CN113522779B - Automatic sorting system for pathological small specimens - Google Patents
Automatic sorting system for pathological small specimens Download PDFInfo
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- CN113522779B CN113522779B CN202110683559.9A CN202110683559A CN113522779B CN 113522779 B CN113522779 B CN 113522779B CN 202110683559 A CN202110683559 A CN 202110683559A CN 113522779 B CN113522779 B CN 113522779B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/3412—Sorting according to other particular properties according to a code applied to the object which indicates a property of the object, e.g. quality class, contents or incorrect indication
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/02—Measures preceding sorting, e.g. arranging articles in a stream orientating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/38—Collecting or arranging articles in groups
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C2501/00—Sorting according to a characteristic or feature of the articles or material to be sorted
- B07C2501/0063—Using robots
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- Automatic Analysis And Handling Materials Therefor (AREA)
Abstract
The invention provides an automatic pathological small specimen sorting system which comprises a rack plate, a host control box, a manipulator assembly, an X-axis conveying assembly, a Y-axis conveying assembly, a classification specimen rack, a specimen rack to be classified and a scanning head, wherein the rack plate is arranged on the rack plate; put the frame plate setting and be in host computer control box top, and with host computer control box integral type is connected, X axle transfer unit is equipped with two sets ofly, sets up put the frame plate below, Y axle transfer unit sets up put the frame plate top, categorised sample shelf with treat that categorised sample shelf is adjacent, and set up one side of Y axle transfer unit, set up on the Y axle transfer unit the scanning head with manipulator component. The machine of the invention replaces manual work to sort and register the samples, thus improving the sorting efficiency and saving the human resources; the invention can combine the sorting and registering work and optimize the work flow; the electronic information of the invention replaces the paper application form for transmission, thereby reducing the occurrence of errors.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to the field of medical equipment for pathology department, and specifically relates to an automatic sorting system for small pathological specimens.
Background
The pathological small specimens comprise various types such as gastroscope or enteroscope specimens, biopsy puncture specimens, gynecological specimens and the like, the pathological material taking mode is consistent, and a pathologist wants to take materials for the specimens according to the specimen types when taking materials, for example, materials are taken for the gastroscope/enteroscope firstly, materials are taken for the biopsy specimens, materials are taken for the gynecological specimens and the like; in addition, one case may contain specimens from multiple sites, e.g., gastroscopic specimens may contain specimens from multiple sites such as the cardia, corpus, fundus, pylorus, etc. Before the materials are taken, the pathologist needs to classify, number and register the samples, which is time-consuming. The automatic specimen sorting system in the market is mainly a sorting system of a medical clinical laboratory, and the main method is to identify the specimen by scanning a two-dimensional code on a specimen tube and position the specimen on a specific specimen shelf. However, medical laboratory specimens are usually one for each examination, and the same machine only detects one specimen per batch.
Disclosure of Invention
The invention aims to provide an automatic pathological small specimen sorting system to solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic pathological small specimen sorting system is characterized by comprising a rack plate 1, a host control box 2, a manipulator assembly 3, an X-axis conveying assembly 4, a Y-axis conveying assembly 5, a classification specimen rack 6, a specimen rack to be classified 7, a scanning head 8, a conveying and conveying belt assembly 70 and a bottom plate 60; the rack plate 1 is arranged above the bottom plate 60 through rack plate support rods 14, a plurality of rack plate support rods 14 are arranged, the host control box 2 is arranged on the bottom plate 60, two groups of X-axis conveying assemblies 4 are arranged below the rack plate 1, the Y-axis conveying assembly 5 is arranged above the rack plate 1, the classification sample rack 6 is adjacent to the sample rack 7 to be classified and is arranged on one side of the Y-axis conveying assembly 5, and the scanning head 8 and the manipulator assembly 3 are arranged on the Y-axis conveying assembly 5; the transport conveyor assembly 70 comprises a first transport conveyor assembly 10, a second transport conveyor assembly 20, a third transport conveyor assembly 30 and a fourth transport conveyor assembly 40.
The overall rack plate 1 is I-shaped, a sliding groove 11 is formed in the overall rack plate, and two sliding grooves 11 are formed in the rack plate 1 and are arranged at two ends of the rack plate in parallel; two disconnected conveyor belt placement grooves 12 are arranged between the two sliding grooves 11, the conveyor belt placement grooves 12 are provided with the first transportation conveyor belt assembly 10 and the second transportation conveyor belt assembly 20, the first transportation conveyor belt assembly 10 and the second transportation conveyor belt assembly 20 are fixed on the bottom plate 60 through a rotating wheel fixing part 101, and the third transportation conveyor belt assembly 30 and the fourth transportation conveyor belt assembly 40 are arranged on the other side of the bottom plate 60; a motor control box 102 is arranged in the first, second, third and fourth transport conveyor belt assemblies 10, 20, 30 and 40, and the motor control box 102 is arranged on the bottom plate 60; two pushing assemblies 50 are arranged on the outer side of one of the sliding grooves 11, each pushing assembly 50 comprises a pushing motor assembly 501, a pushing folding rod 502 and a pushing block 503, the pushing motor assembly 501 is fixedly connected with the rack plate 1, and the pushing motor assembly 501 is connected with and controls the stretching of the pushing folding rod 502 so as to control the movement of the pushing block 503; and the other limiting strip 13 is arranged on the outer side of the sliding groove 11, two groups of limiting strips 13 are arranged, one group of limiting strips is arranged between the first transportation conveyor belt component 10 and the third transportation conveyor belt component 30 to limit the specimen rack to be classified 7, and the other group of limiting strips is arranged between the fourth transportation conveyor belt component 40 and the second transportation conveyor belt component 20 to limit the specimen rack to be classified 6.
The mainframe control box 2 is disposed on the base plate 60 between the first transport conveyor assembly 10 and the third transport conveyor assembly 30, and a siemens S7-200 industrial controller is disposed in the mainframe control box 2.
The manipulator assembly 3 comprises a mechanical arm 31 and a gripper 32; the gripper 32 comprises a clamping plate 321, a gripper folding rod 322, a strip-shaped sawtooth 323, a gear 325, a gripper motor assembly 324 and a gripper supporting rod 326; the two gripper support rods 326 are arranged in parallel and are arranged below the tail end of the mechanical arm 31, two groups of gripper folding rods 322 and two groups of clamping plates 321 are arranged, the gripper support rods 326 are connected with the gripper folding rods 322 through connecting shafts 327, the gripper folding rods 322 are connected with the clamping plates 321 through the connecting shafts 327, one ends of the lower portions of the strip-shaped sawteeth 323 are provided with sawtooth fixing rods 330, the other ends of the sawtooth fixing rods 330 are connected with the clamping plates 321 through the connecting shafts 327, the gripper motor assemblies 324 are arranged between the two gripper support rods 326, motor sliders 328 are arranged outside the gripper motor assemblies 324, the motor sliders 328 can slide up and down on the outer sides of the gripper support rods 326, the gripper motor assemblies 324 are connected with the gear 325 and control the rotation of the gear 325, and the gear 325 rotates to drive the strip-shaped sawteeth 323 and the sawtooth fixing rods 330 to displace outwards or inwards, and then the sawtooth fixing rod 330 is driven to fold and move, so that the distance between the two clamping plates 321 is changed, and the gear 325 is provided with gear limit blocks 329 up and down to prevent the gear 325 from deviating.
The X-axis conveying assembly 4 comprises four X-axis synchronizing belts 41, two X-axis motor assemblies 42 and two X-axis synchronizing wheels 43, the four X-axis synchronizing wheels 43 are fixed at four corners below the rack plate 1 through fixed wheel shafts 431, the two X-axis synchronizing belts 41 are arranged between the two X-axis synchronizing wheels 43 and rotate along with the rotation of the X-axis synchronizing wheels 43, X-axis stable sliding rods 533 are further arranged on the inner sides of the two X-axis synchronizing wheels 43, and the X-axis motor assemblies 42 are connected with the X-axis synchronizing wheels 43 and control the rotation of the X-axis synchronizing wheels 43; the Y-axis conveying assembly 5 comprises two Y-axis synchronous belts 51, two Y-axis motor assemblies 52, two sliding screw rods 53 and two Y-axis synchronous wheels 54, the Y-axis synchronous wheels 54 are arranged on the sliding screw rods 53 through two sliding block connecting pieces 541, a Y-axis stable sliding rod 542 is arranged between the two sliding block connecting pieces 541, the Y-axis synchronous belts 51 are arranged between the two Y-axis synchronous wheels 54, and the Y-axis motor assemblies 52 are connected with the Y-axis synchronous wheels 54 and control the rotation of the Y-axis synchronous wheels 54; the bottom of the sliding screw 53 is provided with a screw motor assembly 531 for controlling the rotation of the sliding screw 53 and then controlling the up-and-down movement of the slider connector 541, the Y-axis synchronous belt 51 is connected to the scanning head 8 through a Y-axis sliding assembly 543, the Y-axis sliding assembly 543 slides on the Y-axis stable sliding rod 542, the X-axis synchronous belt 41 is connected to the sliding screw 53 through an X-axis sliding assembly 532, and the X-axis sliding assembly 532 slides on the X-axis stable sliding rod 533.
The X-axis stable sliding rod 533 is provided with a sliding slot to enable the X-axis sliding component 532 to slide.
Categorised sample frame 6 includes first categorised sample frame 61, second categorised sample frame 62, third categorised sample frame 63 and fourth categorised sample frame 64, and parallel arrangement is in put on the frame plate 1, be equipped with a plurality of sample tube holes 65 on the categorised sample frame 6, can place sample tube 9 in the sample tube hole 65.
The specimen rack 7 to be classified is a stepped rack, and each layer is also provided with a plurality of specimen pipe holes 65; the scan head 8 is movable in response to movement of the robot assembly 3.
The sample tube 9 comprises a scanning tube 91 and a tube body 92, the tube body 92 is narrow at the bottom and wide at the top, the scanning tube 91 is sleeved on the tube body 92, and an identification code is pasted on the scanning tube 91.
The machine of the invention replaces manual work to sort and register the samples, thus improving the sorting efficiency and saving the human resources; the invention can combine the sorting and registering work and optimize the work flow; the electronic information of the invention replaces the paper application form for transmission, thereby reducing the occurrence of errors.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an automated pathological specimen sorting system according to the present invention;
FIG. 2 is a schematic view of a shelf structure in the automatic pathological specimen sorting system according to the present invention;
FIG. 3 is a schematic structural diagram of a pushing assembly in the automated pathological small specimen sorting system according to the present invention;
FIG. 4 is a schematic structural diagram of a manipulator assembly in the automatic pathological small specimen sorting system according to the present invention;
FIG. 5 is a schematic structural view of a movable part of a gripper in the automatic pathological small specimen sorting system according to the present invention;
FIG. 6 is a schematic diagram of a portion of the automated pathological specimen sorting system according to the present invention;
FIG. 7 is a second schematic view of a portion of the automated pathological specimen sorting system according to the present invention;
FIG. 8 is a third schematic view of a third exemplary embodiment of the automated pathological specimen sorting system according to the present invention;
FIG. 9 is a fourth schematic view of a part of the automated pathological specimen sorting system according to the present invention;
FIG. 10 is a schematic structural diagram of a bottom plate of the automatic pathological small specimen sorting system according to the present invention;
FIG. 11 is a schematic view of the sample tube structure of the automatic pathological small specimen sorting system according to the present invention;
FIG. 12 is a second schematic view of the overall structure of the automated pathological specimen sorting system according to the present invention;
FIG. 13 is a third schematic view of the overall structure of the automatic pathological specimen sorting system according to the present invention;
FIG. 14 is a fourth schematic view of the overall structure of the automated pathological specimen sorting system according to the present invention;
FIG. 15 is a schematic diagram of the sliding assembly of the automated pathological specimen sorting system according to the present invention;
FIG. 16 is a schematic diagram of a schematic framework of an automated pathological specimen sorting system according to the present invention;
in the figure: 1. placing a frame plate; 11. a sliding groove; 12. a conveyor belt placing groove; 13. a limiting strip; 14. a support rod of the shelf board is arranged; 2. a host control box; 3. a manipulator assembly; 31. a mechanical arm; 32. a gripper; 321. a clamping plate; 322. a gripper folding rod; 323. strip-shaped sawteeth; 324. a gripper motor assembly; 325. a gear; 326. the gripper supporting rod; 327. a connecting shaft; 328. a motor slider; 329. a gear limiting block; 330. a sawtooth fixing rod; 4. a Y-axis transport assembly; 41. an X-axis synchronous belt; 42. an X-axis motor assembly; 43. an X-axis synchronizing wheel; 431. fixing the wheel shaft; 5. a Y-axis transport assembly; 51. a Y-axis synchronous belt; 52. a Y-axis motor assembly; 53. a sliding screw rod; 531. a screw motor assembly; 532. an X-axis slide assembly; 533. an X-axis stabilizing slide bar; 54. a Y-axis synchronizing wheel; 541. a slider connection; 542. a Y-axis stabilizing slide bar; 543. a Y-axis slide assembly; 6. a specimen classification rack; 61. a first specimen holder; 62. a second specimen holder; 63. a third specimen sorting rack; 64. a fourth classification specimen holder; 65. a specimen tube hole; 7. a specimen rack to be classified; 8. a scanning head; 9. a sample tube; 91. a scanning tube; 92. a pipe body; 10. a first transport conveyor belt assembly; 101. a rotating wheel fixing part; 102. a motor control box; 20. a second transport conveyor belt assembly; 30. a third transport conveyor belt assembly; 40. a fourth transport conveyor belt assembly; 50. a pushing assembly; 501. a push motor assembly; 502. pushing the folding rod; 503. a pushing block; 60. a base plate; 70. a transport conveyor belt assembly.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the scope of the present invention.
As shown in fig. 1, an automatic sorting system for small pathological specimens is characterized by comprising a rack plate 1, a host control box 2, a manipulator assembly 3, an X-axis conveying assembly 4, a Y-axis conveying assembly 5, a classification specimen rack 6, a specimen rack to be classified 7, a scanning head 8, a transportation conveyor belt assembly 70 and a bottom plate 60; the rack plate 1 is arranged above the bottom plate 60 through rack plate support rods 14, a plurality of rack plate support rods 14 are arranged, the host control box 2 is arranged on the bottom plate 60, two groups of X-axis conveying assemblies 4 are arranged below the rack plate 1, the Y-axis conveying assembly 5 is arranged above the rack plate 1, the classification sample rack 6 is adjacent to the sample rack 7 to be classified and is arranged on one side of the Y-axis conveying assembly 5, and the scanning head 8 and the manipulator assembly 3 are arranged on the Y-axis conveying assembly 5; the transport conveyor assembly 70 comprises a first transport conveyor assembly 10, a second transport conveyor assembly 20, a third transport conveyor assembly 30 and a fourth transport conveyor assembly 40.
As shown in fig. 2-3, the overall rack plate 1 is "i" shaped, and has two sliding grooves 11, where the two sliding grooves 11 are arranged at two ends of the rack plate 1 in parallel; two disconnected conveyor belt placement grooves 12 are arranged between the two sliding grooves 11, the conveyor belt placement grooves 12 are provided with the first transportation conveyor belt assembly 10 and the second transportation conveyor belt assembly 20, the first transportation conveyor belt assembly 10 and the second transportation conveyor belt assembly 20 are fixed on the bottom plate 60 through a rotating wheel fixing part 101, and the third transportation conveyor belt assembly 30 and the fourth transportation conveyor belt assembly 40 are arranged on the other side of the bottom plate 60; a motor control box 102 is arranged in the first, second, third and fourth transport conveyor belt assemblies 10, 20, 30 and 40, and the motor control box 102 is arranged on the bottom plate 60; two pushing assemblies 50 are arranged on the outer side of one of the sliding grooves 11, each pushing assembly 50 comprises a pushing motor assembly 501, a pushing folding rod 502 and a pushing block 503, the pushing motor assembly 501 is fixedly connected with the rack plate 1, and the pushing motor assembly 501 is connected with and controls the stretching of the pushing folding rod 502 so as to control the movement of the pushing block 503; and the other limiting strip 13 is arranged on the outer side of the sliding groove 11, two groups of limiting strips 13 are arranged, one group of limiting strips is arranged between the first transportation conveyor belt component 10 and the third transportation conveyor belt component 30 to limit the specimen rack to be classified 7, and the other group of limiting strips is arranged between the fourth transportation conveyor belt component 40 and the second transportation conveyor belt component 20 to limit the specimen rack to be classified 6.
The mainframe control box 2 is disposed on the base plate 60 between the first transport conveyor assembly 10 and the third transport conveyor assembly 30, and a siemens S7-200 industrial controller is disposed in the mainframe control box 2.
As shown in fig. 4 to 5, the robot assembly 3 includes a robot arm 31 and a gripper 32; the gripper 32 comprises a clamping plate 321, a gripper folding rod 322, a strip-shaped sawtooth 323, a gear 325, a gripper motor assembly 324 and a gripper supporting rod 326; the two gripper support rods 326 are arranged in parallel and are arranged below the tail end of the mechanical arm 31, two groups of gripper folding rods 322 and two groups of clamping plates 321 are arranged, the gripper support rods 326 are connected with the gripper folding rods 322 through connecting shafts 327, the gripper folding rods 322 are connected with the clamping plates 321 through the connecting shafts 327, one ends of the lower portions of the strip-shaped sawteeth 323 are provided with sawtooth fixing rods 330, the other ends of the sawtooth fixing rods 330 are connected with the clamping plates 321 through the connecting shafts 327, the gripper motor assemblies 324 are arranged between the two gripper support rods 326, motor sliders 328 are arranged outside the gripper motor assemblies 324, the motor sliders 328 can slide up and down on the outer sides of the gripper support rods 326, the gripper motor assemblies 324 are connected with the gear 325 and control the rotation of the gear 325, and the gear 325 rotates to drive the strip-shaped sawteeth 323 and the sawtooth fixing rods 330 to displace outwards or inwards, and then the sawtooth fixing rod 330 is driven to fold and move, so that the distance between the two clamping plates 321 is changed, and the gear 325 is provided with gear limit blocks 329 up and down to prevent the gear 325 from deviating.
As shown in fig. 6-10, the X-axis conveying assembly 4 includes four X-axis synchronizing belts 41, two X-axis motor assemblies 42, and two X-axis synchronizing wheels 43, the four X-axis synchronizing wheels 43 are fixed at four corners below the rack plate 1 through fixed wheel shafts 431, the two X-axis synchronizing belts 41 are disposed between the two X-axis synchronizing wheels 43 and rotate along with the rotation of the X-axis synchronizing wheels 43, an X-axis stabilizing slide rod 533 is further disposed inside the two X-axis synchronizing wheels 43, and the X-axis motor assemblies 42 are connected to the X-axis synchronizing wheels 43 and control the rotation of the X-axis synchronizing wheels 43; the Y-axis conveying assembly 5 comprises two Y-axis synchronous belts 51, two Y-axis motor assemblies 52, two sliding screw rods 53 and two Y-axis synchronous wheels 54, the Y-axis synchronous wheels 54 are arranged on the sliding screw rods 53 through two sliding block connecting pieces 541, a Y-axis stable sliding rod 542 is arranged between the two sliding block connecting pieces 541, the Y-axis synchronous belts 51 are arranged between the two Y-axis synchronous wheels 54, and the Y-axis motor assemblies 52 are connected with the Y-axis synchronous wheels 54 and control the rotation of the Y-axis synchronous wheels 54; the bottom of the sliding screw 53 is provided with a screw motor assembly 531 for controlling the rotation of the sliding screw 53 and then controlling the up-and-down movement of the slider connector 541, the Y-axis synchronous belt 51 is connected to the scanning head 8 through a Y-axis sliding assembly 543, the Y-axis sliding assembly 543 slides on the Y-axis stable sliding rod 542, the X-axis synchronous belt 41 is connected to the sliding screw 53 through an X-axis sliding assembly 532, and the X-axis sliding assembly 532 slides on the X-axis stable sliding rod 533.
As shown in fig. 15, the X-axis stable sliding rod 533 is provided with a sliding slot to enable the X-axis sliding assembly 532 to slide.
The specimen rack 7 to be classified is a stepped rack, and each layer is also provided with a plurality of specimen pipe holes 65; the scan head 8 is movable in response to movement of the robot assembly 3.
As a possible implementation, the scanning head 8 may be an NT-90 fixed two-dimensional scanning head.
As shown in fig. 11, the sample tube 9 includes a scanning tube 91 and a tube body 92, the tube body 92 is narrow at the bottom and wide at the top, the scanning tube 91 is sleeved on the tube body 92, and an identification code is pasted on the scanning tube 91.
As shown in fig. 16, in use, the automated pathological small specimen sorting system is interfaced with the hospital information system, so that the system can check the information of the specimens sampled by each clinical department; then arranging the specimen racks 7 to be classified, which are filled with specimen tubes, on a conveying belt; the scanning head 8 scans the scanning tube 91 to acquire specimen information.
If the case has only 1 specimen, the mechanical arm 31 uses the gripper 32 to grip the specimen and transfer the specimen to the corresponding specimen classification rack 6; if the case has two or more samples, the mechanical arm 3 grabs the sample tube, transfers the sample tube to the corresponding classification sample rack 6, reserves a position for the pathological residual sample, and grabs other samples of the case to the reserved position when other samples of the case are scanned.
As shown in fig. 12-14, after the sample tubes 9 on a group of specimen racks 7 to be sorted are scanned and transferred, the pushing assembly 50 pushes the empty rack onto the third conveyor belt assembly 30 at the empty rack placement area, and at the same time, the first conveyor belt assembly 10 automatically moves one specimen rack 7 to be sorted forward to start the scanning and moving of the next group of specimens.
When the specimen rack 6 is full, the pusher assembly 50 pushes it onto the fourth conveyor belt assembly 40, while the second conveyor belt assembly 20 automatically pushes an empty set of specimen racks 6 forward for use in the next round of scanning.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the preferred embodiments of the invention and described in the specification are only preferred embodiments of the invention and are not intended to limit the invention, and that various changes and modifications may be made without departing from the novel spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. An automatic pathological small specimen sorting system is characterized by comprising a placing plate (1), a host control box (2), a manipulator assembly (3), an X-axis conveying assembly (4), a Y-axis conveying assembly (5), a classification specimen rack (6), a specimen rack (7) to be classified, a scanning head (8), a transportation conveying belt assembly (70) and a bottom plate (60); the rack plate (1) is arranged above the bottom plate (60) through a rack plate supporting rod (14), the rack plate supporting rods (14) are multiple, the host control box (2) is arranged on the bottom plate (60), two groups of X-axis conveying assemblies (4) are arranged below the rack plate (1), the Y-axis conveying assembly (5) is arranged above the rack plate (1), the classification specimen rack (6) is adjacent to the specimen rack (7) to be classified and arranged on one side of the Y-axis conveying assembly (5), and the scanning head (8) and the manipulator assembly (3) are arranged on the Y-axis conveying assembly (5); the transport conveyor belt assembly (70) comprises a first transport conveyor belt assembly (10), a second transport conveyor belt assembly (20), a third transport conveyor belt assembly (30) and a fourth transport conveyor belt assembly (40); the rack plate (1) is integrally H-shaped, sliding grooves (11) are formed in the rack plate, and two sliding grooves (11) are arranged at two ends of the rack plate (1) in parallel; two disconnected conveyor belt placing grooves (12) are arranged between the two sliding grooves (11), the conveyor belt placing grooves (12) are provided with the first conveyor belt assembly (10) and the second conveyor belt assembly (20), the first conveyor belt assembly (10) and the second conveyor belt assembly (20) are fixed on the bottom plate (60) through rotating wheel fixing pieces (101), and the third conveyor belt assembly (30) and the fourth conveyor belt assembly (40) are arranged on the other side of the bottom plate (60); a motor control box (102) is arranged in the first conveying conveyor belt assembly (10), the second conveying conveyor belt assembly (20), the third conveying conveyor belt assembly (30) and the fourth conveying conveyor belt assembly (40), and the motor control box (102) is arranged on the bottom plate (60); two pushing assemblies (50) are arranged on the outer side of one sliding groove (11), each pushing assembly (50) comprises a pushing motor assembly (501), a pushing folding rod (502) and a pushing block (503), each pushing motor assembly (501) is fixedly connected with the corresponding shelf plate (1), and each pushing motor assembly (501) is connected with and controls the corresponding pushing folding rod (502) to stretch and retract so as to control the corresponding pushing block (503) to move; wherein the outer side of the other sliding groove (11) is provided with a limiting strip (13), two groups of limiting strips (13) are arranged, one group is positioned between the first transportation conveyor belt assembly (10) and the third transportation conveyor belt assembly (30) and limits the specimen rack (7) to be classified, and the other group is positioned between the fourth transportation conveyor belt assembly (40) and the second transportation conveyor belt assembly (20) and limits the specimen rack (6) to be classified; the main machine control box (2) is arranged on the bottom plate (60) between the first transportation conveyor belt assembly (10) and the third transportation conveyor belt assembly (30), and a Siemens S7-200 industrial controller is arranged in the main machine control box (2); the manipulator assembly (3) comprises a mechanical arm (31) and a gripper (32); the gripper (32) comprises a clamping plate (321), a gripper folding rod (322), strip-shaped saw teeth (323), a gear (325), a gripper motor assembly (324) and a gripper supporting rod (326); the two gripper support rods (326) are arranged in parallel and are arranged below the tail end of the mechanical arm (31), two groups of gripper folding rods (322) and two groups of clamping plates (321) are arranged, the gripper support rods (326) are connected with the gripper folding rods (322) through connecting shafts (327), the gripper folding rods (322) are connected with the clamping plates (321) through the connecting shafts (327), sawtooth fixing rods (330) are arranged at one ends below the strip-shaped sawteeth (323), the other ends of the sawtooth fixing rods (330) are connected with the clamping plates (321) through the connecting shafts (327), the gripper motor assembly (324) is arranged between the two gripper support rods (326), a motor slider (328) is arranged outside the gripper motor assembly (324), the motor slider (328) can slide up and down on the outer sides of the gripper support rods (326), and the gripper motor assembly (324) is connected with the gear (325), the gear (325) rotates to drive the strip-shaped sawteeth (323) and the sawteeth fixing rod (330) to displace outwards or inwards, then the sawteeth fixing rod (330) is driven to fold and move, then the distance between the two clamping plates (321) is changed, and gear limiting blocks (329) are arranged above and below the gear (325) to prevent the gear (325) from displacing; the X-axis conveying assembly (4) comprises four X-axis synchronous belts (41), X-axis motor assemblies (42) and X-axis synchronous wheels (43), the number of the X-axis synchronous wheels (43) is four, the four X-axis synchronous wheels are fixed at four corners below the placing frame plate (1) through fixed wheel shafts (431), the number of the X-axis synchronous belts (41) is two, the two X-axis synchronous wheels are arranged between the two X-axis synchronous wheels (43) and rotate along with the rotation of the X-axis synchronous wheels (43), X-axis stable sliding rods (533) are further arranged on the inner sides of the two X-axis synchronous wheels (43), sliding grooves are formed in the X-axis stable sliding rods (533) to enable the X-axis sliding assemblies (532) to slide, and the X-axis motor assemblies (42) are connected with the X-axis synchronous wheels (43) and control the X-axis synchronous wheels (43) to rotate; the Y-axis conveying assembly (5) comprises two Y-axis synchronous belts (51), two Y-axis motor assemblies (52), two sliding screw rods (53) and two Y-axis synchronous wheels (54), the Y-axis synchronous wheels (54) are arranged on the sliding screw rods (53) through sliding block connecting pieces (541), a Y-axis stable sliding rod (542) is arranged between the two sliding block connecting pieces (541), the Y-axis synchronous belts (51) are arranged between the two Y-axis synchronous wheels (54), and the Y-axis motor assemblies (52) are connected with the Y-axis synchronous wheels (54) and control the rotation of the Y-axis synchronous wheels (54); a screw motor assembly (531) is arranged at the bottom of the sliding screw (53) to control the sliding screw (53) to rotate and further control the up-and-down movement of the slider connecting piece (541), the Y-axis synchronous belt (51) is connected with the scanning head (8) through a Y-axis sliding assembly (543), the Y-axis sliding assembly (543) slides on the Y-axis stable sliding rod (542), the X-axis synchronous belt (41) is connected with the sliding screw (53) through an X-axis sliding assembly (532), and the X-axis sliding assembly (532) slides on the X-axis stable sliding rod (533); the classified specimen shelf (6) comprises a first classified specimen shelf (61), a second classified specimen shelf (62), a third classified specimen shelf (63) and a fourth classified specimen shelf (64), the first classified specimen shelf, the second classified specimen shelf, the third classified specimen shelf and the fourth classified specimen shelf are arranged on the shelf plate (1) in parallel, a plurality of specimen tube holes (65) are formed in the classified specimen shelf (6), and specimen tubes (9) can be placed in the specimen tube holes (65); the specimen rack (7) to be classified is a step-shaped rack, and each layer is also provided with a plurality of specimen pipe holes (65); the scanning head (8) can move along with the movement of the mechanical arm component (3); the sample tube (9) comprises a scanning tube (91) and a tube body (92), the tube body (92) is narrow at the bottom and wide at the top, the scanning tube (91) is sleeved on the tube body (92), and an identification code is pasted on the scanning tube (91).
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| CN202110683559.9A CN113522779B (en) | 2021-06-21 | 2021-06-21 | Automatic sorting system for pathological small specimens |
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| CN113522779A (en) | 2021-10-22 |
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