CN114130708B - Full-automatic test tube sample intelligence sorting machine - Google Patents

Full-automatic test tube sample intelligence sorting machine Download PDF

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Publication number
CN114130708B
CN114130708B CN202111506690.4A CN202111506690A CN114130708B CN 114130708 B CN114130708 B CN 114130708B CN 202111506690 A CN202111506690 A CN 202111506690A CN 114130708 B CN114130708 B CN 114130708B
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China
Prior art keywords
test tube
blanking
test
cylinder
feeding
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CN202111506690.4A
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Chinese (zh)
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CN114130708A (en
Inventor
陈传文
李雪志
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Guangzhou Huayin Medical Laboratory Center Co Ltd
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Guangzhou Huayin Medical Laboratory Center Co Ltd
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Priority to CN202111506690.4A priority Critical patent/CN114130708B/en
Publication of CN114130708A publication Critical patent/CN114130708A/en
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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
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E30/00—Energy generation of nuclear origin
    • Y02E30/30—Nuclear fission reactors

Abstract

The invention provides a full-automatic intelligent sorting machine for test tube samples, which comprises a rack; a base plate mounted on the frame; the mounting plate is obliquely mounted on the rack; the test tube conveying mechanism is arranged on the mounting plate; the test tube feeding mechanism is arranged above the test tube conveying mechanism; the label scanning mechanism is arranged at the front end below the test tube conveying mechanism; the sorting and blanking mechanism is arranged behind the label scanning mechanism; the test tube rack conveying mechanism is arranged on the bottom plate and is positioned on one side of the sorting and blanking mechanism; and the intelligent manipulator is arranged on the bottom plate and is positioned between the sorting and blanking mechanism and the test tube rack conveying mechanism. This full-automatic test tube sample intelligence sorting machine can realize test tube sample's material loading one by one, automatic transport, scanning, automatic continuous classification blanking and storage after the test tube sample scans, the automatic feeding of test-tube rack and through the manipulator with categorised test tube accurate insert to the test-tube rack that corresponds in classify and submit for inspection, degree of automation is high, efficient, the accuracy is high.

Description

Full-automatic test tube sample intelligence sorting machine
Technical Field
The invention relates to the technical field of test tube sorting equipment, in particular to a full-automatic intelligent test tube sample sorting machine.
Background
At present, in daily work of hospitals, when blood and the like are collected, corresponding test tubes are often required to be distributed to patients so as to collect the blood and the like of the patients. Wherein, the test tube issued to the patient is pasted with a bar code printed with the information representing the patient, and the computer can read the identity information of the patient by scanning the bar code. Test tube sorting machine is the automation equipment that can high-efficiently replace manual sorting, and the test tube sample that the same administrative or technical offices inspected in the mainly used will a large amount of test tube samples sorts together to satisfy the needs that follow-up detected. During actual work, after the collected test tubes need to be discharged one by one and conveyed and scanned, test tube samples are classified and stored according to information on the labels, so that detection of different departments is facilitated. However, how to realize automatic one-by-one feeding, conveying, scanning, classified storage and automatic feeding of test tube samples, and accurately insert classified test tubes into corresponding test tube racks for classified inspection is always a key problem of realizing full automation of a test tube sorting machine, and technical countermeasures are required.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a full-automatic intelligent sorting machine for test tube samples, which can realize one-by-one feeding, automatic conveying and scanning of the test tube samples, automatic continuous classification blanking and storage after the test tube samples are scanned, automatic feeding of a test tube rack, and accurate insertion of classified test tubes into corresponding test tube racks for classification and inspection through a manipulator, and has the advantages of high automation degree, high efficiency and high accuracy.
In order to realize the technical scheme, the invention provides a full-automatic intelligent sorting machine for test tube samples, which comprises: a frame; a bottom plate horizontally mounted on the frame; the mounting plate is obliquely mounted on the rack; the test tube conveying mechanism is arranged on the mounting plate and comprises a driving chain wheel and a driven chain wheel which are arranged on the mounting plate at intervals in parallel, the driving chain wheel and the driven chain wheel are connected through a chain, a driving motor is arranged on the mounting plate and connected with the driving chain wheel, a plurality of test tube jigs capable of moving along with the chain are arranged on the chain, and a test tube clamping groove is formed in each test tube jig; the test tube feeding mechanism is arranged on the mounting plate and positioned above the test tube conveying mechanism; the label scanning mechanism is arranged at the front end below the test tube conveying mechanism; the sorting and blanking mechanism is arranged below the test tube conveying mechanism and behind the label scanning mechanism, the sorting and blanking mechanism comprises a test tube classification collection box which is obliquely arranged on a bottom plate, a plurality of test tube classification collection grooves which are arranged in parallel at intervals are arranged on the test tube classification collection box, a blanking box which is obliquely arranged is arranged above the test tube classification collection box, a plurality of blanking grooves which are arranged in parallel at intervals are arranged on the blanking box, the bottoms of the blanking grooves correspond to the tops of the test tube classification collection grooves on the test tube classification collection box, and an independently controllable blanking valve mechanism is arranged at the top of each blanking groove; the test tube rack conveying mechanism is arranged on the bottom plate and is positioned on one side of the sorting and blanking mechanism; the intelligent manipulator is arranged on the bottom plate and positioned between the sorting and blanking mechanism and the test tube rack conveying mechanism, the intelligent manipulator comprises an angle adjusting cylinder mounting seat fixed on a Z-direction linear module, a rotating shaft seat is arranged at the bottom of the angle adjusting cylinder mounting seat, the rotating shaft is fixed on the rotating shaft seat, one end of the angle adjusting seat is connected with the front end of the rotating shaft, the top of the angle adjusting cylinder is fixed on the angle adjusting cylinder mounting seat, the angle adjusting cylinder is obliquely arranged, a telescopic shaft of the angle adjusting cylinder is connected with one end, far away from the rotating shaft, of the angle adjusting seat, a sub-distance slide rail is arranged at the bottom of the angle adjusting seat, a plurality of sub-distance slide blocks are arranged on the sub-distance slide rail in parallel, the sub-distance slide blocks are connected through sub-distance pull rods, a test tube gripper driving cylinder is correspondingly arranged at the bottom of each sub-distance slide block, and a test tube gripper is correspondingly arranged on each test tube gripper driving cylinder, the sub-distance cylinder is installed at the bottom of the angle adjusting seat and is arranged parallel to the sub-distance slide rail, and a telescopic shaft of the sub-distance cylinder is connected with the front end of the sub-distance pull rod through a sub-distance connecting rod.
In the technical scheme, in actual operation, collected test tube samples are fed into test tube clamping grooves which are arranged on test tube jigs on a test tube conveying mechanism through a feeding mechanism, a driving chain wheel can be driven to rotate through a driving motor, and then the test tube jigs arranged on the chain are driven to rotate by a driving chain, so that test tubes placed in the test tube clamping grooves on the test tube jigs are driven to move, when the test tubes in the test tube clamping grooves move to a label scanning mechanism, the label scanning mechanism can scan the labels of the test tubes in the test tube clamping grooves, and sends scanned information to a system, the system can control a blanking valve mechanism arranged at the top of a blanking groove according to the information scanned by a label scanner, when the test tubes move backwards along with the test tube jigs to be above the corresponding blanking groove, the blanking valve mechanism acts, so that the test tubes fall into the corresponding blanking groove on a box under the action of gravity, store in corresponding test tube classification collecting vat that sets up on the blanking groove blanking to test tube classification collecting box, the test tube sample type of collecting in every test tube classification collecting vat is the same to the censorship of the same department of follow-up. Meanwhile, the test tube rack conveying mechanism tiles and conveys the corresponding test tube rack, then when grabbing the classified test tubes in the test tube classification collecting tank on the inclined plane through an intelligent manipulator, firstly, the angle adjusting seat is driven to rotate around a rotating shaft through an angle adjusting cylinder, so that a test tube gripper installed at the bottom of the angle adjusting seat drives the cylinder and the test tube gripper to be parallel to the test tube classification collecting tank on the inclined plane, then the test tube gripper drives the test tube gripper to integrally move to the upper part of the test tubes in the test tube classification collecting tank through an X-direction straight line module, a Z-direction straight line module drives the test tube gripper to descend and to contact with test tube heads in the test tube classification collecting tank, then the test tube gripper is driven to be closed through the test tube gripper driving cylinder to clamp the test tube heads tightly, then the X-direction straight line module is led to, the Y-direction straight line module and the Z-direction straight line module drive the test tube gripper to move, the test tubes are taken out from the test tube classification collecting tank and moved to the top of the test tube rack, then the angle adjusting cylinder drives the angle adjusting seat to rotate around the rotating shaft to the horizontal level again, so that the test tubes are perpendicular to the test tube rack, then the separation cylinder drives the separation pull rod to move through the separation, the separation pull rod drives the separation slide block to drive each test tube gripper to drive the cylinder to move, the original test tubes attached together are equally separated and just matched with test tube holes on the test tube rack, finally the test tube gripper manipulator is driven to move downwards through a Z-direction linear module, a plurality of test tubes in the same test tube classification collecting tank which is gripped at one time are accurately inserted into the test tube holes on the test tube rack, and after the test tube rack is fully inserted, the test tube samples are unloaded through the test tube rack conveying mechanism, so that the test tube samples can be loaded, automatically conveyed, scanned, automatically and automatically continuously classified and stored after the test tube samples are scanned, The automatic feeding of test-tube rack and through the accurate insertion of manipulator with the test tube of classifying to classifying the censorship in the test-tube rack that corresponds.
Preferably, the test tube feeding mechanism comprises two guide rails which are arranged on the back surface of the mounting plate in parallel at intervals, a plurality of moving frames which are arranged at intervals are arranged on the guide rails through sliding blocks, the seasoning cylinders are arranged on one sides of the moving frames, the telescopic shafts of the seasoning cylinders are connected with the moving frames through connecting seats, a plurality of test tube placing boxes which are arranged in parallel are placed in the moving frames, the test tube placing boxes are arranged in an inclined manner, a plurality of rows of test tube placing grooves which are arranged in parallel at intervals are arranged in each test tube placing box, test tubes are placed in the test tube placing grooves in rows, the bottom end of each test tube placing box is provided with a pluggable feeding baffle, a plurality of feeding baffles which are arranged in parallel at intervals are arranged below the feeding baffles, a feeding channel is arranged between the two feeding baffles, and each feeding channel corresponds to the bottom end of one row of test tube placing grooves arranged on the test tube placing boxes, every material loading dog top also corresponds and blocks a test tube and puts the groove, and the below of material loading passageway is corresponding with the test tube centre gripping recess among the test tube tool, material loading inductor is installed to material loading passageway discharge gate department. In actual work, test tube samples are firstly inserted into test tube placing grooves on a test tube placing box and then placed in corresponding moving frames, before a feeding baffle plate is drawn out, each feeding channel corresponds to the bottom end of a row of test tube placing grooves arranged on the test tube placing box, a row of test tube placing grooves are correspondingly blocked above each feeding baffle plate, then the feeding baffle plate is drawn out, test tubes in the test tube placing grooves enter the corresponding feeding channels one by one under the action of gravity, after the test tubes in the feeding channels are taken away, the test tubes in the same test tube placing groove are fed one by one, after the test tubes in the row of test tube placing grooves are all fed, a seasoning cylinder drives the moving frames to move forwards by one, so that the test tube placing grooves originally positioned above the feeding baffle plates are moved to the upper parts of the feeding channels, automatic feeding of the test tubes in the row of test tube placing grooves can be realized, after all the test tubes in the test tube placing boxes are fed completely, and replacing the new test tube placing box.
Preferably, label scanning mechanism is including installing the support on the mounting panel, the support top is provided with the scanner mounting bracket, and the label scanner is installed on the scanner mounting bracket and just to the test tube tool setting, two pivots are installed at the interval side by side on the support, and pivot driving motor is installed to the bottom of one of them pivot, all installs two belt pulleys side by side from top to bottom in two pivots, connects through the belt between two belt pulleys of parallel arrangement in two pivots, test tube tool surface setting is pressed close to the belt inboard. In actual work, when the test tube in the test tube centre gripping recess removes to label scanner department, pivot driving motor drive pivot is rotated, it is rotatory to drive the belt through installing the epaxial belt pulley of commentaries on classics, because the test tube in the test tube centre gripping recess removes when label scanning mechanism department, the belt is hugged closely with the test tube surface, the belt drives the test tube at test tube centre gripping recess internal rotation at rotatory in-process, thereby can ensure that label scanner can sweep the label on test tube surface, avoid leaking and sweep, the information transmission that label scanner can will scan is to the system. The bottom rear side that lies in the support among the label scanning mechanism installs test tube bottom baffle, and the rear side that lies in the pivot installs test tube lateral part baffle for inject the scanning area, ensure the interference of other position labels, ensure that the label scanner can be accurate scan the label information on the test tube.
Preferably, the bottom of test tube categorised collection box is fixed on the bottom plate through supporting the base, the top of test tube categorised collection box is passed through the angle modulation cylinder slope and is fixed on the bottom plate, because the blanking angle of test tube categorised collecting vat has great influence to the speed of test tube sample whereabouts, and the speed of test tube sample whereabouts has very big influence to the impact force between the test tube sample, consequently can adjust the inclination of test tube categorised collection box through angle modulation cylinder before the test tube blanking, ensures that test tube sample can not damage because of bumping in the blanking process.
Preferably, the blanking valve mechanism comprises a blanking baffle, a blanking cylinder, a blanking connecting rod and a baffle driving rod, wherein the blanking baffle is arranged at the top of the blanking tank, the blanking cylinder is arranged at the back of the blanking box, a telescopic shaft of the blanking cylinder is connected with the bottom end of the baffle driving rod through the blanking connecting rod, and the top end of the baffle driving rod is connected with the blanking baffle. During the actual working, when not arriving system signal, the import of unloading baffle with the charging conduit blocks, and when test tube sample followed test tube tool and moved backward to corresponding charging conduit top, during the action of system control unloading cylinder, unloading cylinder drive baffle actuating lever upwards deflected the unloading baffle for the unloading baffle blocks the position that test tube sample gos forward, and makes test tube sample blanking to corresponding charging conduit in under the action of gravity.
Preferably, a normally open baffle is mounted at the top end of the last charging chute on the charging box, and once the system cannot scan the information of the test tube sample, the normally open baffle can also block the test tube sample and charge the test tube sample into the last charging chute for collection; each test tube classification collecting tank is correspondingly provided with a test tube inductor so as to accurately count the number of test tube samples in each test tube classification collecting tank; test tube feed mechanism's material loading passageway discharge gate department installs the material loading inductor, in case sense not have the test tube sample in the material loading passageway, signals warning reloads.
Preferably, test-tube rack conveying mechanism includes that the vertical silo of installing on the test-tube rack on the bottom plate, the discharge gate has been seted up to the bottom of silo on the test-tube rack, and first conveyer is installed in the front side of silo bottom discharge gate on the test-tube rack, pushes away the material voussoir and installs the rear side at silo bottom discharge gate on the test-tube rack, pushes away the material cylinder and installs the rear end that pushes away the material voussoir at the rear side of pushing away the material voussoir and the telescopic shaft that pushes away the material cylinder is connected with the rear end that pushes away the material voussoir, and the discharge gate department at first conveyer is installed perpendicularly to the second conveyer level, install a plurality of test-tube racks on the second conveyer and block the station, every test-tube rack blocks the station and all includes a location inductor of installing in the second conveyer side, and the material blocking cylinder is installed to the rear of location inductor, and the discharge gate department that is located first conveyer corresponds installs bar code scanner. In actual operation, the test tube racks in a pile are manually placed in the feeding groove of the test tube rack, the material pushing cylinder arranged at the rear side of the discharge hole at the bottom of the feeding groove of the test tube rack drives the material pushing wedge blocks to push the test tube racks in the feeding groove of the test tube rack to the first conveyor one by one, the first conveyor conveys the test tube racks to the second conveyor, and the position of the test tube rack is sensed by positioning sensors in a plurality of test tube rack blocking stations arranged on the second conveyor, when the test tube rack moves to a corresponding station, the material blocking cylinder acts to position and block the test tube rack to the station so as to carry out corresponding test tube inserting operation, after this test-tube rack was inserted fully, the fender material cylinder resets, will insert the test-tube rack of full test tube through the second conveyer and carry to next station, and bar code scanner's effect is the bar code of scanning on every test-tube rack to information when subsequent test tube is inserted and is put corresponds.
Preferably, the tail end of the second conveyor is provided with a stop block, the rear part of the stop block is provided with an in-place sensor, the side surface of the tail end of the second conveyor is provided with a discharging cylinder, the tail end of the second conveyor is provided with a third conveyor perpendicular to the second conveyor, and the third conveyor is arranged right opposite to the material pushing direction of the discharging cylinder. During actual work, when the test-tube rack that is full of the test tube removed the terminal dog that targets in place of second conveyer, the inductor that targets in place detected the position of test-tube rack, then gives the signal, can follow propelling movement to third conveyer on the second conveyer with the test-tube rack through the unloading cylinder to carry out the unloading through the third conveyer.
Preferably, the intelligent manipulator still includes the guide rail frame, install the X that two parallel intervals set up in the guide rail frame to the guide rail, X is installed X to sharp module on to the guide rail, and Y is installed on X to sharp module to the guide rail, Y is installed Y to sharp module to on the guide rail, and Z is fixed on Y to sharp module to the guide rail along Z, and Z is installed on Z to the guide rail to sharp module, and the test tube snatchs the manipulator and installs on Z is to sharp module. During actual work, can the accurate drive test tube snatch the manipulator X, Y and the removal of Z to through X to sharp module, Y to sharp module and Z to sharp module.
Preferably, the below of angle modulation seat is provided with the base, is connected through the connecting block between base and the angle modulation seat, install splint on the base and drive actuating cylinder, splint drive actuating cylinder bottom and install splint, splint will a plurality of test tube grabs the claw parcel of installing on test tube grabs drives actuating cylinder, the splint inboard is provided with a plurality of semicircular positioning clamp grooves that match with the test tube. In the time of the actual operation, divide apart from the cylinder drive when dividing apart from the pull rod will originally the laminating test tube equidistance after separately, drive actuating cylinder through splint and can drive splint and press from both sides the test tube tightly, ensure that the test tube divides the position after apart from stable, divide apart from accomplishing the back, it can drive splint through splint and press from both sides the test tube tightly to drive actuating cylinder, semi-circular location presss from both sides the groove and just stabilizes the centre gripping with the test tube at semi-circular location clamp inslot, further ensures the stability of each test tube position when inserting.
The full-automatic intelligent sorting machine for the test tube samples, provided by the invention, has the beneficial effects that:
1) the full-automatic intelligent sorting machine for test tube samples can realize one-by-one feeding, automatic conveying and scanning of test tube samples, automatic continuous classification blanking and storage after the test tube samples are scanned, automatic feeding of test tube racks and accurate insertion of classified test tubes into corresponding test tube racks for classification delivery inspection through the structural design of the test tube feeding mechanism, the test tube conveying mechanism, the label scanning mechanism, the sorting blanking mechanism, the intelligent mechanical arm and the test tube rack conveying mechanism, has high automation degree, high efficiency and high accuracy, and can sort more than 3000 test tubes per hour;
2) this full-automatic test tube sample intelligence sorting machine passes through test tube feed mechanism's structural design, can realize the automatic orderly material loading of test tube sample, improves the efficiency of test tube material loading by a wide margin, satisfies the requirement of the quick material loading of modern sorting machine. In actual work, test tube samples are firstly inserted into test tube placing grooves on a test tube placing box and then placed in corresponding moving frames, before a feeding baffle plate is drawn out, each feeding channel corresponds to the bottom end of a row of test tube placing grooves arranged on the test tube placing box, a row of test tube placing grooves are correspondingly blocked above each feeding baffle plate, then the feeding baffle plate is drawn out, test tubes in the test tube placing grooves enter the corresponding feeding channels one by one under the action of gravity, after the test tubes in the feeding channels are taken away, the test tubes in the same test tube placing groove are fed one by one, after the test tubes in the row of test tube placing grooves are all fed, a seasoning cylinder drives the moving frames to move forwards by one, so that the test tube placing grooves originally positioned above the feeding baffle plates are moved to the upper parts of the feeding channels, automatic feeding of the test tubes in the row of test tube placing grooves can be realized, after all the test tubes in the test tube placing boxes are fed completely, replacing a new test tube placing box;
3) the full-automatic intelligent sorting machine for test tube samples can realize one-by-one automatic conveying of the test tube samples through the structural design of the test tube conveying mechanism, and in actual work, the driving motor can drive the driving chain wheel to rotate, so that the driving chain drives the test tube jig arranged on the chain to rotate, and further drives the test tubes placed in the test tube clamping grooves on the test tube jig to move, thereby ensuring that the test tubes can be stably conveyed one by one;
4) the full-automatic intelligent sorting machine for the test tube samples fully utilizes the structural characteristics of the test tube clamping groove on the test tube jig through the structural design of the label scanning mechanism, adopts the mode that the belt is tightly attached to the surface of the test tube, utilizes the belt to drive the test tube to rotate in the test tube clamping groove in the rotating process, and adopts the staggered scanning mode, so that the label scanner can be ensured to scan the labels on the surface of the test tube, and the missing scanning is avoided;
5) the full-automatic intelligent sorting machine for test tube samples can realize automatic continuous classified blanking and storage after the test tube samples are scanned through the structural design of the sorting and blanking mechanism, during actual work, the system can control the blanking valve mechanism arranged at the top of the blanking groove according to information scanned by the label scanner, when the test tubes move backwards to the upper part of the corresponding blanking groove along with the test tube jig, the blanking valve mechanism acts to enable the test tubes to fall into the corresponding blanking grooves on the blanking box under the action of gravity, the test tubes are blanked into the test tube classified collecting grooves correspondingly arranged on the test tube classified collecting box through the blanking grooves to be stored, the test tube samples collected in each test tube classified collecting groove are the same in type, so that the subsequent inspection of the same department can be carried out, and the automatic continuous classified blanking and storage after the test tube samples are scanned can be realized;
6) this full-automatic test tube sample intelligence sorting machine can realize the automatic discharging of test-tube rack, the location of work position and unload through the structural design to test-tube rack conveying mechanism, and degree of automation is high, can satisfy modern production's requirement. During actual work, the stacked test tube racks are placed in the test tube rack feeding groove manually, the pushing air cylinders arranged on the rear sides of the discharge ports at the bottoms of the test tube rack feeding groove drive the pushing wedge blocks to push the test tube racks in the test tube rack feeding groove to the first conveyor one by one, the test tube racks are conveyed to the second conveyor through the first conveyor, the positions of the test tube racks are sensed through the positioning sensors in the plurality of test tube rack blocking stations arranged on the second conveyor, when the test tube racks move to corresponding stations, the material blocking air cylinders act to position and block the test tube racks to the stations so as to perform corresponding test tube inserting operation, and when the test tube racks are fully inserted, the material blocking air cylinders reset and convey the test tube racks fully inserted with the test tubes to the next stations through the second conveyor;
7) this full-automatic test tube sample intelligence sorting machine is through the structural design to intelligent machine hand, can satisfy simultaneously that the inclined plane test tube snatchs and perpendicular test tube male requirement, can divide apart from automatically moreover, ensures that the test tube can accurately insert to the test tube of test-tube rack downtheholely.
Drawings
Fig. 1 is a front view of a three-dimensional structure of the present invention.
Fig. 2 is a rear view of the three-dimensional structure of the present invention.
Fig. 3 is a schematic view of the mounting structure of the test tube feeding mechanism, the test tube conveying mechanism and the label scanning mechanism in the invention.
Fig. 4 is a front view of the three-dimensional structure of the test tube feeding mechanism in the invention.
Fig. 5 is a rear view of the three-dimensional structure of the test tube feeding mechanism of the present invention.
Fig. 6 is a schematic installation diagram of the three-dimensional structures of the test tube conveying mechanism, the label scanning mechanism and the sorting and blanking mechanism in the invention.
Fig. 7 is a schematic view of a partial installation structure of the label scanning mechanism and the test tube conveying mechanism in the present invention.
Fig. 8 is a rear view of a three-dimensional structure of the sorting and blanking mechanism in the invention.
Fig. 9 is an enlarged schematic view of a partial structure of the sorting and blanking mechanism of the invention.
Fig. 10 is a schematic perspective view of a label scanning mechanism according to the present invention.
Fig. 11 is a schematic view of an installation structure of the label scanning mechanism and the test tube jig according to the present invention.
Fig. 12 is a front view of the three-dimensional structure of the test tube rack conveying mechanism of the present invention.
Fig. 13 is a rear perspective view of the test tube rack conveying mechanism according to the present invention.
Fig. 14 is a schematic perspective view of the smart manipulator according to the present invention.
Fig. 15 is a front view of a three-dimensional structure of the test tube gripping robot according to the present invention.
Fig. 16 is a rear view of a three-dimensional structure of the test tube gripping robot according to the present invention.
Fig. 17 is a bottom view of the test tube gripping manipulator in the three-dimensional structure.
Fig. 18 is a partial structural view of the test tube gripping robot according to the present invention.
In the figure: 1. a frame; 2. a base plate; 3. mounting a plate; 4. a test tube feeding mechanism; 41. a feeding stop block; 42. a feeding channel; 43. a feeding baffle plate; 44. a test tube placing box; 45. a test tube placing groove; 46. a feeding sensor; 47. moving the frame; 48. a guide rail; 49. a slider; 410. a seasoning cylinder; 411. a connecting seat; 5. a test tube conveying mechanism; 51. a drive sprocket; 52. a driven sprocket; 53. a drive motor; 54. a chain; 55. a test tube fixture; 56. the test tube clamps the groove; 57. a guide support plate; 6. a label scanning mechanism; 61. a support; 62. a scanner mounting bracket; 63. a label scanner; 64. a rotating shaft; 65. the rotating shaft drives the motor; 66. a belt pulley; 67. a belt; 68. a baffle plate at the bottom of the test tube; 69. a test tube side baffle; 7. a sorting and blanking mechanism; 71. a blanking box; 72. a charging chute; 73. a blanking valve mechanism; 731. a blanking baffle; 732. a blanking cylinder; 733. a blanking connecting rod; 734. a baffle drive rod; 735. a normally open baffle; 74. a test tube classification collection box; 75. the test tube classification collecting tank; 76. a support base; 77. an angle adjusting cylinder; 78. a test tube sensor; 8. a test tube rack conveying mechanism; 82. a feeding trough of the test tube rack; 83. a material pushing cylinder; 84. pushing a wedge block; 85. a first conveyor; 86. a second conveyor; 87. a material blocking cylinder; 88. positioning the inductor; 89. a stop block is in place; 810. a blanking cylinder; 811. a third conveyor; 812. an in-place sensor; 813. a barcode scanner; 814. a test tube rack; 9. an intelligent manipulator; 91. a guide rail frame; 92. an X-direction guide rail; 93. an X-direction straight line module; 94. a Y-direction guide rail; 95. a Y-direction linear module; 96. a Z-direction guide rail; 97. a Z-direction straight line module; 98. a test tube grabbing manipulator; 981. an angle adjusting cylinder mounting base; 982. an angle adjusting cylinder; 983. a rotating shaft seat; 984. a rotating shaft; 985. an angle adjusting seat; 986. connecting blocks; 987. the test tube gripper drives the cylinder; 988. a base; 989. the clamping plate drives the cylinder; 9810. a splint; 9812. a pitch cylinder; 9813. a test tube gripper; 9814. a distance-dividing slide rail; 9815. a distance dividing slide block; 9816. a distance-dividing connecting rod; 9817. a distance-dividing pull rod; 9818. positioning the clamp groove; 100. test tubes.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person skilled in the art without making any inventive step are within the scope of the present invention.
Example (b): a full-automatic intelligent sorting machine for test tube samples.
Referring to fig. 1 to 18, a fully automatic intelligent sorting machine for test tube samples comprises:
a frame 1;
a bottom plate 2 horizontally mounted on the frame 1;
the mounting plate 3 is obliquely arranged on the rack 1, and the mounting plate 3 is inclined so as to facilitate the subsequent natural blanking by using the gravity of the test tube;
the test tube conveying mechanism 5 is mounted on the mounting plate 3, the test tube conveying mechanism 5 comprises a driving chain wheel 51 and a driven chain wheel 52 which are mounted on the mounting plate 3 at intervals in parallel, the driving chain wheel 51 and the driven chain wheel 52 are connected through a chain 54, a driving motor 53 is mounted on the mounting plate 3 and connected with the driving chain wheel 51, a plurality of test tube jigs 55 which can move along with the chain 54 are mounted on the chain 54, and test tube clamping grooves 56 are formed in each test tube jig 55; a guide support plate 57 is installed at the inner side of the chain 54 for supporting the stable movement of the chain 54;
the test tube feeding mechanism 4 is arranged on the mounting plate 3 and positioned above the test tube conveying mechanism 5, the test tube feeding mechanism 4 comprises two guide rails 48 which are arranged on the back surface of the mounting plate 3 at intervals in parallel, two moving frames 47 which are arranged at intervals are arranged on the guide rails 48 through sliders 49, seasoning cylinders 410 are arranged on one side of the moving frames 47, telescopic shafts of the seasoning cylinders 410 are connected with the moving frames 47 through connecting seats 411, two test tube placing boxes 44 which are arranged in parallel are placed in the moving frames 47, the test tube placing boxes 44 are obliquely arranged, a plurality of rows of test tube placing grooves 45 which are distributed in parallel at intervals are arranged in each test tube placing box 44, test tubes 100 are placed in the test tube placing grooves 45 in rows, a drawable feeding baffle plate 43 is arranged at the bottom end of each test tube placing box 44, a plurality of feeding baffle blocks 41 which are distributed at intervals side by side are arranged below the feeding baffle plate 43, a feeding channel 42 is arranged between the two feeding baffles 41, each feeding channel 42 corresponds to the bottom end of a row of test tube placing grooves 45 arranged on the test tube placing box 44, a row of test tube placing grooves 45 are correspondingly blocked above each feeding baffle 41, the lower part of each feeding channel 42 corresponds to a test tube clamping groove 56 in the test tube jig 55, a feeding sensor 46 is arranged at the discharge port of each feeding channel 42, once no test tube sample is sensed in the feeding channel 42, a signal is sent to remind material change, in actual work, a test tube 100 sample is firstly inserted into the test tube placing groove 45 on the test tube placing box 44 and then placed in a corresponding moving frame 47, before the feeding baffles 43 are drawn out, each feeding channel 42 corresponds to the bottom end of a row of test tube placing grooves 45 arranged on the test tube placing box 44, and a row of test tube placing grooves 45 is correspondingly blocked above each feeding baffle 41, then the feeding baffle plate 43 is drawn out, under the action of gravity, the test tubes 100 in the test tube placing grooves 45 enter the corresponding feeding channels 42 one by one, after the test tubes in the feeding channels 42 are taken away, the test tubes in the same test tube placing groove 45 are fed one by one, after the test tubes in the row of test tube placing grooves 45 are all fed, the seasoning cylinder 410 drives the moving frame 47 to move a station forward, so that the test tube placing groove 45 originally positioned above the feeding baffle block 41 is moved to the upper part of the feeding channels 42, the automatic feeding of the test tubes in the row of test tube placing grooves 45 can be realized, by the design, the feeding amount of the test tubes 100 can be increased, the frequency of replacing the test tube placing boxes 44 is reduced, after the feeding of all the test tubes in the test tube placing boxes 44 is completed, the automatic and ordered feeding of test tube samples can be realized, and the efficiency of the test tube feeding is greatly improved, the requirement of rapid feeding of a modern sorting machine is met;
install the label scanning mechanism 6 at the front end below the test tube conveying mechanism 5, the label scanning mechanism 6 includes the support 61 installed on the mounting panel 3, the top of the support 61 is provided with scanner mounting bracket 62, the label scanner 63 is installed on the scanner mounting bracket 62 and just sets up to the test tube fixture 55, two rotating shafts 64 are installed on the support 61 at intervals side by side, a rotating shaft driving motor 65 is installed at the bottom of one rotating shaft 64, two belt pulleys 66 are installed side by side from top to bottom on both rotating shafts 64, the two belt pulleys 66 arranged in parallel on both rotating shafts 64 are connected through a belt 67, the surface of the test tube fixture 55 is pressed close to the inner side of the belt 67, the direction of rotation of the rotating shaft driving motor 65 driving belt 67 is opposite to the direction of movement of the chain 54 in the test tube conveying mechanism 5, and the mode of interlaced scanning is adopted, so as to ensure that the information on the test tube label can be scanned, the missing of sweeping is avoided; in actual work, when the test tube 100 in the test tube clamping groove 56 moves to the label scanner 63, the rotating shaft driving motor 65 drives the rotating shaft 64 to rotate, the belt pulley 66 installed on the rotating shaft 64 drives the belt 67 to rotate, and as the test tube in the test tube clamping groove 56 moves to the label scanning mechanism 6, the belt 67 is tightly attached to the surface of the test tube, and the belt 67 drives the test tube to rotate in the test tube clamping groove 56 in the rotating process, so that the label scanner 63 can be ensured to scan the label on the surface of the test tube, the missing scanning is avoided, and the label scanner 63 can send the scanned information to the system; a test tube bottom baffle 68 is arranged on the rear side of the bottom of the bracket 61 in the label scanning mechanism 6, and a test tube side baffle 69 is arranged on the rear side of the rotating shaft 64 and used for limiting a scanning area, ensuring the interference of labels at other positions and ensuring that the label scanner 63 can accurately scan the label information on the test tube;
the sorting and blanking mechanism 7 is installed below the test tube conveying mechanism 5 and behind the label scanning mechanism 6, the sorting and blanking mechanism 7 comprises a test tube classification collection box 74 obliquely installed on the bottom plate 2, the test tube classification collection box 74 is provided with a plurality of test tube classification collection grooves 75 arranged at parallel intervals, each test tube classification collection groove 75 is correspondingly provided with a test tube inductor 78 so as to accurately count the number of test tube samples in each test tube classification collection groove 75, the bottom of the test tube classification collection box 74 is fixed on the bottom plate 2 through a supporting base 76, the top of the test tube classification collection box 74 is obliquely fixed on the bottom plate 2 through an angle adjusting cylinder 77, because the blanking angle of the test tube classification collection groove 75 has a large influence on the falling speed of the test tube samples, and the falling speed of the test tube samples has a large influence on the impact force among the test tube samples, therefore, the inclination angle of the test tube classifying and collecting box 74 can be adjusted by the angle adjusting cylinder 77 before the test tubes are blanked, and the test tube samples are prevented from being damaged due to collision in the blanking process; the test tube classifying and collecting box 74 is provided with an inclined blanking box 71 above, the blanking box 71 is provided with a plurality of blanking slots 72 arranged at intervals in parallel, the bottom of each blanking slot 72 corresponds to the top of the test tube classifying and collecting slot 75 on the test tube classifying and collecting box 74, the top of each blanking slot 72 is provided with an independently controlled blanking valve mechanism 73, in actual work, the system controls the blanking valve mechanisms 73 arranged at the tops of the blanking slots 72 according to information scanned by the label scanner 63, when the test tubes move backwards to the positions above the corresponding blanking slots 72 along with the test tube jigs 55, the blanking valve mechanisms 73 act to ensure that the test tubes 100 fall into the corresponding blanking slots 72 on the blanking box 71 under the action of gravity, the test tubes are blanked into the test tube classifying and collecting slots 75 correspondingly arranged on the test tube classifying and collecting box 74 through the blanking slots 72 to be stored, and the types of the test tube samples collected in each test tube classifying and collecting slot 75 are the same, so that subsequent submission of the same department can be facilitated; the blanking valve mechanism 73 comprises a blanking baffle 731, a blanking cylinder 732, a blanking connecting rod 733 and a baffle driving rod 734, wherein the blanking baffle 731 is installed at the top of the blanking groove 72, the blanking cylinder 732 is installed at the back of the blanking box 71, the telescopic shaft of the blanking cylinder 732 is connected with the bottom end of the baffle driving rod 734 through the blanking connecting rod 733, and the top end of the baffle driving rod 734 is connected with the blanking baffle 731. In actual operation, when a system signal is not received, the blanking baffle 731 blocks the inlet of the blanking groove 72, when the test tube sample moves backward above the corresponding chute 72 following the test tube jig 55, when the system controls the blanking cylinder 732 to act, the blanking cylinder 732 drives the baffle driving rod 734 to deflect the blanking baffle 731 upwards, so that the blanking baffle 731 blocks the forward position of the test tube sample, and the test tube 100 sample is dropped into the corresponding drop chute 72 under the action of gravity, and is dropped into the test tube classification collecting tank 75 correspondingly arranged on the test tube classification collecting box 74 through the drop chute 72 for storage, the test tube sample collected in each test tube classification collecting tank 75 is of the same type, so as to be convenient for subsequent submission in the same department, thereby realizing the automatic conveying and scanning of the test tube samples one by one and the automatic continuous classified blanking and storage after the test tube samples are scanned; the top end of the last blanking groove 72 on the blanking box 71 is provided with a normally open baffle 735, once the system cannot scan the information of the test tube sample, the normally open baffle 735 can also block and blank the test tube sample into the last blanking groove 72 for collection, so as to prevent the test tube from rotating circularly along with the chain 54;
the test tube rack conveying mechanism 8 is installed on the bottom plate 2 and located on one side of the sorting and blanking mechanism 7, the test tube rack conveying mechanism 8 comprises a test tube rack feeding groove 82 vertically installed on the bottom plate 2, a discharging hole is formed in the bottom of the test tube rack feeding groove 82, an inductor is correspondingly installed above the discharging hole on the test tube rack feeding groove 82, when no test tube rack is arranged above the discharging hole, the test tube rack 814 is reminded to be added, a first conveyor 85 is installed on the front side of the discharging hole at the bottom of the test tube rack feeding groove 82, a material pushing wedge block 84 is installed on the rear side of the discharging hole at the bottom of the test tube rack feeding groove 82, a material pushing cylinder 83 is installed on the rear side of the material pushing wedge block 84, a telescopic shaft of the material pushing cylinder 83 is connected with the rear end of the material pushing wedge block 84, in actual work, the test tube rack 814 in a stack is placed in the test tube rack feeding groove 82 only through manpower, and the material pushing wedge block 84 is driven by the cylinder 83 installed on the rear side of the discharging hole at the bottom of the test tube rack feeding groove 82 The pipe racks 814 are pushed one by one onto the first conveyor 85; the second conveyor 86 is horizontally and vertically installed at a discharge port of the first conveyor 85, a bar code scanner 813 is correspondingly installed at the discharge port of the first conveyor 85, the bar code scanner 813 is used for scanning bar codes on each test tube rack 814 and recording a system so as to correspond to information when subsequent test tubes 100 are inserted and placed, the same test tube samples can be conveniently recorded and inserted into the test tube racks 814 of corresponding departments, three test tube rack blocking stations are installed on the second conveyor 86, each test tube rack blocking station comprises a positioning sensor 88 installed on the side surface of the second conveyor 86, a material blocking cylinder 87 is installed behind the positioning sensor 88, in actual work, the test tube racks 814 are conveyed to the second conveyor 86 through the first conveyor 85, the position of the test tube racks 814 is sensed through the positioning sensor 88 installed on the second conveyor 86, when the positioning sensor 88 senses that the test tube racks 814 move to corresponding stations, giving a signal to drive the material blocking cylinder 87 to act, positioning and blocking the test tube rack 814 to the station so as to perform corresponding test tube inserting and placing operations, resetting the material blocking cylinder 87 after the test tube rack 814 is fully inserted, and conveying the test tube rack 814 fully inserted with test tubes to the next station through the second conveyor 86; the tail end of the second conveyor 86 is provided with an in-place stop block 89, an in-place sensor 812 is arranged behind the in-place stop block 89, a blanking cylinder 810 is arranged on the side surface of the tail end of the second conveyor 86, when in actual work, when the test tube rack 814 full of test tubes moves to the in-place stop block 89 at the tail end of the second conveyor 86, the in-place sensor 812 detects the position of the test tube rack 814, then a signal is given, and the test tube rack 814 is pushed to a next process from the second conveyor 86 through the blanking cylinder 810; a third conveyor 811 which is perpendicular to the second conveyor 86 is arranged at the tail end of the second conveyor 86, the third conveyor 811 is arranged opposite to the material pushing direction of the blanking cylinder 810, and in actual work, the test tube rack 814 can be pushed from the second conveyor 86 to the third conveyor 811 through the blanking cylinder 810, and blanking is performed through the third conveyor 811;
an intelligent manipulator 9 which is arranged on the bottom plate 2 and is positioned between the sorting and blanking mechanism 7 and the test tube rack conveying mechanism 8, the intelligent manipulator 9 comprises a guide rail frame 91, two X-direction guide rails 92 which are arranged in parallel at intervals are arranged on the guide rail frame 91, the X-direction guide rail 92 is provided with an X-direction linear module 93, the Y-direction guide rail 94 is arranged on the X-direction linear module 93, the Y-direction guide rail 94 is provided with a Y-direction linear module 95, the Z-direction guide rail 96 is fixed on the Y-direction linear module 95 along the Z direction, the Z-direction linear module 97 is arranged on the Z-direction guide rail 96, the test tube grabbing manipulator 98 is arranged on the Z-direction linear module 97, during actual work, the test tube grabbing manipulator 98 can be precisely driven to move in X, Y and Z directions through the X-direction linear module 93, the Y-direction linear module 95 and the Z-direction linear module 97 so as to grab and move the test tube 100; the test tube grabbing manipulator 98 comprises an angle adjusting cylinder mounting seat 981 fixed on the Z-direction linear module 97, a rotating shaft seat 983 is arranged at the bottom of the angle adjusting cylinder mounting seat 981, a rotating shaft 984 is fixed on the rotating shaft seat 983, one end of an angle adjusting seat 985 is connected with the front end of the rotating shaft 984, the top of an angle adjusting cylinder 982 is fixed on the angle adjusting cylinder mounting seat 981, the angle adjusting cylinder 982 is obliquely arranged, and the telescopic shaft of the angle adjusting cylinder 982 is connected with one end of the angle adjusting seat 985 far away from the rotating shaft 984 through a triangular seat, the angle adjusting seat 985 can be driven by the angle adjusting cylinder 982 to rotate around the rotating shaft 984, so as to realize the adjustment of the angle adjusting seat 985 on the Z-direction offset angle, and further adapt to the requirements on the grabbing angle of the test tube 100 in the obliquely designed material distributing groove and the angle requirements on vertical insertion and placement; the bottom of the angle adjusting seat 985 is provided with a distance-dividing slide rail 9814, five distance-dividing sliders 9815 are arranged on the distance-dividing slide rail 9814 in parallel, the five distance-dividing sliders 9815 are connected through an elastic distance-dividing pull rod 9817, the bottom of each distance-dividing slider 9815 is correspondingly provided with a test tube gripper driving cylinder 987, each test tube gripper driving cylinder 987 is correspondingly provided with a test tube gripper 9813, a distance-dividing cylinder 9812 is arranged at the bottom of the angle adjusting seat 985 and is parallel to the distance-dividing slide rail 9814, a telescopic shaft of the distance-dividing cylinder 9812 is connected with the front end of the distance-dividing pull rod 9817 through a distance-dividing connecting rod 9816, when test tubes 100 classified in the test tube classification collecting tank 75 on the inclined plane need to be grabbed, firstly, the angle adjusting cylinder 982 drives the angle adjusting seat 985 to rotate around a rotating shaft 984, so that the test tube gripper driving cylinders 987 and the grippers 9813 arranged at the bottom of the angle adjusting seat 985 are parallel to the test tube classification collecting tank 75 on the inclined plane, then through X to sharp module 93, Y is to sharp module 95 drive test tube snatch the manipulator 98 and wholly move to test tube 100's in the test tube classification collecting vat 75 top, drive test tube snatch the manipulator 98 through Z to sharp module 97 and descend and make test tube gripper 9813 and the test tube head contact in the test tube classification collecting vat 75, then drive test tube gripper 987 drive test tube gripper 9813 closure through test tube gripper drive cylinder 9813 and press from both sides the test tube head tightly, then through X to sharp module 93, Y is to sharp module 95 and Z to sharp module 97 drive test tube gripper manipulator 98 and move, take out test tube 100 from test tube classification collecting vat 75 and move to the top of test-tube rack 814, then angle adjusting cylinder 982 drives angle adjustment seat 985 again and circles axle 984 and rotates to the level for test tube 100 that is got by the clamp is perpendicular with test-tube rack 814, then drive the minute distance pull rod 9817 through minute distance cylinder 9812 and move, the spacing pull rod 9817 drives the spacing slider 9815 to drive the five test tube grippers to drive the cylinder 987 to move, test tubes 100 which are originally attached together are equidistantly separated and just matched with test tube holes in the test tube rack 9814, finally, the Z-direction straight line module 97 drives the test tube gripping manipulator 98 to move downwards, the five test tubes 100 which are gripped at one time are accurately inserted into the test tube holes in the test tube rack 814, and finally, the X-direction straight line module 93, the Y-direction straight line module 95 and the Z-direction straight line module 97 drive the test tube gripping manipulator 98 to reset for gripping and inserting of the test tube in the next round; the angle adjustment seat 985's below is provided with base 988, is connected through connecting block 986 between base 988 and the angle adjustment seat 985, it drives actuating cylinder 989 to install splint on the base 988, splint drive actuating cylinder 989 bottom and install splint 9810, splint 9810 will five test tube grabs 9813 parcels of installing on test tube grabs drive actuating cylinder 987 to splint 9810 inboard is provided with five semicircular positioning clamp grooves 9818 that match with test tube 100, and during operation, after the test tube 100 equidistance that originally the laminating was in the same place was separated to driven the driving range pull rod 9817 of range cylinder 9812, it can drive splint 9810 through splint and press from both sides test tube 100 tightly, and semicircular positioning clamp groove 9818 is just stable centre gripping with the test tube in semicircular positioning clamp groove 9818, further ensures the stability of each test tube 100 position when inserting.
This full-automatic test tube sample intelligence sorting machine is through to test tube feed mechanism 4, test tube conveying mechanism 5, label scanning mechanism 6, letter sorting blanking mechanism 7, intelligent mechanical hand 9 and test-tube rack conveying mechanism 8's structural design, can realize test tube sample's material loading one by one, automatic transport, scanning, automatic continuous classification blanking and storage after the test tube sample scanning, the automatic feeding of test-tube rack and through the manipulator with categorised test tube accurate insert to the test-tube rack that corresponds in categorised censorship, degree of automation is high, high efficiency, the accuracy is high, can sort more than 3000 test tubes per hour.
In actual operation, the test tubes 100 are first inserted into the test tube placing grooves 45 on the test tube placing boxes 44, and then placed in the corresponding movable frames 47, before the feeding baffles 43 are drawn out, each feeding channel 42 corresponds to the bottom end of a row of test tube placing grooves 45 arranged on the test tube placing boxes 44, a row of test tube placing grooves 45 is correspondingly blocked above each feeding baffle 41, then the feeding baffles 43 are drawn out, the test tubes 100 in the test tube placing grooves 45 enter the corresponding feeding channels 42 one by one under the action of gravity, when the test tubes in the feeding channels 42 are taken away, the test tubes in the same test tube placing groove 45 are discharged one by one, when all the test tubes in the row of test tube placing grooves 45 are fed, the flavoring air cylinder 410 drives the movable frame 47 to move forward one station, so that the test tube placing grooves 45 originally located above the feeding baffles 41 move to the upper portions of the feeding channels 42, can realize this automatic feeding who arranges test tube in groove 45 is put to test tube, so design, can increase test tube 100's material loading volume, reduce the test tube and put the frequency that box 44 changed, put the whole material loading of test tube in box 44 and accomplish the back when the test tube, it can to change new test tube and put box 44.
The collected test tube sample enters the test tube clamping groove 56 of the test tube fixture 55 from the feeding channel 42 on the feeding block 41, so that the test tubes 100 can be fed one by one, the driving chain wheel 51 can be driven to rotate by the driving motor 53, and the driving chain 54 drives the test tube fixture 55 installed on the chain 54 to rotate, so as to drive the test tubes placed in the test tube clamping groove 56 on the test tube fixture 55 to move, thereby ensuring that the test tubes 100 can be stably conveyed one by one, when the test tubes 100 in the test tube clamping groove 56 move to the label scanner 63, the rotating shaft driving motor 65 drives the rotating shaft 64 to rotate, the belt 67 is driven to rotate by the belt pulley 66 installed on the rotating shaft 64, because the test tubes in the test tube clamping groove 56 move to the label scanner 6, the belt 67 is closely attached to the surface of the test tubes, and the belt 67 drives the test tubes to rotate in the test tube clamping groove 56, thereby can ensure that label scanner 63 can sweep the label on test tube surface, avoid leaking to sweep, label scanner 63 can be with the information transmission who scans to the system, the system can be according to the unloading valve mechanism 73 at blanking groove 72 top is installed to the information control that label scanner 63 scans, when the test tube is following test tube tool 55 and move backward to corresponding blanking groove 72 top, unloading valve mechanism 73 moves, make test tube 100 drop to corresponding blanking groove 72 on blanking box 71 under the action of gravity in, store in the test tube classification collecting vat 75 that corresponds the setting on the test tube classification collecting vat 74 through blanking groove 72, the test tube sample type that collects in every test tube classification collecting vat 75 is the same, so that follow-up censorship of the same department.
Meanwhile, the test tube rack 814 piled up is manually placed in the test tube rack feeding groove 82, the material pushing cylinder 83 mounted on the rear side of the bottom discharge hole of the test tube rack feeding groove 82 drives the material pushing wedge block 84 to push the test tube racks 814 in the test tube rack feeding groove 82 to the first conveyor 85 one by one, the test tube rack 814 is conveyed to the second conveyor 86 through the first conveyor 85, the position of the test tube rack 814 is sensed through the positioning sensor 88 mounted on the second conveyor 86, when the positioning sensor 88 senses that the test tube rack 814 moves to a corresponding station, a signal is given to drive the material blocking cylinder 87 to act, the test tube rack 814 is positioned and blocked to the station, and therefore corresponding test tube inserting operation is conducted.
Then through X in the intelligent manipulator 9 to sharp module 93, Y to sharp module 95 and Z to sharp module 97 can the accurate drive test tube snatch the manipulator 98 in X, Y and the removal of Z to, at first drive angle adjustment seat 985 through angle adjustment cylinder 982 and revolute the rotation of axis 984, make the test tube gripper drive cylinder 987 and the test tube gripper 9813 of installing in angle adjustment seat 985 bottom be parallel with the categorised collecting vat 75 of test tube on the inclined plane, then through X to sharp module 93, Y to sharp module 95 drive test tube gripper manipulator 98 wholly move to the test tube 100's in the categorised collecting vat 75 of test tube, through Z to sharp module 97 drive test tube gripper manipulator 98 decline and make test tube gripper 9813 contact with the test tube head in the categorised collecting vat 75 of test tube, then through test tube gripper drive cylinder 987 drive test tube gripper 9813 closure with the test tube head clamp, then lead to X to sharp module 93, Y is to sharp module 95 of straight line and Z to sharp module 97 drive test tube and snatch the manipulator 98 and remove, take out test tube 100 from test tube classification collecting vat 75 and remove to the top of test-tube rack 814, then angle adjusting cylinder 982 drives angle adjusting seat 985 again and revolves the axle 984 and rotate to the level, make the test tube 100 of being got by the clamp perpendicular with test-tube rack 814, then through the branch apart from cylinder 9812 drive minute pull rod 9817 and remove, minute pull rod 9817 drive minute distance slider 9815 drives five test tube grabs the claw drive cylinder 987 and removes, test tube 100 equidistance that will paste together is separated, and just match with the test tube hole on test-tube rack 9814, drive test tube through Z to sharp module 97 at last and snatch manipulator 98 move down, accurately insert five test tube 100 that once only snatched to test tube hole on test-tube rack 814, last X is to sharp module 93, Y is to sharp module 95 and Z to sharp module 97 drive test tube snatch manipulator 98 and reset, carry out snatching, inserting of next round test tube and put to realize that 100 slopes of test tube snatch, set upright perpendicularly, divide apart from and insert to the test tube rack automatically downthehole.
After this test-tube rack 814 is full, the material blocking cylinder 87 resets, the test-tube rack 814 full of test tubes is conveyed to the stop dog 89 that targets in that installs at the second conveyer 86 end through the second conveyer 86, when the test-tube rack 814 full of test tubes moves to the stop dog 89 that targets in that the second conveyer 86 is terminal, the position that the inductor 812 detected the test-tube rack 814 targets in, then give the signal, push away test-tube rack 814 from second conveyer 86 to third conveyer 811 through unloading cylinder 810, and carry out the unloading through third conveyer 811.
The above description is a preferred embodiment of the present invention, but the present invention should not be limited to the embodiment and the drawings disclosed, and therefore, all equivalents and modifications that can be made without departing from the spirit of the present invention are intended to be protected.

Claims (9)

1. The utility model provides a full-automatic test tube sample intelligence sorting machine which characterized in that includes:
a frame;
a bottom plate horizontally mounted on the frame;
the mounting plate is obliquely mounted on the rack;
the test tube conveying mechanism is arranged on the mounting plate and comprises a driving chain wheel and a driven chain wheel which are arranged on the mounting plate at intervals in parallel, the driving chain wheel and the driven chain wheel are connected through a chain, a driving motor is arranged on the mounting plate and connected with the driving chain wheel, a plurality of test tube jigs capable of moving along with the chain are arranged on the chain, and a test tube clamping groove is formed in each test tube jig;
the test tube feeding mechanism is arranged on the mounting plate and positioned above the test tube conveying mechanism;
a label scanning mechanism arranged at the front end below the test tube conveying mechanism, wherein the label scanning mechanism comprises a bracket arranged on an installation plate, the top of the bracket is provided with a scanner mounting rack, the label scanner is arranged on the scanner mounting rack and is opposite to the test tube jig, the bracket is provided with two rotating shafts at intervals side by side, wherein the bottom of one rotating shaft is provided with a rotating shaft driving motor, two belt pulleys are respectively arranged on the two rotating shafts in parallel up and down, the two belt pulleys arranged on the two rotating shafts in parallel are connected through a belt, the inner side of the belt is arranged close to the surface of the test tube jig, a test tube bottom baffle is arranged at the rear side of the bottom of the bracket in the label scanning mechanism, a test tube side baffle is arranged at the rear side of the rotating shaft, the rotating direction of the rotating shaft driving motor driving the belt is opposite to the moving direction of the chain in the test tube conveying mechanism;
the sorting and blanking mechanism is arranged below the test tube conveying mechanism and behind the label scanning mechanism, and comprises a test tube classifying and collecting box obliquely arranged on a bottom plate, a plurality of test tube classifying and collecting grooves which are arranged at intervals in parallel are arranged on the test tube classifying and collecting box, a blanking box which is obliquely arranged is arranged above the test tube classifying and collecting box, a plurality of blanking grooves which are arranged at intervals in parallel are arranged on the blanking box, the bottoms of the blanking grooves correspond to the tops of the test tube classifying and collecting grooves on the test tube classifying and collecting box, and a blanking valve mechanism which can be independently controlled is arranged at the top of each blanking groove;
the test tube rack conveying mechanism is arranged on the bottom plate and is positioned on one side of the sorting and blanking mechanism;
the intelligent manipulator is arranged on the bottom plate and positioned between the sorting and blanking mechanism and the test tube rack conveying mechanism, the intelligent manipulator comprises an angle adjusting cylinder mounting seat fixed on a Z-direction linear module, a rotating shaft seat is arranged at the bottom of the angle adjusting cylinder mounting seat, the rotating shaft is fixed on the rotating shaft seat, one end of the angle adjusting seat is connected with the front end of the rotating shaft, the top of the angle adjusting cylinder is fixed on the angle adjusting cylinder mounting seat, the angle adjusting cylinder is obliquely arranged, a telescopic shaft of the angle adjusting cylinder is connected with one end, far away from the rotating shaft, of the angle adjusting seat, a sub-distance slide rail is arranged at the bottom of the angle adjusting seat, a plurality of sub-distance slide blocks are arranged on the sub-distance slide rail in parallel, the sub-distance slide blocks are connected through sub-distance pull rods, a test tube gripper driving cylinder is correspondingly arranged at the bottom of each sub-distance slide block, and a test tube gripper is correspondingly arranged on each test tube gripper driving cylinder, the sub-distance cylinder is installed at the bottom of the angle adjusting seat and is arranged parallel to the sub-distance slide rail, and a telescopic shaft of the sub-distance cylinder is connected with the front end of the sub-distance pull rod through a sub-distance connecting rod.
2. The fully automatic intelligent sorting machine for test tube samples according to claim 1, wherein: the test tube feeding mechanism comprises two guide rails which are arranged on the back surface of the mounting plate in parallel at intervals, a plurality of movable frames which are arranged at intervals are arranged on the guide rails through sliding blocks, seasoning cylinders are arranged on one sides of the movable frames, telescopic shafts of the seasoning cylinders are connected with the movable frames through connecting seats, a plurality of test tube placing boxes which are arranged in parallel are placed in the movable frames, the test tube placing boxes are arranged in an inclined manner, a plurality of rows of test tube placing grooves which are distributed in parallel at intervals are arranged in each test tube placing box, the test tubes are placed in the test tube placing grooves in rows, a detachable and insertable feeding baffle plate is arranged at the bottom end of each test tube placing box, a plurality of feeding baffle plates which are distributed in parallel at intervals are arranged below the feeding baffle plate, a feeding channel is arranged between the two feeding baffle plates, each feeding channel corresponds to the bottom end of one row of test tube placing grooves arranged on the test tube placing boxes, and a row of test tube placing grooves are correspondingly blocked above each feeding baffle plate, the below of material loading passageway corresponds with the test tube centre gripping recess among the test tube tool, material loading inductor is installed to material loading passageway discharge gate department.
3. The fully automatic intelligent sorting machine for test tube samples according to claim 1 or 2, characterized in that: the bottom of test tube classified collection box is fixed on the bottom plate through supporting the base, the top of test tube classified collection box is fixed on the bottom plate through angle adjustment cylinder slope.
4. The fully automatic intelligent sorting machine for test tube samples according to claim 1, wherein: the blanking valve mechanism comprises a blanking baffle, a blanking cylinder, a blanking connecting rod and a baffle driving rod, wherein the blanking baffle is arranged at the top of the blanking tank, the blanking cylinder is arranged at the back of the blanking box, a telescopic shaft of the blanking cylinder is connected with the bottom end of the baffle driving rod through the blanking connecting rod, and the top end of the baffle driving rod is connected with the blanking baffle.
5. The fully automatic intelligent sorting machine for test tube samples according to claim 1 or 4, wherein: the blanking box is provided with a normally open baffle at the top end of the last blanking groove, and each test tube classification collecting groove is correspondingly provided with a test tube inductor.
6. The fully automatic intelligent sorting machine for test tube samples according to claim 1, wherein: the test-tube rack conveying mechanism comprises a vertical test-tube rack feeding groove installed on a bottom plate, a discharge hole is formed in the bottom of the feeding groove of the test-tube rack, a first conveyor is installed on the front side of the feeding groove bottom discharge hole of the test-tube rack, a material pushing wedge block is installed on the rear side of the feeding groove bottom discharge hole of the test-tube rack, a material pushing cylinder is installed on the rear side of the material pushing wedge block and connected with the rear end of the material pushing wedge block, a second conveyor is horizontally and vertically installed at the discharge hole of the first conveyor, a plurality of test-tube racks are installed on the second conveyor to block stations, each test-tube rack blocks a station and comprises a positioning sensor installed on the side of the second conveyor, a material blocking cylinder is installed at the rear of each positioning sensor, and a bar code scanner is installed at the corresponding position of the discharge hole of the first conveyor.
7. The fully automatic intelligent sorting machine for test tube samples according to claim 6, wherein: the automatic feeding device is characterized in that a stop block which is in place is installed at the tail end of the second conveyor, an inductor which is in place is installed behind the stop block which is in place, a discharging air cylinder is installed on the side face which is located at the tail end of the second conveyor, a third conveyor which is perpendicular to the second conveyor is arranged at the tail end of the second conveyor, and the third conveyor is arranged right at the pushing direction of the discharging air cylinder.
8. The fully automatic intelligent sorting machine for test tube samples according to claim 1, wherein: the intelligent manipulator still includes the guide rail frame, install the X that two parallel intervals set up in the guide rail frame to the guide rail, X installs X to sharp module on to the guide rail, and Y is installed on X to sharp module to the guide rail, Y installs Y to sharp module on to the guide rail, and Z is to fixing on Y is to sharp module to the guide rail along Z, and Z is installed on Z is to the guide rail to sharp module, and the test tube snatchs the manipulator and installs on Z is to sharp module.
9. The fully automatic intelligent sorting machine for test tube samples according to claim 8, wherein: the below of angle modulation seat is provided with the base, is connected through the connecting block between base and the angle modulation seat, it drives actuating cylinder to install splint on the base, splint drive actuating cylinder bottom and install splint, splint will a plurality of test tube grabs the claw parcel of installing on test tube grabs drives actuating cylinder, the splint inboard is provided with a plurality of semi-circular location clamp grooves that match with the test tube.
CN202111506690.4A 2021-12-10 2021-12-10 Full-automatic test tube sample intelligence sorting machine Active CN114130708B (en)

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CN115027937B (en) * 2022-07-05 2023-09-08 明瑞达(苏州)人工智能科技有限公司 Nucleic acid detection system

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DE2213968C2 (en) * 1972-03-22 1974-05-22 Siemens Ag, 1000 Berlin Und 8000 Muenchen Reading device for information affixed in coded form on the outer surface of sample tubes for receiving liquids
CN104071579B (en) * 2014-07-01 2016-05-25 苏州博众精工科技有限公司 A kind of charging tray blocking mechanism
CN105110004B (en) * 2015-09-29 2018-12-14 无锡帕尔弗工业设备科技有限公司 Automatic adjustable-pitch conveying mechanical arm
CN111806824A (en) * 2019-04-12 2020-10-23 广州景禾医疗科技有限公司 Automatic scanning, labeling and sorting system
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