CN205906699U - Machine is prepared to medical heparin tube based on articulated robot - Google Patents
Machine is prepared to medical heparin tube based on articulated robot Download PDFInfo
- Publication number
- CN205906699U CN205906699U CN201620616878.2U CN201620616878U CN205906699U CN 205906699 U CN205906699 U CN 205906699U CN 201620616878 U CN201620616878 U CN 201620616878U CN 205906699 U CN205906699 U CN 205906699U
- Authority
- CN
- China
- Prior art keywords
- rotary joint
- medical
- joint arm
- heparin tube
- blood collection
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- HTTJABKRGRZYRN-UHFFFAOYSA-N Heparin Chemical compound OC1C(NC(=O)C)C(O)OC(COS(O)(=O)=O)C1OC1C(OS(O)(=O)=O)C(O)C(OC2C(C(OS(O)(=O)=O)C(OC3C(C(O)C(O)C(O3)C(O)=O)OS(O)(=O)=O)C(CO)O2)NS(O)(=O)=O)C(C(O)=O)O1 HTTJABKRGRZYRN-UHFFFAOYSA-N 0.000 title claims abstract description 30
- 229960002897 heparin Drugs 0.000 title claims abstract description 30
- 229920000669 heparin Polymers 0.000 title claims abstract description 30
- 239000008280 blood Substances 0.000 claims description 30
- 210000004369 blood Anatomy 0.000 claims description 30
- 238000002372 labelling Methods 0.000 claims description 6
- 238000002360 preparation method Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 claims 1
- 210000000078 claw Anatomy 0.000 description 3
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a machine is prepared to medical heparin tube based on articulated robot, including the heparin tube case for place medical heparin tube, the sign printer for it prints to carry out mark to medical heparin tube, control module connects and control the sign printer, still include the mechanical mechanism that selects of rotary joint formula, with control module connects for choose medical heparin tube in the follow heparin tube case and put into the sign printer, rotary machine selects the mechanism and includes rotary joint arm, mechanical clamping jaw, joint and traveller, the rotary joint arm can wind under passing through driving motor's including the joint drive the traveller rotates and the slip of vertical direction at the horizontal direction, mechanical clamping jaw installs on shown rotary joint arm for select medical heparin tube. Owing to adopted the manipulator of rotation type articulated arm structure for simple structure, snatch the flexibility, efficiency is higher.
Description
Technical Field
The utility model relates to an identification is printed and is pasted mark equipment, especially relates to a medical heparin tube preparation machine based on articulated robot among the medical field.
Background
The medical blood collection tube is the most common mode for collecting blood in hospitals at present, is one of medical instruments used in a large number in hospitals, and brings convenience to medical links. However, when medical staff use a large number of vacuum medical blood collection tubes, an essential task is to attach an information identifier to each medical blood collection tube, and the tasks of tube selection, identification, distribution and the like of the medical staff are complex tasks, so that the workload is large, the efficiency is low, and mistakes are easy to make.
Chinese patent application No. CN 200880106289.8 discloses a labeling and preparing device for test tubes, which comprises at least one storage part for placing at least one carrier plate loaded with a set of test tubes at a predetermined position, at least one transport part disposed above the storage part for clamping or releasing one of the test tubes, a labeling part disposed below the transport part for receiving the test tubes transported from the transport part and labeling the outer peripheral surface of each test tube with sample-related information. The discharge portion is disposed below the marking portion, and discharges the test tube to the outside. A controller controls the drivers of the conveying section, the marking section, and the discharging section. The conveying section includes: an x-axis drive, the x-axis drive comprising: a pair of x-axis brackets having an x-axis length equal to that of the storage part disposed therebelow, a driving shaft and a driven shaft spaced in parallel with each other, the driving shaft and the driven shaft being connected to opposite ends of the x-axis brackets by an x-axis belt to operate in cooperation with the x-axis belt, and a first driving motor having an output end connected to the driving shaft; a y-axis driver, the y-axis driver comprising: a y-axis bracket fixed to the x-axis belt to cooperate with the x-axis belt in an x-axis direction, a driving pulley and a driven pulley having a y-axis width equal to that of the storage part disposed therebelow, and a second driving motor having an output end connected to the driving pulley and connected to opposite ends of the y-axis bracket through the y-axis belt to cooperate with the y-axis belt.
The mechanical grabbing mechanism in the prior art is realized by controlling a manipulator to move in the horizontal direction through an X-axis driver and a Y-axis driver, and the mechanical grabbing mechanism has the defects of complex structure and inflexibility.
SUMMERY OF THE UTILITY MODEL
In order to solve the deficiencies in the prior art, the utility model aims at providing a simple structure just snatchs nimble medical heparin tube preparation machine based on articulated robot.
In order to achieve the above object, the utility model provides a medical heparin tube prepares machine based on articulated robot, include:
the blood collection tube storage box is used for placing the medical blood collection tube;
the identification printer is used for printing and labeling the medical blood collection tube;
the control module is connected with and controls the identification printer;
still select the mechanism including rotary joint formula machinery, with control module connects for select to get medical heparin tube from the heparin tube case and put into the sign printer, rotary type machinery selects the mechanism and includes rotary joint arm, mechanical jack catch, joint and traveller, rotary joint arm can wind under driving motor's including the joint the traveller rotates in the horizontal direction and slides in the vertical direction, mechanical jack catch is installed on the rotary joint arm for select medical heparin tube.
Preferably, the mechanical jaw comprises two rotary joint arms, namely a first rotary joint arm and a second rotary joint arm, the first rotary joint arm is connected with the sliding column through a first joint and can rotate around the sliding column in the horizontal direction and slide in the vertical direction under the drive of an internal drive motor, one end of the second rotary joint arm is connected with the first rotary joint arm through a second joint and can rotate around the second joint under the drive of the internal drive motor, and the other end of the second rotary joint arm is connected with the mechanical jaw.
Advantageously, the mechanical jaw is able to slide up and down on the end of the second rotary articulated arm.
Advantageously, the blood collection tube storage cases are arranged in an upper-lower two-layer manner, two for each layer.
The utility model discloses compare with traditional use X/Y axle drive manipulator mode, owing to adopted the machinery of rotation type articulated arm structure to select the mechanism for simple structure, snatch in a flexible way, efficiency is higher.
Drawings
FIG. 1 is a front view of a preferred embodiment of the present invention;
fig. 2 is a top view of the preferred embodiment of the present invention.
Wherein,
1. a blood collection tube storage box;
2. identifying the printer;
3. a rotary joint type mechanical selection mechanism;
4. a rotating articulated arm;
5. a mechanical jaw;
6. a traveler;
7. a first rotary joint arm;
8. a second rotary joint arm;
9. a medical blood collection tube.
10. A first joint;
11. a second joint.
Detailed Description
As shown in fig. 1 and fig. 2, the utility model provides a medical heparin tube prepares machine based on articulated robot, include: a blood collection tube storage case 1 for storing a medical blood collection tube 9; the identification printer 2 is used for printing and labeling the medical blood collection tube 9; the control module is connected with and controls the identification printer 2; still select mechanism 3 including rotary joint formula machinery, with control module connects for select to get medical heparin tube and put into sign printer 2 in the heparin tube case 1, rotary type machinery selects mechanism 3 including rotary joint arm 4, mechanical jaw 5, joint and traveller 6, rotary joint arm 4 can wind under driving motor's including the joint the traveller 6 rotates at the horizontal direction and slides with vertical direction, mechanical jaw 5 is installed on rotary joint arm 4 for select medical heparin tube 9.
The articulated arm may be only one, and in this case, since the articulated arm can move only on a circle whose radius is equal to the length of the articulated arm, the blood collection tube storage case may be configured in an arc shape or a circular shape so that the mechanical jaw can grip the medical blood collection tube.
The rotary joint arm is connected with the sliding column through a joint, an inner driving motor is installed on the rotary joint arm and is also connected with the control module, so that the control module controls the rotary joint arm to rotate around the joint and slide up and down along with the sliding block along the sliding column through the inner driving motor, the sliding column is provided with a sliding rail, and the sliding block on the joint can slide up and down along the sliding rail.
Preferably, the device comprises two rotary joint arms, namely a first rotary joint arm 7 and a second rotary joint arm 8, wherein the first rotary joint arm 7 is connected with the sliding column 6 through a first joint 10 and can rotate around the sliding column 6 in the horizontal direction and slide in the vertical direction under the drive of an internal drive motor, one end of the second rotary joint arm 8 is connected with the first rotary joint arm 7 through a second joint 11 and can rotate around the second joint 11 under the drive of the internal drive motor, and the other end of the second rotary joint arm is connected with the mechanical jaw 5.
In the structure, the rotary joint arm is provided with two arms, namely a first rotary joint arm 7, a second rotary joint arm 8 and two joints, the two arms can rotate 360 degrees around the joints under the drive of corresponding internal drive motors, when the two joints rotate, the mechanical claw can extend into a circle with the sum of the lengths of the two arms as the radius, the mechanical claw can also slide up and down at a short distance at the end part of the second rotary joint arm, and the first rotary joint arm 7 can also vertically slide on the sliding column 6, so that the mechanical claw 5 can freely move in a cylindrical space to grab a medical blood collection tube in the space. The medical blood collection tube is placed in a vertical multi-row multi-layer mode, for example, the upper layer and the lower layer and the two layers are arranged in each layer, when a certain kind of medical blood collection tube needs to be grabbed, the joint arm slides to the upper part of the medical blood collection tube along with the sliding column, the two joints are rotated, the first rotary joint arm 7 and the second rotary joint arm 8 are rotated, the mechanical clamping jaw 5 is rotated to the front part of the medical blood collection tube, the mechanical clamping jaw 5 slides downwards, then the medical blood collection tube is clamped and lifted upwards, and grabbing of the medical blood collection tube is achieved. Grab medical heparin tube after, two joints of rotation once more, turn to medical heparin tube to the mark printer print the position directly over, if medical heparin tube is far away from printing the position, can slide first rotatory articulated arm 7 down, reduce the distance, then loose the card, medical heparin tube falls into in the mark printer 2, mark printer 2 prints and pastes the mark operation to medical heparin tube 9, then medical heparin tube falls out in the magazine, the staff can take off the medical heparin tube that pastes the mark in the ejection of compact box.
The foregoing has described in detail preferred embodiments of the present invention. It should be understood that numerous modifications and changes will readily occur to those skilled in the art based upon the teachings of the present invention. Therefore, the technical solutions that can be obtained by logic analysis, reasoning or limited experiments based on the prior art according to the design concept of the present invention should be within the scope of the present invention and/or the protection scope defined by the claims.
Claims (4)
1. A medical heparin tube prepares machine based on articulated robot includes:
a blood collection tube storage box (1) for storing a medical blood collection tube (9);
the identification printer (2) is used for printing and labeling the medical blood collection tube (9);
the control module is connected with and controls the identification printer;
the method is characterized in that:
still select mechanism (3) including rotary joint formula machinery, with control module connects for select medical heparin tube from heparin tube case (1) and put into sign printer (2), rotary type machinery selects mechanism (3) including rotary joint arm (4), mechanical jack catch (5), joint and traveller (6), rotary joint arm (4) can wind under driving motor's including the joint traveller (6) rotate at the horizontal direction and the slip of vertical direction, mechanical jack catch (5) are installed on rotary joint arm (4), are used for selecting medical heparin tube (9).
2. The articulated robot-based medical blood collection tube preparation machine of claim 1, wherein: the mechanical clamping jaw comprises two rotary joint arms, namely a first rotary joint arm (7) and a second rotary joint arm (8), wherein the first rotary joint arm (7) is connected with the sliding column (6) through a first joint (10), can rotate in the horizontal direction and slide in the vertical direction around the sliding column (6) under the drive of an internal drive motor, one end of the second rotary joint arm (8) is connected with the first rotary joint arm (7) through a second joint (11), can rotate around the second joint (11) under the drive of the internal drive motor, and the other end of the second rotary joint arm is connected with the mechanical clamping jaw (5).
3. The articulated robot-based medical blood collection tube preparation machine according to claim 2, wherein: the mechanical jaw (5) can slide up and down on the end of the second swivel joint arm (8).
4. The articulated robot-based medical blood collection tube preparation machine according to claim 3, wherein: the blood collection tube storage boxes (1) are arranged in an upper layer and a lower layer, and two blood collection tubes are arranged in each layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620616878.2U CN205906699U (en) | 2016-06-21 | 2016-06-21 | Machine is prepared to medical heparin tube based on articulated robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620616878.2U CN205906699U (en) | 2016-06-21 | 2016-06-21 | Machine is prepared to medical heparin tube based on articulated robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205906699U true CN205906699U (en) | 2017-01-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620616878.2U Active CN205906699U (en) | 2016-06-21 | 2016-06-21 | Machine is prepared to medical heparin tube based on articulated robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205906699U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947653A (en) * | 2016-06-21 | 2016-09-21 | 杨辰 | Medical blood collection tube preparation machine based on multi-joint robot |
-
2016
- 2016-06-21 CN CN201620616878.2U patent/CN205906699U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947653A (en) * | 2016-06-21 | 2016-09-21 | 杨辰 | Medical blood collection tube preparation machine based on multi-joint robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200106 Address after: 215000 g1-4f in artificial intelligence Industrial Park, No. 88, Jinjihu Avenue, Suzhou Industrial Park, Suzhou City, Jiangsu Province Patentee after: Jiangsu Lei Bo Technology Co. Ltd. Address before: 215006 No. 100 Tung Road, Suzhou Industrial Park, Jiangsu, Suzhou Patentee before: Yang Chen |