sample exchange, the sample exchange mechanism firstly transfers a sample rack with a sample tube in a storage area onto a supporting platform, the jacking mechanism is driven by a first manipulator to translate, namely, the jacking end is opposite to the bottom of the sample tube to be grabbed, the jacking end works to jack the sample tube so that the top end of the sample tube is higher than the adjacent sample tube, when the sample tube is jacked to a preset position, the gripping mechanism grabs the sample tube, the gripping mechanism is driven by a second manipulator to lift the sample tube so that the sample tube is completely separated from the sample rack, the second manipulator drives the sample tube to be moved to a sample changing door for placing the sample tube, the gripping mechanism returns to the position above the supporting platform again, the jacking mechanism is driven by the first manipulator so that the jacking end is opposite to the bottom end of the next sample to be grabbed, at the moment, the gripping mechanism is driven by the second manipulator to simultaneously move so that the gripping is opposite to the top end of the sample tube to be grabbed, and repeating the actions to grab the sample tube to realize sample exchange.
The sample exchanging process also comprises a process of storing an external sample tube into the cold insulation box, the external sample tube is positioned at the exchanging door to wait for being grabbed, before the external sample tube is positioned at the exchanging door, the sample frame exchanging mechanism transfers the empty sample frame in the storage area to the supporting platform in advance, the gripper mechanism is driven by the second mechanical arm to move to the sample exchanging door and grab the sample tube, the jacking mechanism drives the jacking end to be aligned with the placing hole by the driving translation of the first mechanical arm, the jacking end is jacked to the jacking limit stroke, the gripper mechanism simultaneously drives the second mechanical arm to translate to the position hole to make the sample tube aligned with the placing hole, the gripper mechanism drives the sample tube to enter the placing hole, when the bottom end of the sample tube is contacted with the jacking end, the gripper mechanism cancels clamping of the sample tube, and when the jacking end is driven to move downwards by the jacking mechanism, the sample tube enters the placing hole below under the self gravity, this time a sample pipe is accomplished by the storage, and climbing mechanism moves the next hole of placing of treating to prevent under the drive of first manipulator, repeats above-mentioned action and saves next sample pipe. In the storage process, the sample tube is firstly contacted with the jacking end, and the sample tube can be stably placed and finished in the process that the jacking end moves downwards, so that the samples in the sample tube can be prevented from being vibrated, and the physical and chemical properties of the samples are ensured.
Preferably, as a specific embodiment of the first manipulator, the first manipulator includes an x1 axis and a y1 axis that are orthogonal to each other, the x1 axis is slidably connected to the y1 axis, the y1 axis is fixedly connected to a side wall of the box, and the jacking mechanism is slidably connected to the x1 axis. When a power source is arranged on the x1 shaft or the y1 shaft, the power source can drive the x1 shaft to slide relative to the y1 shaft, and the x1 shaft drives the jacking mechanism to translate in one direction; after the jacking mechanism or the x-axis is provided with a power source, the power source drives the jacking mechanism to realize the translation in the other direction, so that the translation of the jacking mechanism in one plane is realized. Because climbing mechanism need carry out the jacking to a plurality of sample pipes that the sample added, so climbing mechanism need carry out the location many times, the axis setting of x1 axle and the axis setting of y1 make climbing mechanism can regard as the location benchmark at two epaxial displacements amounts, the precision when control location is higher, control is simpler, reduce design cost, the power supply in this scheme can be cylinder, drive belt mechanism, electric putter, rack and pinion drive mechanism etc..
Further, as a specific example of the transmission mode of the first robot, a rack a is disposed on the y1 shaft, a gear motor a is disposed on the x1 shaft, the gear motor a is matched with the rack a to enable the x1 shaft to slide relative to the y1 shaft, a rack b is disposed on the x1 shaft, and a gear motor b is disposed on the jacking mechanism and matched with the rack b to enable the jacking mechanism to slide relative to the x1 shaft. After the gear motor is matched with the rack, the transmission structure is actually matched with the gear and the rack, so that the precision is high, and the system error is small.
Further, the shape of the jacking end is matched with the placing hole, and the unilateral gap between the jacking end and the placing hole is larger than the clearance of the gear motor a. Jacking end is owing to need carry out the jacking to the sample pipe on the sample frame, so its volume size should be less than the hole of placing on the sample frame, because jacking mechanism is directly driven by gear motor a, so there is fixed displacement error in the driven in-process of jacking mechanism, this error mainly is caused by the bearing play among gear motor a, so the shape of jacking end should with the shape adaptation of placing the hole, thereby make jacking end equal at the ascending clearance of circumference for placing the hole, and this clearance needs to be greater than gear motor a's play, thereby make the jacking end can carry out effectual jacking to the sample pipe under the aforementioned fixed displacement error condition.
Further, as an embodiment of the second manipulator, the second manipulator includes an x2 axis, a y2 axis, and a z axis orthogonal to each other, the y2 axis is slidably connected to the z axis, the x2 axis is slidably connected to the z axis, the x2 axis is parallel to the x1 axis, the y2 axis is parallel to the y1 axis, and the gripper mechanism is slidably connected to the x2 axis. When a power source is configured on the y2 shaft or the z shaft, the power source can drive the z shaft to slide relative to the y2 shaft, and the z shaft drives the x2 shaft, namely the gripper mechanism is driven to translate in one direction; after the power source is configured on the gripper mechanism or the x2 shaft, the power source drives the gripper mechanism to realize translation in the other direction, so that the gripper mechanism can realize translation in a plane which is parallel to the plane capable of translating by the jacking mechanism, and in the height direction, after the power source is configured on the x2 shaft or the z shaft, the power source can drive the x2 shaft to slide relative to the z shaft, so that the gripper mechanism can realize translation in the height direction.
Further, as a specific example of the transmission mode of the second manipulator, a rack c is arranged on the y2 shaft, a gear motor c is arranged on the z shaft, the gear motor c is matched with the rack c to enable the z shaft to slide relative to the y2 shaft, a rack d is arranged on the z shaft, a gear motor d is arranged on the x2 shaft, the gear motor d is matched with the rack d to enable the x2 shaft to slide relative to the z shaft, a rack e is arranged on the x2 shaft, and a gear motor e is arranged on the gripper mechanism, and the gear motor e is matched with the rack e to enable the gripper mechanism to slide relative to the x2 shaft.
Further, as a preferred embodiment, the x2 shaft is further provided with a rack f, and the exchange mechanism is provided with a gear motor f which is matched with the rack f so as to enable the exchange mechanism to perform translational motion along the axial direction of the x2 shaft. The switching mechanism is arranged on the x2 shaft, and the second mechanical arm is used for transferring the sample rack in the storage area, so that the driving structure of the switching mechanism is saved, the manufacturing cost is reduced, and the internal structure of the cold insulation box is simplified.
Preferably, in the lifting limit stroke state of the lifting end, the sample tube is contacted with at least two placing holes of the sample rack. When the sample pipe is promoted to do the major height promptly, the pipe shaft of sample pipe still can place the hole cooperation with two, guarantees that the sample pipe goes out vertical gesture in its gesture of whole in-process by the jacking, and the tongs mechanism of being convenient for snatchs it.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the sample cold insulation box provided by the invention, through the arrangement of the jacking mechanism, the sample tubes are not interfered with the adjacent sample tubes when being clamped.
2. According to the sample cold insulation box provided by the invention, through the arrangement of the jacking mechanism, under the condition that the sample tubes can be smoothly clamped, the distance between the sample tubes on the sample rack can be set as small as possible, the space utilization rate of the sample rack is improved, and when the mechanism is used in the cold insulation box, the sample capacity of the cold insulation box can be improved.
3. According to the sample cold insulation box provided by the invention, the requirements on the manufacturing precision and the control precision of the gripper mechanism are reduced by the arrangement of the jacking mechanism, the occupied volume of the gripper mechanism is not required to be considered, and the design cost and the manufacturing cost of the gripper mechanism are reduced.
4. The sample cold insulation box provided by the invention has the advantages that the structure is simple, the manufacturing cost is low, the maintenance is convenient, the repeated arrangement of the structure is reduced compared with the arrangement of a gantry gripper in the prior art, the sample rack is transplanted to an exchange area through an exchange mechanism to process a sample tube, the total sampling stroke of a second mechanical arm is reduced, and the energy consumption is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
fig. 1 is a schematic structural diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a conventional sample rack.
Reference numbers and corresponding part names in the drawings:
the method comprises the following steps of 1-box body, 2-jacking mechanism, 3-gripper mechanism, 4-jacking end, 5-y2 shaft, 6-z shaft, 7-x2 shaft, 8-gripper, 9-x1 shaft, 10-y1 shaft, 11-pallet, 12-sample rack, 13-bracket, 14-exchange door, 15-placing hole and 16-sample tube.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Examples
A sample cold insulation box is disclosed, as shown in figure 1 and figure 2, comprising a box body 1, a sample exchange door 14 is opened on the box body 1, at least a storage area and an exchange area are arranged in the box body 1, a plurality of brackets 13 used for placing sample frames 12 are arranged in the storage area, the brackets 13 are connected with the side wall of the box body 1, the exchange area is provided with a pallet 11 used for fixing the sample frames 12, the pallet 11 is connected with the side wall of the box body 1, when the sample frames 12 are fixed on the pallet 11, the placing holes 15 of the sample frames 12 are aligned, a jacking mechanism 2 is arranged below the pallet 11, the jacking mechanism 2 is provided with a first manipulator to enable the jacking mechanism 2 to move in a plane parallel to the surface of the sample frames 12, the jacking mechanism 2 is also provided with a jacking end 4 used for jacking sample tubes 16, the exchange area is also provided with a gripper mechanism 3, the gripper mechanism 3 is provided with a second manipulator to enable the gripper mechanism 3 to move in the, the gripper mechanism 3 is provided with a gripper 8 for gripping a sample tube 16, an exchange mechanism is further arranged in the exchange area, the exchange mechanism is used for transferring the sample rack 12 on the bracket 13 onto the supporting platform 11, in a working state, the jacking mechanism 2 is contacted with the bottom of the sample tube 16 to be gripped through the jacking end 4 so as to jack the sample tube 16, the gripper mechanism 3 grips the sample tube 16 to be gripped, and the gripped sample is exchanged to the outside of the cold insulation box through the exchange door 14.
In this embodiment, the sample tube 16 is clamped as follows: the sample exchanging mechanism firstly transfers a sample frame 12 with a sample tube 16 in a storage area onto a supporting platform 11, the jacking mechanism 2 is driven by a first mechanical hand to translate so that the jacking end 4 is opposite to the bottom of the sample tube 16 to be grabbed, the jacking end 4 works to jack the sample tube 16 so that the top end of the sample tube 16 is higher than the adjacent sample tube 16, when the sample tube 16 is jacked to a preset position, the gripping mechanism 33 grips the sample tube 16, the gripping mechanism 33 is driven by a second mechanical hand to lift the sample tube 16 so that the sample tube 16 is completely separated from the sample frame 12, the second mechanical hand drives the sample tube 16 to be moved to a sample changing door to place the sample tube 16, the gripping mechanism 33 returns to the position above the supporting platform 11 again, the jacking mechanism 2 is driven by the first mechanical hand, the jacking end 4 is opposite to the bottom end of the next sample to be grabbed, the gripper mechanism 33 is driven by the second manipulator to move simultaneously so that the gripper 8 faces the top end of the sample tube 16 to be gripped, and the above actions are repeated to grip the sample tube 16 to realize sample exchange.
The sample exchanging process also includes a process of storing the external sample tube 16 in the cold insulation box, the external sample tube 16 is located at the exchanging door 14 to be grabbed, before that, the sample rack 12 exchanging mechanism transfers the empty sample rack 12 in the storage area to the supporting platform 11 in advance, the gripper mechanism 33 is driven by the second manipulator to move to the exchanging door and grab the sample tube 16, at this time, the jacking mechanism 2 drives the lifting end 4 to face the placing hole 15 by the driving translation of the first manipulator, the lifting end 4 is lifted to the lifting limit stroke, the gripper mechanism 33 simultaneously drives the second manipulator to translate to the upper part of the placing hole 15 so that the sample tube 16 faces the placing hole 15, the gripper mechanism 33 drives the sample tube 16 to enter the placing hole 15, when the bottom end of the sample tube 16 contacts with the lifting end 4, the gripper mechanism 33 cancels the clamping of the sample tube 16, when the lifting end 4 is driven by the jacking mechanism 2 to move downwards, the sample tube 16 enters the placing hole 15 under its own gravity, when the storage of the sample tube 16 is completed, the lifting mechanism 2 is moved to the next placement hole 15 to be prevented by the first manipulator, and the above operation is repeated to store the next sample tube 16.
In this embodiment, when the sample rack 12 is fixed on the tray table 11, the positioning holes 15 of the sample rack 12 are aligned, that is, when the sample rack 12 is fixed on the tray table 11, the jacking end 4 can pass through the positioning holes 15 in one vertical direction, for example, in this example, the tray table 11 is a rod body with an l-shaped cross section, two rod bodies are arranged at intervals, the interval is the width or the length of the sample rack 12, and one ends of the two rod bodies are respectively fixedly connected with the inner side wall of the box body 1, so as to form the tray table 11.
Specifically, the rear side of the interior of the box body 1 is divided into a storage area, the front side of the interior of the box body 1 is divided into an exchange area, the first manipulator comprises an x1 shaft 9 and a y1 shaft 10 which are mutually orthogonal, the axis of the x1 shaft 9 and the axis of the y1 shaft 10 are respectively along the transverse and longitudinal arrangement directions of the placing holes 15 of the sample racks 12 on the supporting platform 11, the x1 shaft 9 is connected with the y1 shaft 10 in a sliding mode, the y1 shaft 10 is fixedly connected with the side wall of the box body 1, and the jacking mechanism 2 is connected with the x1 shaft 9 in a sliding mode. As shown in FIG. 2, the placement holes 15 of the sample rack 12 are arranged in a generally rectangular array, wherein one row of placement holes 15 is arranged parallel to the long axis of the x1 shaft 9 and one row of placement holes 15 is arranged parallel to the y1 shaft 10 when the sample rack 12 is placed on the pallet 11.
The y1 shaft 10 is further provided with a rack a, the long axis of the rack a is parallel to the long axis of the y1 shaft 10, the x1 shaft 9 is provided with a gear motor a, the gear motor a is fixedly connected with one end of the x1 shaft 9, the gear motor a is matched with the rack a to enable the x1 shaft 9 to slide relative to the y1 shaft 10, the x1 shaft 9 is provided with a rack b, the long axis of the rack b is parallel to the long axis of the x1 shaft 9, the jacking mechanism 2 is provided with a gear motor b, and the gear motor b is matched with the rack b to enable the jacking mechanism 2 to slide relative to the x1 shaft 9.
Further setting is that the shape of jacking end 4 and placing hole 15 adaptation, the unilateral clearance of jacking end 4 and placing hole 15 is greater than gear motor a's play. The backlash of the gear motor a is generally very small, and this error is generally not considered in the actual design, but in the application environment of the present invention, mainly when the jacking end 4 and the placing hole 15 are prevented from being eccentric, the jacking end 4 may displace the sample holder 12, and in the repeated sample tube 16 grabbing process, this displacement may form an accumulated error, so that the accuracy of the relative position of the jacking mechanism 2 and the sample holder 12 is gradually reduced, thereby affecting the grabbing work of the sample tube 16.
As a specific embodiment of the second robot, the second robot includes two x2 axes 7, y2 axes 5 and z axes 6 which are orthogonal to each other, the two y2 axes 5 are fixedly connected to the upper and lower inner walls of the box 1, respectively, the z axis 6 is installed between the two y1 axes 10, specifically, the y2 axis 5 is slidably connected to the z axis 6, the x2 axis 7 is slidably connected to the z axis 6, the x2 axis 7 is parallel to the x1 axis 9, the y2 axis 5 is parallel to the y1 axis 10, and the gripper 3 is slidably connected to the x2 axis 7.
Further, a rack c is arranged on the y2 shaft 5, the long axis of the rack c is parallel to the long axis of the y2, a gear motor c is arranged on the z shaft 6, the gear motor c is matched with the rack c to enable the z shaft 6 to slide relative to the y2 shaft 5, a rack d is arranged on the z shaft 6, the long axis of the rack d is parallel to the long axis of the z shaft 6, a gear motor d is arranged on the x2 shaft 7, the gear motor d is matched with the rack d to enable the x2 shaft 7 to slide relative to the z shaft 6, a rack e is arranged on the x2 shaft 7, the long axis of the rack e is parallel to the long axis of the x2 shaft 7, and a gear motor e is arranged on the gripper mechanism 3 and is matched with the rack e to enable the gripper mechanism 3 to slide relative to the x 2.
As a specific embodiment of the exchanging mechanism, the x2 shaft 7 is further provided with a rack f, the rack f and the gripper mechanism 33 are respectively positioned at two opposite sides of the x2 shaft 7, and the exchanging mechanism is provided with a gear motor f which is matched with the rack f so as to enable the exchanging mechanism to perform translational motion along the axial direction of the x2 shaft 7. The exchanging mechanism is provided with a lifting arm, the cross section of the lifting arm is rectangular, the length of the lifting arm is equal to the length or the width of the sample rack 12, when the sample rack 12 in the storage area needs to be transferred, the gear motor f on the exchanging mechanism drives the lifting arm to extend into the storage area, the lifting arm is placed below the sample rack 12 to be transferred, the x2 shaft 7 moves upwards along the z shaft 6 to lift the sample rack 12, meanwhile, the gear motor f of the exchanging mechanism drives the lifting arm to return to the exchanging area, and finally, the sample rack 12 is located above the supporting platform 11 through the driving of the z shaft 6 and the y2 shaft 5.
In a preferred embodiment, the sample tube 16 is in contact with at least two of the placing holes 15 of the sample rack 12 in the lifting limit stroke state of the lifting end 4. That is, the two placing holes 15 cooperate with the sample tube 16 to define the posture of the sample tube 16, and the sample tube 16 is prevented from being skewed to affect the grasping of the sample tube 16 by the grasping mechanism 33.
In the drawings provided by the present invention, for the matching and installation of the rack and the gear motor, which belong to the transmission mechanisms well known to those skilled in the art, for example, a common three-axis robot applies the matching of the gear motor and the rack, so that those skilled in the art can restore the structure in the embodiments of the present invention without creative work for detailed illustration in the drawings of the present invention.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (8)
1. A sample cold insulation box comprises a box body (1), wherein a sample exchange door (14) is arranged on the box body (1), and the sample cold insulation box is characterized in that at least a storage area and an exchange area are arranged in the box body (1);
a plurality of brackets (13) for placing sample racks (12) are arranged in the storage area, and the brackets (13) are connected with the side wall of the box body (1);
the sample tube exchanging system is characterized in that the exchanging area is provided with a supporting platform (11) used for fixing the sample frame (12), the supporting platform (11) is connected with the side wall of the box body (1), when the sample frame (12) is fixed on the supporting platform (11), a placing hole (15) of the sample frame (12) is empty, a jacking mechanism (2) is arranged below the supporting platform (11), the jacking mechanism (2) is provided with a first mechanical arm so that the jacking mechanism (2) can move in a plane parallel to the surface of the sample frame (12), the jacking mechanism (2) is further provided with a jacking end (4) used for jacking a sample tube (16), the exchanging area is further provided with a grabbing mechanism, the grabbing mechanism is provided with a second mechanical arm so that the grabbing mechanism can move in the box body (1), and the grabbing mechanism (3) is provided with a grabbing hand (8) used for grabbing the sample tube (16), an exchange mechanism is further arranged in the exchange area and used for transferring the sample rack (12) on the bracket (13) to the supporting platform (11);
under the operating condition, climbing mechanism (2) are through jacking end (4) and the sample pipe (16) bottom contact of waiting to snatch so that sample pipe (16) are jacked, gripper mechanism (3) snatch sample pipe (16) of waiting to snatch, and the sample of snatching is exchanged to the cold insulation box outside through exchange door (14).
2. A specimen cold box according to claim 1, characterized in that said first manipulator comprises an x1 axis (9) and a y1 axis (10) orthogonal to each other, said x1 axis (9) being slidingly connected to said y1 axis (10), said y1 axis (10) being fixedly connected to the side wall of said box (1), said jack (2) being slidingly connected to said x1 axis (9).
3. A specimen cold insulation box according to claim 2, characterized in that the y1 shaft (10) is provided with a rack a, the x1 shaft (9) is provided with a gear motor a, the gear motor a is matched with the rack a to enable the x1 shaft (9) to slide relative to the y1 shaft (10);
the x1 shaft (9) is provided with a rack b, the jacking mechanism (2) is provided with a gear motor b, and the gear motor b is matched with the rack b so that the jacking mechanism (2) can slide relative to the x1 shaft (9).
4. A specimen cold box according to claim 3, characterized in that the shape of said lifting end (4) is adapted to said placing hole (15), the unilateral clearance of said lifting end (4) to said placing hole (15) being greater than the play of said gear motor a.
5. A specimen cold box according to claim 2, characterized in that said second manipulator comprises mutually orthogonal x2 axis (7), y2 axis (5) and z axis (6), said y2 axis (5) being slidingly connected with said z axis (6), said x2 axis (7) being slidingly connected with said z axis (6), said x2 axis (7) being parallel to said x1 axis (9), said y2 axis (5) being parallel to said y1 axis (10), said gripper mechanism (3) being slidingly connected with said x2 axis (7).
6. A specimen cold-insulation box according to claim 5, characterized in that the y2 shaft (5) is provided with a rack gear c, the z shaft (6) is provided with a gear motor c, and the gear motor c is matched with the rack gear c to enable the z shaft (6) to slide relative to the y2 shaft (5);
the z-axis (6) is provided with a rack d, the x2 shaft (7) is provided with a gear motor d, and the gear motor d is matched with the rack d to enable the x2 shaft (7) to slide relative to the z-axis (6);
the x2 shaft (7) is provided with a rack e, the gripper mechanism (3) is provided with a gear motor e, and the gear motor e is matched with the rack e so that the gripper mechanism (3) can slide relative to the x2 shaft (7).
7. A specimen cold insulation box according to claim 5, characterized in that a rack f is arranged on the x2 shaft (7), the exchange mechanism is provided with a gear motor f, and the gear motor f is matched with the rack f to enable the exchange mechanism to move in a translation mode along the axial direction of the x2 shaft (7).
8. A specimen cold box according to claim 1, characterized in that, in the extreme stroke condition of the lifting end (4), the specimen tube (16) is in contact with at least two placing holes (15) of the specimen rack (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110417994.7A CN112918875A (en) | 2021-04-19 | 2021-04-19 | Sample cold insulation box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110417994.7A CN112918875A (en) | 2021-04-19 | 2021-04-19 | Sample cold insulation box |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112918875A true CN112918875A (en) | 2021-06-08 |
Family
ID=76174497
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110417994.7A Pending CN112918875A (en) | 2021-04-19 | 2021-04-19 | Sample cold insulation box |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112918875A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023169050A1 (en) * | 2022-03-11 | 2023-09-14 | 安图实验仪器(郑州)有限公司 | Sample refrigeration storage device and sample flow-line analysis system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102112881A (en) * | 2008-08-05 | 2011-06-29 | 英派克埃彼有限公司 | Loading and unloading bench for loading and unloading racks of biological material in an automation installation |
| CN207002696U (en) * | 2017-08-02 | 2018-02-13 | 北京国科融智生物技术有限公司 | A kind of magnetic bionanoparticles method extracts legal medical expert's sample DNA kit |
| CN108445244A (en) * | 2018-05-16 | 2018-08-24 | 重庆天之助生物科技有限公司 | A kind of test tube access instrument |
| AU2019264521B1 (en) * | 2019-09-24 | 2020-03-05 | Scinomix, Inc. | Gripper for automated tube handling |
| CN211329487U (en) * | 2019-11-08 | 2020-08-25 | 天津龙创恒盛实业有限公司 | Automatic test tube storage and retrieval warehouse system for reagent detection |
| CN111638380A (en) * | 2020-07-07 | 2020-09-08 | 深圳市亚辉龙生物科技股份有限公司 | Sample rack conveying device and in-vitro diagnostic equipment |
| US20200319222A1 (en) * | 2016-04-22 | 2020-10-08 | Becton Dickinson And Company | Automated diagnostic analyzer and method for its operation |
| CN111751558A (en) * | 2019-08-09 | 2020-10-09 | 南京岚煜生物科技有限公司 | Full-automatic fluorescence immunoassay analyzer and sample detection method |
| CN111766394A (en) * | 2020-08-27 | 2020-10-13 | 四川沃文特生物技术有限公司 | Automatic sample storage device of access |
| CN212622640U (en) * | 2020-07-07 | 2021-02-26 | 深圳市亚辉龙生物科技股份有限公司 | Sample bracket mechanism and in-vitro diagnostic equipment |
| CN215285867U (en) * | 2021-04-19 | 2021-12-24 | 四川沃文特生物技术有限公司 | Sample cold insulation box |
-
2021
- 2021-04-19 CN CN202110417994.7A patent/CN112918875A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102112881A (en) * | 2008-08-05 | 2011-06-29 | 英派克埃彼有限公司 | Loading and unloading bench for loading and unloading racks of biological material in an automation installation |
| US20200319222A1 (en) * | 2016-04-22 | 2020-10-08 | Becton Dickinson And Company | Automated diagnostic analyzer and method for its operation |
| CN207002696U (en) * | 2017-08-02 | 2018-02-13 | 北京国科融智生物技术有限公司 | A kind of magnetic bionanoparticles method extracts legal medical expert's sample DNA kit |
| CN108445244A (en) * | 2018-05-16 | 2018-08-24 | 重庆天之助生物科技有限公司 | A kind of test tube access instrument |
| CN111751558A (en) * | 2019-08-09 | 2020-10-09 | 南京岚煜生物科技有限公司 | Full-automatic fluorescence immunoassay analyzer and sample detection method |
| AU2019264521B1 (en) * | 2019-09-24 | 2020-03-05 | Scinomix, Inc. | Gripper for automated tube handling |
| CN211329487U (en) * | 2019-11-08 | 2020-08-25 | 天津龙创恒盛实业有限公司 | Automatic test tube storage and retrieval warehouse system for reagent detection |
| CN111638380A (en) * | 2020-07-07 | 2020-09-08 | 深圳市亚辉龙生物科技股份有限公司 | Sample rack conveying device and in-vitro diagnostic equipment |
| CN212622640U (en) * | 2020-07-07 | 2021-02-26 | 深圳市亚辉龙生物科技股份有限公司 | Sample bracket mechanism and in-vitro diagnostic equipment |
| CN111766394A (en) * | 2020-08-27 | 2020-10-13 | 四川沃文特生物技术有限公司 | Automatic sample storage device of access |
| CN215285867U (en) * | 2021-04-19 | 2021-12-24 | 四川沃文特生物技术有限公司 | Sample cold insulation box |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023169050A1 (en) * | 2022-03-11 | 2023-09-14 | 安图实验仪器(郑州)有限公司 | Sample refrigeration storage device and sample flow-line analysis system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN215285867U (en) | Sample cold insulation box | |
| CN111532651B (en) | Pipe picking work station | |
| CN110641888A (en) | Biological sample storehouse | |
| CN108068118B (en) | Sample conveying system applied to vacuum interconnection system | |
| WO2020000780A1 (en) | Transplanting device and transplanting system | |
| CN112918875A (en) | Sample cold insulation box | |
| CN111086812A (en) | Biological sample storage facilities of dark low temperature | |
| CN105931980A (en) | Workpiece Transfer System | |
| CN108466511A (en) | Glass carving machine assembly line | |
| CN101459100B (en) | Automatic conveying device for compact wafer | |
| CN219009176U (en) | Triaxial truss-like bar grabbing device | |
| CN214114150U (en) | Feeding and discharging mechanism | |
| CN215571512U (en) | Sample procedure cooling equipment | |
| CN110615275A (en) | Pipe picking device | |
| CN216399634U (en) | Biological sample storehouse sample transfer device | |
| CN210972544U (en) | Biological sample storehouse | |
| CN219525511U (en) | Multi-station feeding device for plate cutting | |
| CN201374322Y (en) | Translating and overturning type wafer automatic conveying device | |
| CN218963153U (en) | Automatic product coating machine | |
| CN213504889U (en) | Positioning device of robot stacking cart | |
| CN116247273B (en) | Weighing, wiping and nailing integrated device after battery liquid injection | |
| CN210256156U (en) | Miniature manipulator of instrument | |
| CN217060252U (en) | Sample sorting, transferring and storing device and sample assembly line analysis system | |
| CN215437193U (en) | Feeding equipment for chip boxes | |
| CN212374137U (en) | Biological sample storage facilities of dark low temperature |
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 |